Litchi Waypoint Mission to Mavic 3 Waypoint Mission converter

[Sublime]

I have completed my “Litchi Waypoint Mission to Mavic 3 Waypoint Mission converter.

With this web application, one can design a waypoint mission from the comfort of your office on a large monitor using Litchi’s Mission Hub then convert that mission to one that can be flown with a Mavic 3.

This converter is brilliant. I will be testing this out next week with a photogrammetry mission I am planning for my M3 Classic.

I have a question though, do you know if waypoint missions created in the Pilot 2 app when exported in KMZ will translate correctly to the Fly app?

I was looking at this thread Pilot 2 apk on dji forum and I should be able to use the Pilot 2 app on an Samsung tablet I have, or better yet run it in a VM Android emulator on my PC (will try that over the weekend)

If one would create a waypoint mission in the Pilot 2, would the Fly app go bananas over all the extra/different parameters or might it read camera commands, poi etc correctly?

If not, would it be possible to create a converter and simply toss out all the "enterprise only" features for a clean waypoint kmz?

 

[honkihonk]

This converter is brilliant. I will be testing this out next week with a photogrammetry mission I am planning for my M3 Classic.

I have a question though, do you know if waypoint missions created in the Pilot 2 app when exported in KMZ will translate correctly to the Fly app?

I was looking at this thread Pilot 2 apk on dji forum and I should be able to use the Pilot 2 app on an Samsung tablet I have, or better yet run it in a VM Android emulator on my PC (will try that over the weekend)

If one would create a waypoint mission in the Pilot 2, would the Fly app go bananas over all the extra/different parameters or might it read camera commands, poi etc correctly?

If not, would it be possible to create a converter and simply toss out all the "enterprise only" features for a clean waypoint kmz?

In my experience the Fly app will go bananas, as in won't even show the waypoints, much less launch the mission.

I am sporadically working on a tool to convert Pilot 2 waypoints to Fly waypoints. I have identified a few enterprise only features. I got it to convert an obligue flight plan but it still doesn't work perfectly.

Even without Pilot 2 you can create enterprise flight plans in Flighthub 2.

 

[Sublime]

In my experience the Fly app will go bananas, as in won't even show the waypoints, much less launch the mission.

I am sporadically working on a tool to convert Pilot 2 waypoints to Fly waypoints. I have identified a few enterprise only features. I got it to convert an obligue flight plan but it still doesn't work perfectly.

Even without Pilot 2 you can create enterprise flight plans in Flighthub 2.

Ok awesome. It's great to see how many talented people are working on this for the community, refusing to let DJI get away with nerfing consumer drone owners over SDK support. Basicly doing DJI's job for them.

I offer my assistance in testing the outputs and even assisting with the tool itself.

Then when these community flight mission solutions will get popular they will likely finally give in, come out with a "new feature" so you are locked into DJI software solutions and not using ardupilot or dronedeploy over their mission planner. Becuse in the end, they wan't you to buy an enterprise drone for this stuff, and if you are more used to these other services then DJI's own, what is to say you wouldnt buy another drone companies drone for your work since you are not solely trained on/used to DJI software

 

[DJ Wes]

I have a question though, do you know if waypoint missions created in the Pilot 2 app when exported in KMZ will translate correctly to the Fly app?

They won't. The primary reason is because DJI stores a drone identifier in the KMZ file. All consumer models (using DJI Fly) use the same drone ID. However, each DJI enterprise model uses a different drone ID. You will get an error if a KMZ file with a mismatching drone ID is loaded.

Another reason why it won't work is because DJI was not consistent in how they implemented the WPML language in their consumer and enterprise drones. Perhaps they were developed by different teams. The implementations are similar but different.

 

[DronerMick]

I have completed my “Litchi Waypoint Mission to Mavic 3 Waypoint Mission converter.

With this web application, one can design a waypoint mission from the comfort of your office on a large monitor using Litchi’s Mission Hub then convert that mission to one that can be flown with a Mavic 3.

View attachment 160898

Litchi missions can be exported as CSV files. These CSV files store most of the important parameters of a waypoint mission. DJI’s Mavic 3 stores waypoint missions in a KMZ file in the flying device (phone, tablet or controller). However, because DJI did not design missions to be imported or exported to or from their flying device, there are a few extra steps involved in getting this process to work. As a result, these steps may be more involved than what a casual user may want to attempt. Read on to find out more.

Fellow forum member @zAvi has provided a number of Mavic 3 waypoint missions for me to examine and has devised a way to import and export missions to and from the Mavic 3. His instructions for doing so are available from the instructions of this web application.

There are a few important things to consider when converting waypoint missions between Litchi and the Mavic 3.

• Litchi uses a B-Spline to generate a flight path defined by waypoints. The Mavic 3 uses a Bézier curve to generate a flight path defined by waypoints. B-Splines do not (in general) go through their control points. Bézier curves do go through their control points. As a result, even though the waypoints are the same, the converted mission flight path will not be exactly the same.
• The Mavic 3 supports some camera actions that are not available in Litchi. For example, in the Mavic 3 one can create a “Zoom” action. Litchi does not support this action.
• So far, I have only had access to Mavic 3 missions with metric units of measurement. Therefor, only metric units are currently supported. I will add imperial units as soon as I am provided an example Mavic 3 mission file with imperial units.

The following two converters (as well as the Spiral, Panorama, Droneception, and AirData converters):

• Mavic 3 Waypoint Mission To Litchi Waypoint Mission
• Litchi Waypoint Mission To Mavic 3 Waypoint Mission

are available here:

Litchi Mission Utilities

Wes Barris

www.LitchiUtilities.com

Hi

Thanks for your great work. However, I am having an issue with the converter.
I can plot a long (13 Kilometer) waypoint mission with VLM and it will work fine apart from the jerky turns, I can plot a similar mission with the DJI Fly app and it will work fine although it's frustrating plotting to any accuracy, but if I convert a Litchi mission .csv file to a KLV file using your converter the resulting mission will stall after about 4 kilometers. I get a "obstacle detected, waypoint flight suspended" warning. The only option I have is to fly manually or return to the start of the mission where it will stall at the same point again.
Any ideas what's happening?

Thanks

Mick

 

[DJ Wes]

if I convert a Litchi mission .csv file to a KLV file using your converter the resulting mission will stall after about 4 kilometers. I get a "obstacle detected, waypoint flight suspended" warning.

There is nothing in DJI's WPML language that has anything to do with obstacle avoidance. So, even if I wanted to, I could not turn obstacle avoidance on, off, or change any setting relating to obstacle avoidance.

This is most likely an issue directly relating to obstacle avoidance and not with waypoints. If you do not see any obstacles in the camera view when you see this message, perhaps it is related to flying directly toward the sun. I have seen reports of the the sun triggering the obstacle avoidance sensors.

 

[DronerMick]

There is nothing in DJI's WPML language that has anything to do with obstacle avoidance. So, even if I wanted to, I could not turn obstacle avoidance on, off, or change any setting relating to obstacle avoidance.

This is most likely an issue directly relating to obstacle avoidance and not with waypoints. If you do not see any obstacles in the camera view when you see this message, perhaps it is related to flying directly toward the sun. I have seen reports of the the sun triggering the obstacle avoidance sensors.

Thanks for the quick response.

The Sun, lakes, woods etc. in the field of view were my first suspicion but further tests have eliminated them as a reason. The stalls always occur at waypoints. Because the VLM missions are plotted with curved turns I am now wondering if the B-Splines of the Litchi plot are messing with the Bezier interpretations and causing the drone to miss the waypoint.
I'll plot a non-curved turns Litchi, convert it then do a further test.
Once again thanks for your work and response.

Mick

 

[DJ Wes]

Because the VLM missions are plotted with curved turns I am now wondering if the B-Splines of the Litchi plot are messing with the Bezier interpretations and causing the drone to miss the waypoint.

While both Litchi and DJI Fly use different methods to generate the turns, only the waypoints are stored in either the Litchi CSV or the DJI KMZ files. The respective software takes care of converting those waypoints into a flight path. The only type of path supported in DJI Fly is a curved turns. DJI uses a Centripetal Catmul-Rom spline which always passes through each waypoint. This is used when the "waypointTurnMode" is set to "toPointAndContinueWithContinuityCurvature inside the KMZ file.

You can generate a straight-line mission in a KMZ file. Be sure to set all of your Litchi curve sizes to zero and then check the "Allow Straight Lines" option in my software. Your drone will fly this type of mission properly even though the DJI Fly screen may look messed up.

I notice that you are in the UK. I'm curious what the "Signal Lost" action is for your waypoint missions. You would not have the "Continue" option available. Since this is happening on extremely long missions, if you had your "Signal Lost" action set to "Hover" and the signal was lost momentarily, that might explain the symptoms you describe. A look at your log files could also be used to confirm this.

 

[DronerMick]

While both Litchi and DJI Fly use different methods to generate the turns, only the waypoints are stored in either the Litchi CSV or the DJI KMZ files. The respective software takes care of converting those waypoints into a flight path. The only type of path supported in DJI Fly is a curved turns. DJI uses a Centripetal Catmul-Rom spline which always passes through each waypoint. This is used when the "waypointTurnMode" is set to "toPointAndContinueWithContinuityCurvature inside the KMZ file.

You can generate a straight-line mission in a KMZ file. Be sure to set all of your Litchi curve sizes to zero and then check the "Allow Straight Lines" option in my software. Your drone will fly this type of mission properly even though the DJI Fly screen may look messed up.

I notice that you are in the UK. I'm curious what the "Signal Lost" action is for your waypoint missions. You would not have the "Continue" option available. Since this is happening on extremely long missions, if you had your "Signal Lost" action set to "Hover" and the signal was lost momentarily, that might explain the symptoms you describe. A look at your log files could also be used to confirm this.

Signal lost action is set to RTH but signal connection is good at the time of the stalls. Drone just stops for no apparent reason with the "obstacle detected, waypoint flight suspended " message onscreen.
The weather is poor here at the moment but I should get an opportunity to try out a converted "straight line" mission within a few days. I'll keep you posted.

 

[DronerMick]

While both Litchi and DJI Fly use different methods to generate the turns, only the waypoints are stored in either the Litchi CSV or the DJI KMZ files. The respective software takes care of converting those waypoints into a flight path. The only type of path supported in DJI Fly is a curved turns. DJI uses a Centripetal Catmul-Rom spline which always passes through each waypoint. This is used when the "waypointTurnMode" is set to "toPointAndContinueWithContinuityCurvature inside the KMZ file.

You can generate a straight-line mission in a KMZ file. Be sure to set all of your Litchi curve sizes to zero and then check the "Allow Straight Lines" option in my software. Your drone will fly this type of mission properly even though the DJI Fly screen may look messed up.

I notice that you are in the UK. I'm curious what the "Signal Lost" action is for your waypoint missions. You would not have the "Continue" option available. Since this is happening on extremely long missions, if you had your "Signal Lost" action set to "Hover" and the signal was lost momentarily, that might explain the symptoms you describe. A look at your log files could also be used to confirm this.

I finally got the chance to try out a converted "straightline" Litchi mission.
Taking a "belt and braces" option I also switched off the OA with the intention of trying a second flight with OA on but the incoming rain arrived earlier than I'd hoped and so I only had time for the one flight.
The good news is that the flight went flawlessly, the first successful flight after around 8 attempts.

Here's a link to the flight...

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[DronerMick]

Hi

I've taken down the draft flight and replaced it with the finished article.
Once again, thanks for your work.

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[Rockowe]

Hi

... the resulting mission will stall after about 4 kilometers. I get a "obstacle detected, waypoint flight suspended" warning. The only option I have is to fly manually or return to the start of the mission where it will stall at the same point again.
Any ideas what's happening?

Thanks

Mick

BTW - on Autonomous Missions - Many things may trigger a False Obstacle by the Sensor.
ie: a Lake or Window may reflect direct sunlight into the OA sensor during your turn - also RAIN often halts autonomy - Shadows can do the Same... (iv had this happen - when the sun is low on the horizon)

Flying a Little higher - may mitigate against these... or possibly flying in sport mode (OA Sensors off)

 

[DronerMick]

Yes, it appears that was have been the issue. The linked video was with OA sensors off and the drone completed the mission fine.

 

[Rockowe]

Yes, it appears that was have been the issue. The linked video was with OA sensors off and the drone completed the mission fine.

Ur Welcome...

 

[Rockowe]

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Very Nice Video - Smooth Turns - Lovely countryside...

 

[Conservative Nihilist]

Hello Wes and thanks once again for creating this time-saving waypoint mission file converter. My new-to-me Air 3 should arrive in the next couple of weeks and I'd like to hit the ground running as it were, in this realm of Litchi to DJI Fly waypoint translation.

To ascertain that I understand the procedure correctly, these steps are entailed in this process.

1. Export a previously saved Litchi waypoint mission as a CSV file which can be saved on my computer desktop.

2. Using the "Download KMZ file for DJI" option on the converter page, translate the CSV file into a KMZ file.

3. Replace a previously saved waypoint flight plan in DJI Fly with the newly converted KMZ file.

4. Edit any variables that need modification in DJI Fly while crosschecking all waypoint altitudes for ground obstacle clearance.

5. Fly the mission as a DJI Fly waypoint mission.

In the likely event that I don't yet comprehend the procedure required for this converter to work as intended, I would be grateful for any corrections or clarifications you can offer as a critique of my summary listed above.

Finally, while I am aware that Litchi offers NO provision for varying the camera gimbal tilt angle by assigning gimbal downward tilt angles in the Litchi Mission Hub waypoint data pages, and that Litchi cannot be used to assign camera zoom values tied to specific waypoints, I would like to ask whether a Lichi waypoint mission, once converted and accessible as a KMZ file in DJI Fly, can be modified within DJI Fly to take into account variable camera zoom values and gimbal tilt values for each successive waypoint.

I would be grateful for any thoughts you can find a moment to share that will help me better understand how to use this amazing product you've created as a bridge between Litchi and DJI Fly. Thanks in advance sir.

 

[DJ Wes]

The procedure you outlined is correct.

Finally, while I am aware that Litchi offers NO provision for varying the camera gimbal tilt angle by assigning gimbal downward tilt angles in the Litchi Mission Hub waypoint data pages

I know that you are a long-time Litchi user so it is not clear why you say this. You can assign gimbal pitch angles to each waypoint using a POI, explicitly specifying the angle, or using manual control. The "Interpolation" option lets you specify the gimbal pitch angle:

 

[Conservative Nihilist]

The procedure you outlined is correct.


I know that you are a long-time Litchi user so it is not clear why you say this. You can assign gimbal pitch angles to each waypoint using a POI, explicitly specifying the angle, or using manual control. The "Interpolation" option lets you specify the gimbal pitch angle:
View attachment 178786

Somewhere along the line, I arrived at the perception that for Litchi waypoint missions extending beyond the signal reach of the drone's RC controller, the downward tilt of the camera gimbal will not adjust to conform with pre-set gimbal tilt angles at each waypoint.

For this reason, my habit has been to preset my drone's gimbal angle to a static -20 degrees downward before takeoff, while selecting the "disabled" option for the Gimbal Pitch menu item on the waypoint settings page. The gimbal angle for all my waypoint flights has remained at minus 20 degrees for all my waypoint flights to date. I would be delighted to learn, even belatedly, that gimbal tilt angle can be made to vary at each Lithci waypoint even when the drone is out beyond RC signal range.

 

[DJ Wes]

Somewhere along the line, I arrived at the perception that for Litchi waypoint missions extending beyond the signal reach of the drone's RC controller, the downward tilt of the camera gimbal will not adjust to conform with pre-set gimbal tilt angles at each waypoint.

This is a different statement from what you said in the previous post where you did not mention anything about being out of signal range. Nevertheless, Litchi addressed the issue you now describe in an update some time ago for DJI Go drones:

iOS: Litchi for DJI Drones​

Version 2.14.3 (November 10, 2022)
- [DJI GO/older drone models only] added new setting 'Enable DJI's Gimbal Interpolation in Waypoint mode' to allow gimbal pitch movements out of signal range

Android: Litchi for DJI Drones​

Version 4.25.0 (July 4, 2022)
- [DJI GO/older drone models only] added new setting 'Enable DJI's Gimbal Interpolation in Waypoint mode' to allow gimbal pitch movements out of signal range

 

[Conservative Nihilist]

Wow, gimbal control beyond RC signal range has been possible with Litchi for two years and I never knew. So much more versatility was right there under my nose while I made do with a fixed minus 20-degree gimbal tilt.