Waypoint mission uncertainties

[Rmwac]

When setting up a Litchi waypoint mission.... when exactly does a change of speed, altitude, or POI occur? Does it occur exactly AT the waypoint where the behavior change was programmed??? Interpolation is poorly explained. When should it be used, and does it cause behaviors programmed at a particular waypoint to be executed even before arriving at the waypoint, in order to "smooth" the behavior change? Very poorly explained. Thanks for any enlightenment!

 

[theDRONEranger]

Have you tried to email LITCHI for support? I've emailed them several times in the past and received excellent response. They should be the absolute authority to answer your questions.

 

[bronze661]

I learned mostly from youtube videos.

 

[namirda]

When setting up a Litchi waypoint mission.... when exactly does a change of speed, altitude, or POI occur? Does it occur exactly AT the waypoint where the behavior change was programmed??? Interpolation is poorly explained. When should it be used, and does it cause behaviors programmed at a particular waypoint to be executed even before arriving at the waypoint, in order to "smooth" the behavior change? Very poorly explained. Thanks for any enlightenment!

All three are handled differently!

1) Speed changes abruptly at the waypoint - the speed specified for a waypoint is applied to the leg of the mission FOLLOWING that waypoint.

2) Altitude changes linearly between waypoints for straight line missions. When curved paths are used, the elevation profile is smoothed using the same bezier function that is used to smooth the lat/long coordinates.

3) POI is more complicated to explain because POI is a feature of Litchi only. When you fly a mission, only the coordinates, speed and gimbal at each WP are transmitted to the drone - your drone doesn't know anything about POI. The POI is only used to calculate the camera heading and gimbal angle at the WP. The heading and gimbal angle will then be interpolated between waypoints. Note that if you use the same POI for two consecutive WPs, the drone will not necessarily point correctly at the POI between WPs!!

I think you can get a good idea of how all this stuff works by playing with Virtual Litchi Mission

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