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81 lines
4.7 KiB
Markdown
81 lines
4.7 KiB
Markdown
# Missions
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A mission is a predefined flight plan, which can be planned in QGroundControl and uploaded to the flight controller, and then executed autonomously in [Mission mode](../flight_modes_mc/mission.md).
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Missions typically include items for controlling taking off, flying a sequence of waypoints, capturing images and/or video, deploying cargo, and landing.
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QGroundControl allows you to plan missions using a fully manual approach, or you can use its more advanced features to plan ground area surveys, corridor surveys, or structure surveys.
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This topic provides an overview of how to plan and fly missions.
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## Planning Missions
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Manually planning missions is straightforward:
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- Switch to the mission view
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- Select the **Add Waypoint** ("plus") icon in the top left.
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- Click on the map to add waypoints.
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- Use the waypoint list on the right to modify the waypoint parameters/type
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The altitude indicator on the bottom provides a sense of the relative altitude of each waypoint.
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- Once finished, click on the **Upload** button (top right) to send the mission to the vehicle.
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You can also use the _Pattern_ tool to automate creation of survey grids.
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:::tip
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For more information see the [QGroundControl User Guide](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/plan_view.html).
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:::
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### Mission Feasibility Checks
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PX4 runs some basic sanity checks to determine if a mission is feasible.
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For example, whether the mission is close enough to the vehicle, if the mission will conflict with a geofence, or if a mission landing pattern is required but is not present.
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The checks are run when the mission is uploaded and immediately before it is run.
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If any of the checks fail, the user is notified and it is not possible to start the mission.
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For more detail on the checks and possible actions, see: [Mission Mode (FW) > Mission Feasibility Checks](../flight_modes_fw/mission.md#mission-feasibility-checks) and [Mission Mode (MC) > Mission Feasibility Checks](../flight_modes_mc/mission.md#mission-feasibility-checks).
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### Setting Vehicle Yaw
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If set, a multi-rotor vehicle will yaw to face the **Heading** value specified in the target waypoint (corresponding to [MAV_CMD_NAV_WAYPOINT.param4](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT)).
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If **Heading** has not been explicitly set for the target waypoint (`param4=NaN`) then the vehicle will yaw towards a location specified in the parameter [MPC_YAW_MODE](../advanced_config/parameter_reference.md#MPC_YAW_MODE).
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By default this is the next waypoint.
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Vehicle types that cannot independently control yaw and direction of travel will ignore yaw settings (e.g. Fixed-wing).
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### Setting Acceptance/Turning Radius
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The _acceptance radius_ defines the circle around a waypoint within which a vehicle considers it has reached the waypoint, and will immediately switch to (and start turning towards) the next waypoint.
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For a multi-rotor drones, the acceptance radius is tuned using the parameter [NAV_ACC_RAD](../advanced_config/parameter_reference.md#NAV_ACC_RAD).
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By default, the radius is small to ensure that multirotors pass above the waypoints, but it can be increased to create a smoother path such that the drone starts to turn before reaching the waypoint.
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The image below shows the same mission flown with different acceptance radius parameters:
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The speed in the turn is automatically computed based on the acceptance radius (= turning radius) and the maximum allowed acceleration and jerk (see [Jerk-limited Type Trajectory for Multicopters](../config_mc/mc_jerk_limited_type_trajectory.md#auto-mode)).
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:::tip
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For more information about the impact of the acceptance radius around the waypoint see: [Mission Mode > Inter-waypoint Trajectory](../flight_modes_fw/mission.md#rounded-turns-inter-waypoint-trajectory).
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:::
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### Package Delivery (Cargo) Missions
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PX4 supports cargo delivery in missions using a gripper.
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This kind of mission is planned in much the same as any other [waypoint mission](../flying/missions.md), with mission start, takeoff waypoint, various path waypoints, and possibly a return waypoint.
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The only difference is that a package delivery mission must include a mission items to indicate how the package is released and the deployment mechanism.
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For more information see: [Package Delivery Mission](../flying/package_delivery_mission.md).
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## Flying Missions
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Once the mission is uploaded, switch to the flight view.
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The mission is displayed in a way that makes it easy to track progress (it cannot be modified in this view).
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