7.1 Waypoint Planning

Waypoint Planning
Once waypoint flight type is selected, then you can define the altitude at which the machine should fly. The metric of altitude will depend upon the ‘general setting’ of RPA type. AeroGCS would accept the flight altitude. For OEM user, as per QCI rule it should be 120 meters but for standard or free version, there is no limit. After that, we need to define the speed at which the RPA machine will fly as shown in the picture above.
These are the common parameters for all the way points. At each way point, the RPA will fly at given altitude and speed.
Under the mission planning, you can see the navigational map. You can draw the points on the map for RPA to fly. Yellow colored lines and points in above picture indicates these points. You can draw the map by using mouse or touch points to follow. Whenever you click on any waypoint, the respective navigation information i.e. longitude and latitude are displayed on the screen to validate. Using the right and left arrow near navigational information, then you can navigate through the different waypoint information. Then you can navigate the navigation map using the plus and minus buttons given at the left-hand screen.
For each waypoint, you can define the required speed and altitude. The speed and altitude will change whenever the RPA will reach to that way point. The distance from one waypoint to other waypoint will be covered with the parameters defined from starting way point.
You can define the action at each waypoint. If you want to capture an image at each waypoint, you can select it from the drop-down menu. Multiple actions related to image and video captures are supported.
Assigning Actions to Waypoint
The gimbal position setting like roll, pitch and yaw can be configured for each way point. Whenever RPA will reach to the waypoint, it will take that action with the defined camera or gimbal settings. In mission planning, you can draw the points on map and the right side of window points will add in list. At the right side of screen there is a waypoint list shown
Altitude and Speed in Decimal Points
AeroGCS KEA 2.2 provides a facility to enter altitude and speed in decimal points(upto 3 digits) as shown in the above image.
Adding Fence to Waypoint Plan
You can select any waypoint as shown in the above image with red marking. The details of that particular waypoint will be displayed as listed below:
  • Latitude and longitude of the current waypoints are displayed.
  • Altitude and speed can be added individually for each waypoint.
  • Save: The save button is used to save the plan.
  • Clear: this clears the mission plan.
  • User can freely draw the mission plan with no limits of waypoints.
  • User set maximum altitude 121.92 meters and maximum speed to 20 m/s.
Details of Waypoint plan
  • If the user wants to take photos, Camera action should be selected as per the application and accordingly set the Gimble actions. You can keep the gimble settings of pitch, roll and yaw to 0. If you want to set it at some specific positions you can change it. Otherwise keep it as it is.
  • Hold button to hover the vehicle on the desired waypoint for the entered value in sec.
  • You can save the plan using Save button
  • You can clear the mission plan using Clear button.
  • Add the fence points to the plan to secure the landing of the drone.
The video below shows the demonstration of first autonomous flight with waypoint plan.
Demonstration of Waypoint plan for a flight
AeroGCS KEA 2.2 is an updated version of AeroGCS KEA. This version has various new features such as it shows the project and plan name on for the current flight as shown in the following image.
This shows the distance traveled between the home position and waypoint.
This icon will display the distance between two waypoints and also shows the current position of the drone such as "Reached to WP1" in the above image.
In-flight statistics is also displayed on the bottom left portion of the screen.