Example: Fly QGroundControl Plan Mission
The Fly QGroundControl Plan Mission example shows how to import a QGroundControl mission plan, upload it to a vehicle, run the mission, and then command Return mode ("RTL").
Running the Example
The example is built and run in the normal way (as described here).
By default the example will load a sample plan from the plugin unit test: /src/plugins/mission/qgroundcontrol_sample.plan. Alternatively you can specify the plan to load when you start the example:
./fly_qgc_mission <path of QGC Mission plan>
The example terminal output should be similar to that shown below:
This is from a debug build of the SDK. A release build will omit the "Debug" messages.
$ ./fly_qgc_mission udp://:14540
Connection URL: udp://:14540
Importing mission from mission plan: ../../../src/plugins/mission/qgroundcontrol_sample.plan
Waiting to discover system...
[09:52:04|Info ] New device on: 127.0.0.1:14557 (udp_connection.cpp:208)
[09:52:04|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:292)
[09:52:04|Debug] Component Autopilot added. (system_impl.cpp:339)
[09:52:04|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2018-07-09/1 (system_impl.cpp:277)
[09:52:04|Debug] Found 1 component(s). (system_impl.cpp:466)
[09:52:04|Debug] Discovered 4294967298 (system_impl.cpp:468)
Discovered system with UUID: 4294967298
Waiting for system to be ready
System ready
Found 8 mission items in the given QGC plan.
Uploading mission...
[09:52:05|Debug] Send mission item 0 (mission_impl.cpp:898)
[09:52:05|Debug] Send mission item 1 (mission_impl.cpp:898)
...
[09:52:05|Debug] Send mission item 13 (mission_impl.cpp:898)
[09:52:05|Debug] Send mission item 14 (mission_impl.cpp:898)
[09:52:05|Info ] Mission accepted (mission_impl.cpp:163)
Mission uploaded.
Arming...
[09:52:05|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:277)
Armed.
Starting mission.
Started mission.
[09:52:06|Debug] MAVLink: info: Executing Mission (system_impl.cpp:277)
[09:52:06|Debug] MAVLink: info: Takeoff to 10.0 meters above home. (system_impl.cpp:277)
[09:52:06|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:277)
Mission status update: Mission status update: 1 / 8
1 / 8
Mission status update: Mission status update: 11 / 8 / 8
Mission status update: 1 / 8
Mission status update: 2 / 8
...
Mission status update: 2 / 8
Mission status update: 3 / 8
...
Mission status update: 3 / 8
Mission status update: 4 / 8
Mission status update: 4 / 8
Mission status update: 4 / 8
Mission status update: 5 / 8
...
Mission status update: 5 / 8
[09:52:58|Debug] MAVLink: critical: MANUAL CONTROL LOST (at t=75098ms) (system_impl.cpp:277)
[09:52:58|Debug] MAVLink: info: MANUAL CONTROL REGAINED after 519ms (system_impl.cpp:277)
Mission status update: 5 / 8
Mission status update: 6 / 8
...
Mission status update: 6 / 8
Mission status update: 7 / 8
..
Mission status update: 7 / 8
[09:53:06|Debug] MAVLink: info: Mission finished, loitering. (system_impl.cpp:277)
Mission status update: 8 / 8
Commanding RTL...
Commanded RTL.
How it works
The example application performs the following operations:
- Imports QGC mission items from .plan file.
- Uploads mission items to vehicle.
- Sets up mission progress monitoring.
- Starts the mission from the first mission item.
- Commands the Return/RTL action once the mission completes.
The specific code for importing missions is discussed in the guide: Missions > Import a Mission from a QGC Plan.