Flight Track Planning tool — makeTP • uavRmp

makeTP generates a flight track chaining up point objects with respect to a heterogenous surface and known obstacles as documented by an DSM for taking top down pictures. It creates a single control file for autonomous picture retrieval flights.

makeTP(
  projectDir = tempdir(),
  locationName = "treePos",
  missionTrackList = NULL,
  launchPos = c(8.772055, 50.814689),
  demFn = NULL,
  flightAltitude = 100,
  climbDist = 7.5,
  aboveTreeAlt = 15,
  circleRadius = 1,
  takeOffAlt = 50,
  presetFlightTask = "remote",
  maxSpeed = 25,
  followSurfaceRes = 5,
  altFilter = 0.5,
  windCondition = 1,
  launchAltitude = -9999,
  uavType = "pixhawk",
  cameraType = "MAPIR2",
  copy = FALSE,
  runDir = ""
)

Arguments

projectDir: character path to the main folder where several projects can be hosted, default is tempdir()
locationName: character base name string of the mission, default is "treePos"
missionTrackList: character filename of the mission tracklist (target positions), default is NULL
launchPos: list launch position c(longitude,latitude), default is c(8.772055,50.814689)
demFn: character filename of the used DSM data file, default is NULL
flightAltitude: numeric set the AGL flight altitude (AGL while the provided raster model represents this surface) of the mission, default is 100 default is (= 0.0). If set to -99 it will be calculated from the swath width of the pictures. NOTE: This makes only sense for followSurface = TRUE to smooth curves. For flightPlanMode = "waypoint" camera actions (DJI only EXPERIMENTAL) are DISABLED during curve flights.
climbDist: numeric distance within the uav will climb on the caluclated save flight altitude in meter, default is 7.5
aboveTreeAlt: numeric minimum flight height above target trees in meter, default is 15.0
circleRadius: numeric radius to circle around above target trees in meter, default is 1.0
takeOffAlt: altitude numeric climb altitude of the uav at take off position in meter, default is 50.0
presetFlightTask: character (DJI only EXPERIMENTAL). NOTE: it is strongly recommended to use the default "remote"
Further options are:
"simple_ortho" takes one picture/waypoint, "multi_ortho" takes 4 picture at a waypoint, two vertically down and two in forward and backward viewing direction and an angele of -60deg, "simple_pano" takes a 360 deg panorama picture and "remote" which assumes that the camera is controlled by the remote control (RC)
maxSpeed: numeric cruising speed, default is 25.0
followSurfaceRes: numeric, default is 5 meter.
altFilter: numeric allowed altitude differences bewteen two waypoints in meter, default is 0.5
windCondition: numericoptions are 1= calm 2= light air 1-5km/h, 3= light breeze 6-11km/h, 4=gentle breeze 12-19km/h 5= moderate breeze 20-28km/h, default is 1
launchAltitude: numeric altitude of launch position. If set to -9999 a DEM is required for extracting the MSL, default is -9999
uavType: character type of UAV. Currently "dji_csv" and "pixhawk" are supported, default is "pixhawk"
cameraType: character, default is "MAPIR2".
copy: boolean copy used file to data folder default is FALSE
runDir: character runtime folder

Examples

if (FALSE) {
## (1) get example DEM data
dsmFn <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
## (2) make position flight plan
makeTP  <-  makeTP(missionTrackList= tutorial_flightArea,
                  demFn = dsmFn,
                  uavType = "pixhawk",
                  launchPos = c(8.679,50.856))
}