This is a very high level introduction. For more detailed information see:
- The QGroundControl User Guide (opens new window) contains information about planning and executing missions.
- Mission mode provides additional technical information about how mission mode works. :::
- Open to the Plan View and select the Mission radio button
- Select the Takeoff toolbar option then select the takeoff location on the map (set the takeoff altitude in the corresponding editor to a sensible value).
- Select the Add Waypoint ("plus") toolbar icon.
- Once finished, click on the Upload button (top right) to send the mission to the vehicle.
You can also use the Pattern tool to automate creation of survey grids.
# Mission Feasibility Checks
PX4 runs some basic sanity checks to determine if a mission is feasible. 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.
The checks are run when the mission is uploaded and immediately before it is run. If any of the checks fail, the user is notified and it is not possible to start the mission.
For more detail on the checks and possible actions, see: Mission Mode > Mission Feasibility Checks.
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 (opens new window)).
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. 默认情况下，是指向下一个航点。
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.