litchi.plan: Function to generate Litchi csv flight plan

In flightplanning: UAV Flight Planning

Description

Function to generate Litchi csv flight plan

Usage

litchi.plan(
  roi,
  output,
  flight.params,
  gimbal.pitch.angle = -90,
  flight.lines.angle = -1,
  max.waypoints.distance = 2000,
  max.flight.time = 15,
  starting.point = 1
)

Arguments

roi	range of interest loaded as an OGR layer, must be in a metric units projection for working properly
output	output path for the csv file
flight.params	Flight Parameters. parameters calculated from flight.parameters()
gimbal.pitch.angle	gimbal angle for taking photos, default -90 (overriden at flight time)
flight.lines.angle	angle for the flight lines, default -1 (auto set based on larger direction)
max.waypoints.distance	maximum distance between waypoints in meters, default 2000 (some issues have been reported with distances > 2 Km)
max.flight.time	maximum flight time. If mission is greater than the estimated time, it will be splitted into smaller missions.
starting.point	numeric (1, 2, 3 or 4). Change position from which to start the flight, default 1

Value

A data frame with the waypoints calculated for the flight plan

Note

this function will feed the csv flight plan with the 'gimbal.pitch.angle' and the 'photo time interval' for each waypoint, but those are not supported by Litchi yet, although they are present in the exported csv from the Litchi hub platform, though it may be supported in the future; when it does the function will already work with this feature.

Examples

library(flightplanning)
library(rgdal)

exampleBoundary = readOGR(
                          system.file("extdata",
                                      "exampleBoundary.shp",
                                      package="flightplanning"
                                     ),
                          "exampleBoundary")
outPath = tempfile(fileext=".csv")

flight.params = flight.parameters(
  gsd = 4,
  side.overlap = 0.8,
  front.overlap = 0.8,
  flight.speed.kmh = 54
)

litchi.plan(exampleBoundary,
            outPath,
            flight.params,
            flight.lines.angle = -1,
            max.waypoints.distance = 2000,
            max.flight.time = 15)

flightplanning documentation built on Feb. 23, 2021, 3:01 p.m.