Flight School - Autoflight Logic

2/5/2016 Flight School Autoflight Logic
Home (/) / Autopilot (/autopilot) / Flight School
 Critical Issue (01/25/16) We discovered a DJI firmware issue that prevents the aircraft from executing ReturntoHome (RTH) on
RC signal loss when a thirdparty app is connected via the SDK and using this API function
(https://developer.dji.com/iframe/mobilesdk
doc/ios/Classes/DJIFlightController.html#//api/name/enableVirtualStickControlModeWithCompletion:) in Flight Mode F.
Learn More
Flight School
Last Updated Jan 26, 2016 3:46:51 PM UTC
Inspire 1 (/autopilot/flightschool/aircraft/5/level/0)
Phantom 3 Professional (/autopilot/flightschool/aircraft/4/level/0)
Phantom 3 Advanced (/autopilot/flightschool/aircraft/3/level/0)
Phantom 2 Vision+ (/autopilot/flightschool/aircraft/2/level/0)
Phantom 2 Vision (/autopilot/flightschool/aircraft/1/level/0)
 There may be minor differences in Flight School depending on the selected Aircraft Type
Table of Contents
1. Introduction
2. Limitations
3. Emergencies
4. Settings
5. Modes
6. Flight Dashboard
7. PreFlight
8. Flight
9. PostFlight
10. Flight Recorder
11. Airspace
12. Advanced
1. Introduction
Flight School assumes you have read the entire DJI instruction manual for your aircraft, and that you are familiar with all standard flight
operation procedures. Additionally, you must install the latest version of the DJI firmware for your aircraft and remote control before
using Autopilot. Looking for video tutorials? Check out our YouTube channel (https://www.youtube.com/watch?
v=l5UnFe18GPY&list=PLxgGzMJJAWkLHb76JnDUZXPp65GI3nkf), and remember to subscribe to get updates when new videos are
released.
 Download Firmware and Manuals (http://www.dji.com/product/phantom3/download)
 You must download the firmware from a computer, not your iOS Device
1.1 Overriding Autopilot
Autopilot is designed to provide assisted flight control only. You should be prepared to override Autopilot at any moment by remaining
within reach of the Remote Control at all times.
 Critical To override Autopilot, toggle the flight control mode switch to P and fly the aircraft using the Remote Control.
https://autoflightlogic.com/autopilot/flightschool/aircraft/3/level/0 1/28
1.2 Understanding Autopilot
At its core, Autopilot is a highly sophisticated and robust autonomous flight control system. Each feature, setting, interface element, and
safeguard has been carefully examined and refined to serve a very specific and intentional purpose, which may not always be obvious
at first glance.
For example, you may encounter a scenario where Autopilot abruptly stops the aircraft and rapidly ascends or descends. While the
maneuver may appear harsh, it is probably due to Altitude Priority, which is a key safety precaution that Autopilot enables by default.
Features like Altitude Priority are crucial for an app such as Autopilot, where the typical usage pattern is focused on both a moving
operator and autonomous flight. This is in contrast to other apps, which assume that the operator is stationary and manually flying the
aircraft.
This shift in usage patterns has many implications (some more subtle than others) and necessitates a reimagining of the interface,
particularly with respect to critical information display and control accessibility. In cases where you are manually flying the aircraft,
instrument readings such as altitude and speed are high priority, but when Autopilot is flying the aircraft, knowing what the computer is
doing is even higher priority.
Autopilot - Product Overview (Phantom 3 & Inspire 1)
1.3 New Possibilities
It will take time to completely digest Flight School, and we recommend that you start slowly and build on your experience over time. In
the end, with proper care and attention, you will be rewarded with amazing visuals, many of which are not humanly possible to capture,
at least with a single operator.
For example, this Autopilot Follow on Follow sequence was created by a single operator using an Inspire 1 and a Phantom 3
Professional. Two instances of Autopilot were configured to follow the subject car, which the operator was driving. The first Autopilot was
set to focus on the car, and the second Autopilot was set to focus on the car with an offset equivalent to the Follow Bearing, Altitude and
Distance of the first Autopilot. Before Autopilot existed, capturing this sequence would have required four to five people: one driver, two
pilots and one to two gimbal operators.
Autopilot - Follow on Follow
1.4 Key Features
While other apps offer functionality similar to Follow and Orbit Mode, there are several key factors that differentiate Autopilot.
Additional Modes
Autopilot provides several Additional Modes, including Follow for the Inspire 1, Focus, Zip Line, Target, Intercept, and Mimic. Each
Mode opens up more possibilities to capture the perfect shot for your unique situation.
Dynamic Altitude Reference
Autopilot allows selecting a Dynamic Altitude Reference (device barometer or GPS). This enables you to change altitude safely during
Follow Mode (for example, driving uphill or skiing downhill) while Autopilot keeps you perfectly framed and the aircraft above ground
level.
Advanced Safeguards
Autopilot enables advanced safeguards by default, such as Altitude Priority. See the full list of Settings for more details.
RealTime Controls
Autopilot responds to control inputs in realtime. This enables you to see how different values will affect the shot without stopping and
expending battery, and even allows you to create dynamic flight motions on the fly.
PreFlight Planning
Autopilot makes all Mode Controls available before you start your flight so you can plan your mission without wasting battery power. If
you want to use a set of Mode Controls more than once, create a Flight Plan.
Custom Flight Controller
While most other apps use the DJI Flight Controller included in the SDK, Autopilot is designed around a Custom Flight Controller that
was purposebuilt with smooth and safe autonomous flight control as its primary function. By using a Custom Flight Controller,
Autopilot is able to offer unique functionality, especially in Waypoint Mode.
The Autopilot Flight Controller has been extensively tested and proven to work in real world scenarios, and it has been in production
use since the original launch of Autopilot in March 2015 many months before any other app was available with advanced
autonomous flight features.
 Important The code for this Custom Flight Controller executes on the iOS Device, which means that the aircraft must be
connected to the Remote Control at all times in order for Autopilot to function. Additionally, older iOS Devices with limited
processing power may be unable to perform the necessary calculations in certain situations.
Airspace
Autopilot offers the option to enter an Airspace. Once in an Airspace, multiple devices can share location information which can then
be used to enable several use cases, including remote device tracking.
Smooth Video Framing
Autopilot utilizes predictive vector analysis and advanced PID algorithms to create silkysmooth video framing, even during high
performance transitions.
Gimbal Yaw on Inspire 1
Autopilot takes advantage of both gimbal pitch and yaw on the Inspire 1.
2. Limitations
There are limitations that you should be aware of prior to operating Autopilot.
Autopilot - Flight Concerns
0:47 / 3:19
2.1 Registration
DJI requires all thirdparty applications to register upon installation, which requires a network connection. Autopilot performs the
registration automatically in the background and does not require any input from the user. Autopilot will not be able to connect to your
aircraft until the registration is complete.
2.2 Single App Connection
DJI only allows a single app to be connected to an aircraft at any given time. If another app is already connected, you need to terminate
that app in order for Autopilot to function properly.
2.3 Aircraft Type Selection
The DJI SDK provides aircraft type detection for the Phantom 3 and Inspire 1 series, but not the Phantom 2 Vision series. Because of
this, you must select the appropriate aircraft type when you first open Autopilot.
2.4 Barometer and GPS Altitude
Apple now includes a barometer on all iOS devices beginning with the iPhone 6/6+ and iPad Air 2. iOS devices with barometers can
perform altitude measurements that are significantly more accurate than earlier iOS devices that are limited to GPS altitude only. If you
are using an earlier iOS device, it is strongly recommended that you upgrade to a device with a barometer for optimal safety and
performance while using Autopilot.
2.5 Collision Avoidance
DJI does not include any proximity sensors, object detection, or terrain mapping features with the aircraft, which means that Autopilot is
not capable of avoiding collisions automatically. When engaged in Modes that result in lateral flight paths, Autopilot assumes you have
verified that there are no obstructions, such as trees or power lines, at or around the specified altitude.
If the aircraft is on a collision course, override Autopilot immediately and apply the appropriate flight controls to avoid the collision. In
most cases, the safest action is to fly straight up.
2.6 Return to Home Failsafe
DJI provides flyhome and autoland behavior (return to home or RTH) on all aircraft types by default. RTH is activated automatically on
low battery or signal loss, and it can be activated manually via the hardware button on the Remote Control. In either case, Autopilot can
not control the aircraft when it enters this mode, so you will need to be prepared to disengage and/or override Autopilot before the
battery reaches 20 percent power remaining or the signal between the RC and aircraft is lost.
 Critical There is currently an issue with the latest firmware that prevents the aircraft from executing RTH after signal loss when
using Autopilot (or any SDK app). DJI has confirmed that this issue will be corrected in the next firmware release.
2.7 Altitude and Distance
DJI enforces flight limits on all aircraft types by default. This means that your aircraft — and therefore Autopilot — can only operate in a
restricted cylinder around the aircraft home location. If you intend to use Autopilot over long distances or large elevation changes, make
sure that you stay within the restricted cylinder. Learn more about flight limits on the DJI wiki
(http://wiki.dji.com/en/index.php/Phantom_3_Advanced_Flight_Limits_and_NoFly_Zones)
 Important Due to FAA regulations, DJI enforces additional restrictions while flying in the United States. The maximum allowed
height is 400ft (relative to where the aircraft was powered on), and there are nofly zones around airports, military bases, and certain
locations such as Washington D.C.
Learn more about nofly zones on the DJI website (http://www.dji.com/flysafe/categorymc)
2.8 Wind and Ground Speed
Windy conditions will result in degraded flight performance as the aircraft must use some or all of its pitch/roll capability to maintain
Windy conditions will result in degraded flight performance as the aircraft must use some or all of its pitch/roll capability to maintain
position and stability. For example, if the aircraft is flying into a 10mph headwind, the maximum effective ground speed will be reduced
by at least 10mph.
Furthermore, while Autopilot does have Adaptive Horizontal Power, it takes time to construct the velocity reference frame (which means
the first Orbit may be affected more than subsequent Orbits, for example). Excessive wind may result in unavoidable course deviations
such as flying an ellipse pattern during Orbit Mode (instead of a perfect circle), or flying a curve during Zip Line Mode (instead of a
straight line).
 Warning Use caution while operating Autopilot in wind conditions over 10mph / 15kph. Operation in winds above 15mph / 25kph
is not recommended.
2.9 Background Execution
If you press the Home or Lock button on the iOS device while Autopilot is engaged, in an Airspace, or recording flight telemetry, the
app will switch to background execution mode. While the app is executing in the backround, a blue status bar will appear indicating that
Autopilot is using the device location. Tap the status bar to quickly return to Autopilot.
2.10 Operator Location
There are several features that depend on a valid operator location in order to function:
Mode Controls which allow the selection of the Device or Remote Control as a location source, such as the Follow Leader
Dynamic Home Location
User Interface elements that display the current operator location, course, and speed
Flight Telemetry files that record the operator location, course, and speed
When available, Autopilot can determine the operator location from the GPS of the device, the Remote Control, or an external GPS
receiver. If none of these location sources are available, the locationdependent features listed above will be limited or disabled.
Some devices do not have GPS, and iOS provides no way to determine this programmatically. Similarly, some Remote Controls do not
have GPS (Phantom models), but there is no way to determine which Remote Control you will be using until it is connected. Since you
can modify the Mode Controls before connecting to the Remote Control, and the iOS hardware capabilities cannot be determined,
Autopilot displays both options and allows you to select the best one given your hardware setup.
 Warning The RC GPS does not include altitude information at this time. If you intend to use the RC GPS while moving, make sure
your device has a Dynamic Altitude Reference available, such as a Barometer or GPS. If a Dynamic Altitude Reference is not
available, make sure that your course does not include altitude changes.
2.11 Phone Calls
If you receive a phone call while Autopilot is engaged, you may either decline or accept the call. If you decline the call, Autopilot will
continue to function as normal. If you accept the call, Autopilot will disengage and move the aircraft to a hover at its present position by
default. The default behavior can be changed to allow Autopilot to run in the background after accepting a call, but this is strongly
discouraged.
2.12 Settings
Autopilot does not show all possible aircraft and camera settings at this time. If you need to change a setting that Autopilot does not
show, do so by using the DJI GO or Vision app before engaging Autopilot.
2.13 Device Overheating
As a realtime flight control application, Autopilot can be very demanding on the system resources of your iOS device particularly the
processor. Be careful when operating Autopilot in high temperatures as this can lead to device overheating. When your device becomes
overheated, iOS will automatically underclock the processor and may even terminate apps or completely shut down the device in order
to prevent damage.
During an overheating scenario, you may notice the Autopilot interface becoming sluggish, the video previewer dropping frames, or the
flight telemetry frequently becoming unavailable. If you see any of these indicators, immediately disengage Autopilot and place your
device in a cool location if possible (not in direct sunlight).
2.14 Aircraft Yaw
Testing indicates that the minimum possible aircraft yaw speed is approximately 1 degree / second. This means that certain Modes
which result in continous relative motion, such as Orbit, may not be able to continuously adjust the aircraft yaw if the required
adjustment is less than 1 degree / second.
If you notice the aircraft constantly starting and stopping yaw motion, consider modifying the Mode controls to result in an increased
target yaw speed. This limitation will have little to no effect on shotframing for aircraft types that support gimbal yaw, such as the Inspire
1.
2.15 Rapid LED Flashing
2.15 Rapid LED Flashing
Rapid green flashing indicates that an SDK app is connected and successfully sending commands to the aircraft.
3. Emergencies
As with any wireless and/or electronic device, service interruptions can occur at any time that may affect the normal operation of the
device and may result in an Emergency Condition. In the event of such an Emergency Condition, immediately perform the Emergency
Recovery Checklist.
3.1 Emergency Recovery Checklist
 Download (https://autoflightlogic.com/images/autopilot/flightschool/Autopilot%20%20Checklist%20%20Inspire%201%20%20Phantom%203.pdf)
1. Override Autopilot by toggling the flight control mode switch to P on the Remote Control.
2. Fly the aircraft to a safe location and assume a hover.
3. If Autopilot is still responsive, disengage Autopilot via the app.
4. If Autopilot is not responsive, terminate the app.
5. Land the aircraft as quickly as possible.
6. Turn off the aircraft and remove the battery.
7. Turn off the Remote Control.
 Warning These steps must be completed in order to ensure maximum safety
3.2 Emergency Conditions not exhaustive
Aircraft is flying erratically or off course
Aircraft is on a collision course with another object
Aircraft is unresponsive to Autopilot commands
Low battery indicated (iOS device, Aircraft, or RC)
Altimeter readings are erratic or inaccurate
Autopilot app freezes or crashes
4. Settings
Autopilot offers many settings to customize the safety, performance, and interface of the app to your needs. It is strongly recommended
that you familiarize yourself with each setting and confirm/change the default values before your first flight with Autopilot.
Use caution when changing the default values for settings that affect the additional safegaurds that Autopilot imposes (such as the Max
Distance Destination Parameter). The default values for these settings were carefully selected after hundreds of hours of real world
flight testing to provide a balance between safety and usability.
Settings Review For Autoflight Logic's Autopilot Solution for Phantom / Inspire
 Important Settings are saved across sessions in the app, which means each time you start a new session, you should validate
that the previously selected settings still apply to your current situation.
4.1 General
Unit System
Unit System
Feet, Miles per Hour, Meters, Kilometers per Hour, etc.
Geo Coordinates
Display latitude and longitude as degrees or degrees/minutes/seconds
Default Aircraft Type
The aircraft type to start searching for when the app first opens.
Anonymous Usage Data
Toggle to send anonymous usage data to our server. Types of data include which Modes are being engaged, how often, and with
what control values. This data is not tied to any identifying piece of information about you, and we use it primarily to decide where we
will spend time improving future versions of the app. See our privacy policy (/privacy) for more information.
4.2 Map
Type
The map type to select when first opening screens such as the Flight Dashboard (/autopilot/flightschool#flightdashboard).
Icon Size
The size of the icons on the map. Larger icons are easier to select but may result in more overlapping.
Device Location
Toggle to show the device location.
RealTime Tooltips
Toggle to show dynamic tooltips while dragging map markers.
Geo Coordinates on Tooltips
Toggle to include geo coordinates on map markers tooltips.
4.3 Flight Director
Engage Countdown
The amount of time to wait before Autopilot will engage after tapping continue on the final screen of the Engage Sequence.
Low Battery Warning
The battery percentage at which to place a visual warning on the Flight Dashboard (/autopilot/flightschool#flightdashboard). If
Autopilot is engaged in the background, a notification will also be generated.
Dynamic Home Location
Toggle to enable updating the Home Location of the aircraft while Autopilot is running. If enabled and the iOS Device or RC has a
valid location, the Home Location will be updated, at most, every 1 second.
Telemetry Timeout
The amount of time that Autopilot can use aircraft telemetry. If new aircraft telemetry is not available, Autopilot will instruct the aircraft
to assume a hover and a visual warning will be displayed on the Flight Dashboard (/autopilot/flightschool#flightdashboard). Lower
values are safer while higher values prevent mission disruption.
Pause on Telemetry Timeout
Toggle to instruct Autopilot to automatically pause when aircraft telemetry has timed out.
Disengage on RC Control Mode
Toggle to instruct Autopilot to Disengage if the Remote Control Mode changes (for example, switching from F to P).
Disengage on Answer Phone Call
Toggle to instruct Autopilot to Disengage if a Phone Call is answered while Engaged.
Reset Gimbal on Disengage
Toggle to enable resetting the gimbal to FPV Follow mode (pointing straight ahead) when Autopilot is disengaged.
4.4 Movement Parameters
Responsiveness
The shortest amount of time that Autopilot is allowed to completely reverse the power output on a given axis. For example, if 1
second is selected, the aircraft will not shift from 100% forward pitch to 100% backward pitch in less than 1 second. Higher values will
favor smoother motion changes while lower values will favor precise aircraft positioning.
Altitude Priority
The maximum allowable difference between the current aircraft altitude and the target altitude. If the difference is exceeded either
positively or negatively, Autopilot will ascend or descend to close the gap before performing any other operations such as lateral
movement, and a visual warning will also be displayed on the Flight Dashboard (/autopilot/flightschool#flightdashboard). If the
Aircraft is in motion when Altitude Priority is activated, you may see the aircraft stop abruptly. Autopilot must assume that danger is
imminent and, therefore, it prefers powered braking over smooth flight.
Min Altitude
The minimum altitude at which Autopilot is allowed to operate, also known as the hard deck. If the aircraft is below this altitude while
Autopilot is engaged, a visual warning will be displayed on the Flight Dashboard (/autopilot/flightschool#flightdashboard). If the
selected Mode is a Computer or Combined Flight Control Mode, Autopilot will automatically ascend above this altitude before
performing any other operations.
Values less than 5m / 16 ft are considered to be unsafe and should not be used in most cases. As discussed in the Limitations
(/autopilot/flightschool#limitations) section, Autopilot does not have Collision Avoidance (/autopilot/flightschool#limitationscollision
avoidance), which makes low altitude operations exceptionally risky. Additionally, due to the inaccuracy of GPS altimeters, Autopilot
will not engage with a GPS Altitude Reference (/autopilot/flightschool#preflightaltitudereference) when using a Min Altitude less
than 5m / 16 ft.
Max Altitude
The maximum altitude at which Autopilot is allowed to operate. Any limits imposed by the aircraft firmware take precedence over this
setting.
Max Distance
The maximum distance from the Aircraft Home Location at which Autopilot is allowed to operate. If the aircraft is further away than
this distance, Autopilot will instruct the aircraft to assume a hover and a visual warning will be displayed on the Flight Dashboard
(/autopilot/flightschool#flightdashboard). Any limits imposed by the aircraft firmware take precedence over this setting.
Max Vertical Power
The maximum power that Autopilot is allowed to use for ascending and descending. This setting only applies to the Inspire 1 and
Phantom 3 aircraft types.
Adaptive Horizontal Power
When enabled, Autopilot will constantly monitor the pitch and roll power output relative to ground speed in a given direction while
engaged. Over time, Autopilot will use machine learning to construct a velocity reference frame that can be used to dynamically
adjust the horizontal power output. These adjustments can help overcome environmental factors such as variable wind speed and air
density, but only after sufficient flight time in a given direction.
Yaw Sensitivity
The range of degrees (plus or minus) that Autopilot attempts to stay within when attempting to yaw the aircraft to a given heading.
For example, if 3 degrees is selected, and Autopilot wants the aircraft to point at 90 degrees (due east), any aircraft heading between
87 93 degrees will result in zero yaw.
Heading if Gimbal Yaw Enabled
The preferred heading that Autopilot should use for aircraft types that support gimbal yaw. This setting only applies when Yaw
Enabled if Available (/autopilot/flightschool#settingsgimbalparametersyawenabledifavailable) is on.
4.5 Destination Parameters
Max Distance
The maximum distance that Autopilot can set destinations from the current Aircraft location. If the destination is further than this
distance, Autopilot will instruct the aircraft to assume a hover and display a visual warning on the Flight Dashboard
(/autopilot/flightschool#flightdashboard).
Max Horizontal Accuracy
The maximum allowable horizontal accuracy for destination locations. For example, the destination location during Follow Mode will
have the same horizontal accuracy as the Leader location. If the accuracy is exceeded, Autopilot will stop lateral movement and a
visual warning will be displayed on the Flight Dashboard (/autopilot/flightschool#flightdashboard).
4.6 Gimbal Parameters
Responsiveness
The shortest amount of time that Autopilot is allowed to completely reverse the target gimbal angle on a given axis. For example, if 1
second is selected, the target gimbal pitch will not shift from 0 degrees to 90 degrees in less than 1 second. Lower values may result
in more abrupt gimbal changes and less steady video.
Pitch Sensitivity
Similar to the Yaw Sensitivity Movement Parameter (/autopilot/flightschool/0/%23settingsmovementparametersyawsensitivity), but
with respect to the gimbal pitch instead of the aircraft heading.
Yaw Sensitivity
Similar to the Yaw Sensitivity Movement Parameter (/autopilot/flightschool#settingsmovementparametersyawsensitivity), but with
respect to the gimbal yaw instead of the aircraft heading.
Yaw Enabled if Available
Toggle to allow Autopilot to set the gimbal yaw on the Inspire 1. If this setting is off, Autopilot will rely on the aircraft yaw to frame
shots.
4.7 Mode Controls
Level
Toggle to show Basic, Intermediate, or Advanced controls in the selected Mode.
Max Altitude
The maximum value that can be input for altituderelated Mode Controls, specified as a percentage of the Max Altitude Movement
Parameter (/autopilot/flightschool#settingsmovementparametersmaxaltitude).
Max Distance
The maximum value that can be input for distancerelated Mode Controls, specified as a percentage of the Max Distance Destination
Parameter (/autopilot/flightschool/0/%23settingsdestinationparametersmaxdistance).
RC Input Enabled if Available
Toggle to allow Autopilot to set Mode Controls by using input from the Remote Control. For example, if you move the Left Remote
Control Wheel (Gimbal Wheel) in Focus Mode (/autopilot/flightschool/0/%23modefocus), Autopilot will automatically keep the shot
framed at the same angle until you move it again. If you move the Left Remote Control Joystick Up in Follow Mode
(/autopilot/flightschool/0/%23modefollow), Autopilot will increase the Altitude. Each Mode Control that supports RC Input is marked in
the Modes (/autopilot/flightschool/0/%23modes) section.
MultiValue Selection Style
Render Mode Controls that have a defined list of possible values as a Popup (default starting with v2.2) or Inline (behavior prior to
v2.2). Popup style has the advantage of reducing clutter at the expense of requiring two taps to make a change to a Mode Control.
4.8 Flight Dashboard
Default View
If the screen size and/or orientation only allows one view to be displayed, start with this view selected.
Hardware Video Decoding
Toggle to enable hardware video decoding. This significantly reduces the processing power required to render frames in the video
previewer, which can minimize the chance of device overheating (/autopilot/flightschool#limitationsdeviceoverheating).
Telemetry Detail
Set the level of detail to control how many data points are displayed on the Flight Dashboard Telemetry Tapes
(/autopilot/flightschool#flightdashboardtelemetrytapes).
Theme
Set the Flight Dashboard (/autopilot/flightschool#flightdashboard) to a dark or light interface. The light theme provides contrast
options for various ambient light situations.
Inline Controls Preferred
Toggle to display the Mode Controls panel inline. The screen size must be large enough (iPad only at this time), and the selected
Mode must have controls available for selection in order for this setting to apply.
4.9 Flight Recorder
4.9 Flight Recorder
Data Logging
Toggle to enable logging Flight, Engagement, and Airspace data.
Start Video on Engage
Toggle to start aircraft camera recording on Engage.
Stop Video on Disengage
Toggle to stop aircraft camera recording on Disengage.
Record Audio while Engaged
Toggle to record audio from the microphone on your iOS Device while Engaged.
Discard Audio on Disengage
Toggle to delete the iOS Device audio that was recorded while Engaged.
Audio Format
The type of audio file to create if recording audio.
Audio Bit Rate
The bit rate to use for the audio file if recording audio.
Continuous Photos
When enabled, Autopilot will take a photo at the selected interval like an intervalometer. Enabling this setting will disable video
recording. When selecting fast intervals such as 2 seconds, you may need to capture photos in a compressed format or at a lower
resolution, as the maximum write speed of the SD card becomes a limitation.
4.10 Healthy Drones
User Token
Enter your Health Drones User Token (https://healthydrones.com/main?a=account&apage_id=Auto_Upload_Token) to enable
automatic upload of flight telemetry. The token will be verified upon closing the Settings dialog. When verification is complete, a
success or error message will be displayed at the bottom of the app.
Use Cellular Data
Toggle to allow automatic upload to use cellular data.
4.11 Waypoint Mode
Waypoint Markers
Toggle to show the Waypoint Markers on the Map.
Segment Markers
Toggle to show the Segment Markers on the Map.
Focus Trigger Markers
Toggle to show the Focus Trigger and Focus Trigger Subject Markers on the Map.
Drawing Markers
Toggle to show the Drawing Markers on the Map.
5. Modes
Autopilot offers multiple Modes to accommodate different usage scenarios. The Modes are grouped into categories for human,
computer, and combined flight control, and the Mode Controls are segmented into Basic, Intermediate, and Advanced levels.
Additionally, many of the Mode Controls respond to Remote Control Input.
It is strongly recommended that you familiarize yourself with the capabilities and controls of each Mode before your first flight with
Autopilot. This will enable you to choose the best Mode to accomplish the goal(s) for your specific usage scenario. Additionally, it is
strongly recommended that you practice with the various Modes in the order listed below, as each Mode is progressively more
advanced.
Mode Controls can be saved as a Flight Plan, which is particularly useful for Modes that have many inputs.
 Important Mode Controls serve as suggestions only.
Autopilot may not be able to completely or precisely satisfy the goals implied by the controls at all times due to safety, performance,
and sensor limitations. It is possible to choose combinations of control values that are beyond the limits of the aircraft and sensors.
Additionally, if you modify the Mode Controls midflight, Autopilot will respond in realtime. Be careful to consider the effect that such
changes will have on the flight path to ensure safety to the aircraft, people and property.
Mode Feature Overview Legend
 Computer Control
 Human Control via RC
 Human Control via iOS Device
Flight Controls Gimbal Flight Recorder
Mode Pitch Yaw Altitude Pitch Yaw Data Audio Video

& Roll Inspire 1 iOS Device Aircraft
Human Flight Control
Black Box          
Focus              
Computer Flight Control
Follow                
Orbit                
Target                
Zip Line                
Combined Flight Control
Waypoint                  
Cruise                    
Mimic                
Intercept               
 Scroll right to see more.
5.1 Black Box Human Flight Control
Fly the aircraft with the Remote Control while Autopilot records audio and flight telemetry. See the Flight Recorder section for
instructions on retrieving the audio and data files.
5.1.1 Controls
There are no Modespecific controls at this time
5.2 Focus Human Flight Control
Fly the aircraft with the Remote Control while Autopilot controls the gimbal. No matter where you fly, Autopilot will ensure the camera is
pointing in the proper direction given the selected Strategy.
Unlike the Inspire, the Phantom aircraft types do not have 360 degree gimbal yaw capability. Furthermore, due to a limitation in the DJI
SDK, it is not possible for the app to control one axis of aircraft movement (yaw), while the operator has control of the others (pitch and
roll). Consider using Cruise Mode with the Focus Yaw Strategy instead (available in intermediate and advanced).
This mode is ideal for scenarios requiring highperformance maneuvers. During fast motion it may take several seconds for the aircraft
and/or camera to yaw to the appropriate angle. By default, Autopilot employs conservative Yaw Sensitivity Movement and Gimbal
Parameters to maximize the probability of capturing usable video during flight.
If your Focus Subject is not moving and the aircraft is still not pointed in the correct direction, you may need to recalibrate the compass.
If the problem persists after compass calibration, it may be due to a lack of GPS signal strength and/or accuracy.
Autoflight Logic's Autopilot Solution - Focus Mode How To - (For Phantom 3 & Inspire 1)
5.2.1 Controls
Basic Intermediate Advanced
Subject Applies when Strategy is Subject
Move the Left Remote Control Wheel to adjust the gimbal angle, and Autopilot will maintain the same angle until you move it again.
Autopilot accomplishes this by applying an Altitude Offset. Switch to Advanced to learn more about Altitude Offsets
Operator Autopilot will focus on the location of your iOS Device or Remote Control, whichever is available and more accurate.
POI Autopilot will focus on a pointofinterest location that you select. To set the POI while engaged, drag the Focus Subject Marker
on the Flight Dashboard map.
Airspace Autopilot will focus on the location of one or more selected Airspace Objects.
Tap Use Aircraft Position to use the current aircraft location and altitude as the Subject POI.
Tap Reset to set the Pitch and Roll to zero.
5.3 Follow Computer Flight Control  Video (https://www.youtube.com/watch?v=dVMl5VQGPso)
Autopilot directs the aircraft to follow a Leader at a given Bearing Angle, Altitude and Distance. The Bearing Angle is either relative
to North or the Course you create.
Follow Mode From Autoflight Logic's Autopilot - How To (For Inspire and Phantom 3)
5.3.1 Controls
Leader
Operator Autopilot will fly the aircraft relative to the location of your iOS Device or Remote Control, whichever is available and more
accurate.
Airspace Autopilot will fly the aircraft relative to the location of one or more selected Airspace Objects.
Bearing Angle
Move the Right Remote Control Joystick to the Left or Right to change the Bearing Angle.
Move the Right Remote Control Joystick to the Left or Right to change the Bearing Angle.
Front Autopilot will fly the aircraft in front of the Leader.
Left Autopilot will fly the aircraft to the left of the leader.
Right Autopilot will fly the aircraft to the right of the leader.
Behind Autopilot will fly the aircraft behind the leader.
Altitude
The height at which Autopilot will maintain the aircraft. Move the Left Remote Control Joystick Up to increase the Altitude, and move it
Down to decrease the Altitude.
Distance
The lateral distance at which Autopilot will maintain the aircraft from the Leader. Move the Right Remote Control Joystick Up to
decrease the Distance, and move it Down to increase the Distance.
Tap Use Aircraft Position to use the current aircraft location as Bearing Angle, Altitude, Distance. Values outside of the Mode Control

limits will be bounded.
5.4 Orbit Computer Flight Control
Orbit builds on Follow by adding a bearing angle that continually changes based on a Clockwise or Counterclockwise Pattern. Be aware
that it is paricularly common with Orbit to select control values that will be affected by the Aircraft Yaw Limitation.
Autoflight Logic's Autopilot Solution - Orbit Mode How To - (For Phantom 3 & Inspire 1)
5.4.1 Controls
Center
Operator Autopilot will fly the aircraft around the location of your iOS Device or Remote Control, whichever is available and more
accurate.
POI Autopilot will fly the aircraft around a pointofinterest that you select. To set the POI while engaged, drag the Orbit Center
Marker on the Flight Dashboard map.
Airspace Autopilot will fly the aircraft around the location of one or more selected Airspace Objects.
Altitude
Radius
The lateral distance at which Autopilot will maintain the aircraft from the Center. Move the Right Remote Control Joystick Up to
decrease the Radius, and move it Down to increase the Radius.
Tap Use Aircraft Position to use the current aircraft location as the Center POI, or the Altitude and Distance of the Orbit. Values outside

the Mode Control limits will be bounded.
Pattern
Clockwise Bearing angle will increase over time.
Counterclockwise Bearing angle will decrease over time.
Preferred Speed
The preferred speed that Autopilot will use to accomplish the Orbit motion. When the Center location is moving, the speed is relative
(additive) to the course and speed of the Center. When the control changes from green to red, this indicates that Autopilot will prefer
faster speeds over positional accuracy.
When the Pattern is Clockwise, move the Right Remote Control Joystick to the Left to increase the Preferred Speed, and move it to
the Right to decrease the Preferred Speed.
When the Pattern is Counterclockwise, move the Right Remote Control Joystick to the Left to decrease the Preferred Speed, and
move it to the Right to increase the Preferred Speed.
If the speed goes below the minimum when decreasing, the Pattern will automatically be changed to the opposite Pattern.
5.5 Target Computer Flight Control
Autopilot directs the aircraft to fly to a Mark location and Altitude. Move the Mark in realtime to "finger fly" your aircraft to multiple
points. Think Waypoint Mode but in realtime.
Target and Zip Line Mode From Autoflight Logic's Autopilot - How To (Inspire, Phantom 3, Pha...
5.5.1 Controls
Altitude
Preferred Closing Speed
The preferred speed that Autopilot will use to accomplish movement to the Mark. When the control changes from green to red, this
indicates that Autopilot will prefer faster speeds over positional accuracy. Move the Right Remote Control Joystick to the Left to
decrease the Preferred Closing Speed, and move it to the Right to increase the Preferred Closing Speed.
Tap Use Aircraft Position to use the current aircraft location as the Mark location, and the current aircraft altitude as the Altitude. Values

outside the Mode Control limits will be bounded.
5.6 Zip Line Computer Flight Control
Zip Line builds on Target by adding a second point which defines a line that the aircraft can travel along.
If Point A and Point B are at different altitudes, Autopilot will attempt to follow a straight line in three dimensions within the limitation of
the max vertical speed of the aircraft. If the horizontal and vertical distance between the points does not allow a completely straight line,
Autopilot will finish the vertical movement when it reaches the target Point.
 Critical When Point A and Point B are at different altitudes, it is important to ensure that the entire length of the planned line of
flight is clear at all altitudes between the two Points.
5.6.1 Controls
Point A Altitude
The height at which Autopilot will fly when at Point A. Move the Left Remote Control Joystick Up to increase the Altitude, and move it
Tap Set Point A to use the current aircraft location as the Point A POI, and the current aircraft altitude as the Altitude. Values outside

Point B Altitude
The height at which Autopilot will fly when at Point B. Move the Right Remote Control Joystick Up to increase the Altitude, and move it
Tap Set Point B to use the current aircraft location as the Point B POI, and the current aircraft altitude as the Altitude. Values outside

Preferred Closing Speed
The preferred speed that Autopilot will use to accomplish movement along the line. When the control changes from green to red, this
indicates that Autopilot will prefer faster speeds over positional accuracy. Move the Right Remote Control Joystick to the Left to
decrease the Preferred Closing Speed, and move it to the Right to increase the Preferred Closing Speed.
5.7 Waypoint Combined Flight Control
Waypoint builds on Zip Line by adding multiple points (Waypoints) which define a Flight Path for the aircraft to travel along.
Waypoint Mode (Part 1) - Overview & Benefits - Autoflight Logic's Autopilot Inspire and Phantom
Waypoint Mode (Part 2) - How To - Autoflight Logic's Autopilot (For Inspire and Phantom 3)
Primary Purpose
The primary purpose of Waypoint Mode is to script cinematic aerial sequences for the purpose of video production. To see an example
of the level of sophistication that is possible, check out this Flight Plan over Augusta National Golf Club
(/autopilot/flightplan/id/Tal0FwQ6Xv) (home of The Masters (http://www.masters.com/)).
 Warning Autopilot uses a Custom Flight Controller, which means that Lost Connection Mission Continuation (LCMC) is not
currently supported. If the aircraft loses connection during a Waypoint Mission, it will automatically initiate the Return to Home
failsafe assuming it is enabled in DJI GO. See the Unique Features section for more details on this decision.
 Critical There is currently an issue with the latest firmware that prevents the aircraft from executing RTH after signal loss when
using Autopilot (or any SDK app). DJI has confirmed that this issue will be corrected in the next firmware release.
Because Autopilot does not support LCMC, Waypoint Mode does not work well for long range photogrammetry and other applications
where aircraft signal loss is expected. We may create a new Mode or App that is targeted toward the commercial / industrial market
where LCMC may be the rule rather than the exception, but we do not want to compromise on the unique features of Waypoint Mode to
accomplish this.
Unique Features
While the DJI SDK offers a basic implementation of Waypoint Mode for thirdparty developers, it has several key limitations, particularly
around the Flight Path and Focus Stratgies. Since Autopilot already uses a Custom Flight Controller, we are able to sidestep these
limitations and offer many features that are unique to Autopilot.
Feature Autopilot DJI SDK
Curved Flight Paths Supports true Bézier Curves Supports corner rounding only.

(https://en.wikipedia.org/wiki/Bézier_curve).
Multiple Mission Types Supports Patrol, Mark, and Joystick Mission Types Not Supported
Dynamic Missions Supports updating the Fight Path and Focus Strategies in real Not Supported

time during mission execution.
Multiple Focus Strategies Supports unlimited Focus Strategies via Focus Triggers, which Supports Joystick and Direction

can be defined at arbitrary points on the Flight Path. Neighboring Strategies only, and the Focus
Focus Triggers using the same Focus Strategy can also be Strategies are limited to Waypoint
interpolated for smooth camera transitions. locations on the Flight Path.
Combined Flight Control Supports direct Operator control over the flight speed and Not Supported

direction via the Remote Control during Joystick missions.
Segment Acceleration Supports smooth acceleration (positive or negative) over the Not Supported

entire length of a Segment between two Waypoints with different
speeds.
Closed Flight Paths Supports using the First Waypoint as the Last Waypoint, which Not Supported

allows the aircraft to continously loop through the Flight Path
during Patrol missions.
Moving Flight Paths Supports anchoring the Flight Path to a Reference Point, which Not Supported

can be a moving Location Source such as the Operator or even
an Airspace Object (think Follow Mode meets Waypoints).
See Example (https://www.youtube.com/watch?
v=AM0UGZVXZJs)
Concepts & Terminology
Due to the unique features in Waypoint Mode, it is necessary to introduce a few new concepts and terminology.
Where the traditional approach is to define Waypoints in terms of absolute coordinates on a map, Autopilot defines Waypoints in relation
to a Reference Point. In addition to enabling Moving Flight Paths, the Reference Point allows Flight Path Transforms including position,
expansion, and rotation.
The portion of the Flight Path between two Waypoints is called a Segment, and the aircraft altitude and speed during each Segment is
determined by the Waypoint settings. Flight Paths can be either Open or Closed, depending on selected End Point.
The direction and duration of movement along the Flight Path is determined by the Mission Type, and some Mission Types offer
Mission Completion actions. It is possible to change the Mission Type while Autopilot is Engaged, and it is also possible to execute more
than one mission during a single Engagement.
Path Inspection and Mission Preview
Where most other Modes require a relatively small amount of configuration before flight, Waypoint Mode typically requires at least a
moderate amount of planning before each Mission. Since this planning usually occurs at a different location than the actual flight, it is
particularly important to examine all aspects of the Flight Plan before engaging Autopilot.
To facilitate this preflight activity, Autopilot offers Path Inspection and Mission Preview functionality. The Path Inspector is a Map Marker
that shows the exact Altitude, Speed, Course, etc. of the aircraft at a given point on the Flight Path. The Altitude information is especially
important for scenarios such as crossing treelines, but be aware that the reported Altitude may not be achievable. To activate the
Mission Preview, tap the Path Inspector tooltip and you can watch a preview of the Mission play out in realtime (or at 2x and 4x speed).
The preview will not only show the aircraft position and heading, but also the gimbal direction and Focus Subject when applicable.
5.7.1 Controls
Mission Type
Patrol The aircraft will fly along the Flight Path a set number of times, or indefinitely, according to the Patrol Limit.
Mark The aircraft will fly along the Flight Path to a specified mark. If the Flight Path is Closed, the aircraft will fly in the direction that
will result in the least distance travelled.
Joystick The aircraft will fly along the Flight Path according to the Right Remote Control Joystick. Pushing Up will cause the aircraft
to fly forward along the Flight Path, and pushing Down will cause the aircraft to fly backward along the Flight Path. If the Joystick is
not pushed to the limit, the speed at the current Flight Path location will be reduced to match the Joystick percentage.
Default Altitude
The height at which Autopilot will maintain the aircraft at any Waypoint that does not specify an Altitude.
 Critical When engaged, Autopilot will navigate directly to the First Waypoint at the Altitude configured for that Waypoint. It is
important to ensure that the entire Flight Path between the starting location and the First Waypoint is clear of obstructions at all
altitudes.
Default Preferred Speed
The preferred speed that Autopilot will use to accomplish movement at any Waypoint that does not specify a Preferred Speed. When
the control changes from green to red, this indicates that Autopilot will prefer faster speeds over positional accuracy.
Waypoints
The total number of Waypoints that define the Flight Path. Tap to open the Waypoint Editor. There are multiple ways to create
Waypoints, including:
Direct map input via longpress map gestures or Insert / Append Markers
Segment splitting with Segment Markers
Drawing with Drawing Markers, including the option to insert / append new Segments to an existing Flight Path and the option
to choose the number of Waypoints that will be created
Import from KML/KMZ file
Tap Use Aircraft Position to use the current aircraft position and, optionally, gimbal position for a new Direction Focus Trigger
 Tip Always try use the minimum number of Waypoints that are necessary to create your desired Flight Path. This will help
reduce map clutter and make editing easier.
Waypoint Altitude Source Visible in the Waypoint Editor
Waypoint Altitude Source Visible in the Waypoint Editor
Default Use the Default Altitude.
Previous Use the Altitude of the previous Waypoint.
Input Input a specific Altitude for the selected Waypoint.
Waypoint Altitude Visible in the Waypoint Editor
The Altitude for the selected Waypoint. The value will be grayedout if the source is either Default or Previous, indicating that it is
dependent. If neighboring Waypoints are at different Altitudes, Autopilot will linearly interpolate the Altitudes to smoothly ascend or
descend along the Segment between the Waypoints.
 Critical When neighboring Waypoints are at different Altitudes, it is important to ensure that the entire length of the Segment is
clear of obstructions at all altitudes between the two Waypoints. Additionally, Flight Path Time estimates do not account for vertical
ascent / descent rates. If the distance between Waypoints is too short given the speed of the Segment, Autopilot may be forced to
stop lateral motion and finish the Altitude change before moving on to the next Segment.
Waypoint Preferred Speed Source Visible in the Waypoint Editor
Default Use the Default Preferred Speed.
Previous Use the Preferred Speed of the previous Waypoint.
Input Input a specific Preferred Speed for the selected Waypoint.
Waypoint Preferred Speed Visible in the Waypoint Editor
The Preferred Speed for the selected Waypoint. The value will be grayedout if the source is either Default or Previous, indicating that
it is dependent. If the value is input and the control changes from green to red, this indicates that Autopilot will prefer faster speeds
over positional accuracy. If neighboring Waypoints use different Preferred Speeds, Autopilot will linearly interpolate the Preferred
Speeds to smoothly accelerate or decelerate along the Segment between the Waypoints.
5.8 Cruise Combined Flight Control
Fly the aircraft with the Remote Control while Autopilot uses one or more strategies to control the throttle, pitch/roll, and yaw. You can
achieve many different flight behaviors by using various combinations of strategies (See Examples).
Cruise Mode From Autoflight Logic's Autopilot - How To (For Inspire and Phantom 3)
5.8.1 Controls
Vertical Strategy
Joystick The aircraft will respond directly to the Left Remote Control Joystick.
Altitude The aircraft will fly at a specified Altitude.
Percent The aircraft will ascend or descend at a specified Percent.
Visible when Vertical Strategy is Joystick
Tap Hold Altitude to switch the Vertical Strategy to Altitude and use the current aircraft altitude as the Altitude. Values outside the

Mode Control limits will be bounded.
Tap Hold Percent to switch the Vertical Strategy to Percent and use the current Remote Control input as the Throttle Percent.

Tap Hold Percent to switch the Vertical Strategy to Percent and use the current Remote Control input as the Throttle Percent.
Altitude Applies when Vertical Strategy is Altitude
Tap Use Aircraft Position to use the current aircraft altitude as the Altitude. Values outside the Mode Control limits will be bounded.
Throttle Percent Applies when Vertical Strategy is Percent
The percent (up or down) at which Autopilot will apply the throttle. Move the Left Remote Control Joystick Up to increase the Throttle
Percent, and move it Down to decrease the Throttle Percent. Descent and ascent are limited by the Min Altitude and Max Altitude
Movement Parameters respectively.
Tap Reset to set the Throttle Percent to zero.
Pitch/Roll Strategy
Joystick The aircraft will respond directly to the Right Remote Control Joystick.
Vector The aircraft will fly at a specified Course and Speed.
Percent The aircraft will pitch and roll at specified Percent.
Visible when Pitch/Roll Strategy is Joystick
Tap Hold Vector to switch the Pitch/Roll Strategy to Vector and use the current aircraft movement and speed as the Course and

Speed.
Tap Hold Percent to switch the Pitch/Roll Strategy to Percent and use the current Remote Control input as the Pitch and Roll Percent.
Course Applies when Pitch/Roll Strategy is Vector
The direction in which Autopilot will fly the aircraft. Move the Right Remote Control Joystick to the Left to decrease the Course Angle,
and move it to the Right to increase the Course Angle.
Tap Use Device Heading to use the current device heading as the Course.
Speed Applies when Pitch/Roll Strategy is Vector
The direction at which Autopilot will fly the aircraft. Move the Right Remote Control Joystick Up to increase the Speed, and move it
Down to decrease the Speed. Movement is limited by the Max Distance Movement Parameter.
Tap Use Aircraft Speed to use the current aircraft speed as the Speed.
Pitch Applies when Pitch/Roll Strategy is Percent
The percent (front or back) at which Autopilot will apply the elevator. Move the Right Remote Control Joystick Up to pitch more to the
front, and move it Down to pitch more to the back.
Roll Applies when Pitch/Roll Strategy is Percent
The percent (left or right) at which Autopilot will apply the aileron. Move the Right Remote Control Joystick to the Left to roll more to
the left, and move it to the Right to roll more to the right.
Movement is limited by the Max Distance Movement Parameter.
Tap Reset to set the Pitch and Roll Percent to zero.
Yaw Strategy
Joystick The aircraft will respond directly to the Left Remote Control Joystick.
Focus The aircraft will point in the Focus direction.
Heading The aircraft will point in a specified direction.
Course The aircraft will point in the same direction that it is moving.
Percent The aircraft will continuously yaw at a specified Percent.
Visible when Yaw Strategy is Joystick
Tap Hold Heading to switch the Yaw Strategy to Heading and use the current aircraft heading as the Heading.
Tap Hold Percent to switch the Yaw Strategy to Percent and use the current Remote Control input as the Rudder Percent.
Course Applies when Yaw Strategy is Heading
The direction in which Autopilot will point the aircraft. Move the Left Remote Control Joystick to the Left to decrease the Heading
Angle, and move it to the Right to increase the Heading Angle.
Tap Use Device Heading to use the current device heading as the Heading.
Rudder Percent Applies when Yaw Strategy is Percent
The percent (left or right) at which Autopilot will apply the rudder. Move the Left Remote Control Joystick to the Left to yaw more
toward the left, and move it to the Right to yaw more toward the right.
Tap Reset to set the Rudder Percent to zero.
5.8.2 Examples
Example 1 Focuslike behavior for aircraft types without gimbal yaw
While Focus Mode does pitch the gimbal on aircraft types without gimbal yaw, it leaves you in control of the aircraft yaw. Since it can
be challenging to keep a pointofinterest centerframed, especially a moving subject, use Cruise Mode to fly the aircraft with the RC
joysticks (altitude, pitch, and roll), while Autopilot handles the aircraft yaw and gimbal pitch.
Strategy Selection
Vertical Joystick
Pitch/Roll Joystick
Yaw Focus
Example 2 Long distance flight
Perform a long distance run without cramping your thumbs. Let Autopilot maintain a course and speed in an outbound direction and
then an operatorbased course and power output in an inbound direction.
 Important It is always your responsibility to operate Autopilot within the rules and regulations of the governing body in your
location.
Outbound Strategy Selection
Vertical Joystick
Pitch/Roll Vector 0 Degrees at 35 mph
Yaw Heading 0 Degrees
Inbound Strategy Selection
Vertical Joystick
Pitch/Roll Percent 100% Front Pitch
Yaw Focus Operator
Example 3 Complex Maneuver
Execute an ascending corkscrew maneuver to record a longexposure still photo at night with glowsticks.
Strategy Selection
Vertical Percent 15% Up
Pitch/Roll Percent 20% Right Roll
Yaw Percent 20% Left

Example 4 Panorama
Execute a constant panning motion at 100 ft while Continuous Photos is enabled.
Strategy Selection
Vertical Altitude 100 ft
Pitch/Roll Joystick
Yaw Percent 20% Right
5.9 Mimic Combined Flight Control
Tilt your iOS device in any direction. The aircraft will mimic the tilting motion of the iOS device to the directed pitch and roll. The Yaw
Strategy determines if the aircraft will match your iOS device Heading, or point at your iOS Device. Autopilot will lock the orientation of
your iOS Device while this Mode is active.
5.9.1 Controls
Altitude
Tap Use Aircraft Position to use the current aircraft altitude as the Altitude. Values outside the Mode Control limits will be bounded.
5.10 Intercept Combined Flight Control
Point your iOS device in any direction as if the iOS device were a laser pointer. Your aircraft will intersect the imaginary laser created by
your device.
5.10.1 Controls
Min Altitude
The minimum height that Autopilot can direct the aircraft to maintain (if you point at or below the horizon). Move the Left Remote
Control Joystick up to increase the Min Altitude, and move it Down to decrease the Min Altitude.
Direct Distance
The direct distance (lateral and altitude combined) at which Autopilot will maintain the aircraft from the Origin location. Move the Right
Remote Control Joystick Up to decrease the Direct Distance, and move it Down to increase the Direct Distance.
6. Flight Dashboard
Autopilot features a responsive, informationdense Flight Dashboard that automatically adapts to the current device dimensions and
orientation. Each layout has been carefully considered with the goal of using the available space efficiently while minimizing information
overload.
As with the Settings and Modes, it is strongly recommended that you familiarize yourself with the presentation and organization of the
Flight Dashboard before your first flight with Autopilot.
Autopilot - User Interface Overview
6.1 Section Details
(https://autoflightlogic.com/images/autopilot/flightschool/flightdashboard.png)
1. More Menu
Record Screen
Airspace
Flight Plans
Settings
Telemetry Detail
Dark/Light Theme
Show/Hide Inline Controls
Reset Gimbal FPV
2. Mode Name
The name of the selected Mode
3. Mode Actions
Disengaged Done return to PreFlight screens
Engaged Mode Pause/Resume button
4. Instrument Panel Scrollable
RC Signal Strength (Minimum of Uplink and Downlink), Satellite Count, Altitude, Distance, Horizontal Speed, Vertical Speed
Waiting Engaged Warning Danger
5. Battery Indicator
The aircraft battery level
Normal Warning Danger
6. Left Telemetry Tape Scrollable
Realtime telemetry for aircraft, recording, RC information, sensors, gimbal, home location, and motion data
7. Content
Displays the camera and/or map view. The Map includes various markers.
8. Right Telemetry Tape Scrollable
Realtime telemetry for movement and gimbal commands, and Mode data, device information, and altitude reference
9. Content Control
Camera Start/Stop Recording, Total Recording Time, and SD Card Remaining Indicator
Map Tracking, Position, and Layers
10. Flight Mode
The aircraft Flight Mode set by the RC
11. Alert Message
The current Flight Director alert message
Waiting Engaged Warning Danger
12. Status
Disengaged The current Flight Director status
Engaged The elapsed time since the Flight Director was engaged
13. Content Toggle Single Pane Layouts
Toggle between the camera and map
14. Flight Director Actions
Disengaged Start Engage Sequence
Engaged Disengage
Engaged Disengage
15. Mode Contols No Inline Controls
Show the Mode Controls for the current Mode
6.2 Map Markers
Device
The current device position. This is a builtin feature on iOS maps, and it represents the best known location of your device
as automatically determined by iOS. In cases where the device does not have GPS, iOS uses known wifi hotspot locations
and cell tower triangulation to estimate a location, but it may have poor horizontal accuracy.
Home Draggable
The aircraft home location, draggable if Dynamic Home Location is enabled.
Remote Control
The Remote Control location
Aircraft
The current aircraft location
Aircraft Projected
The projected location of the aircraft in one second
Destination
The destination location in Follow, Orbit, Target, Zip Line, or Intercept Mode
Field of View
The field of view based on the current gimbal direction
Focus Subject Draggable
The Subject location in Focus, Follow, Orbit, Target, Zip Line, Waypoint, Cruise, Intercept, or Mimic Mode, which is available
when Focus Strategy is set to Subject
Focus Trigger Draggable
A Focus Trigger in Waypoint Mode, which is available when Focus Strategy is set to Triggers. The letter indicates the Focus
Strategy of the Trigger, and the dashes, if present, indicate when previous and / or next interpolation is enabled.
Follow Leader
The Leader location in Follow Mode
Orbit Center Draggable
The Center location in Orbit Mode
Target Mark Draggable
The Mark location in Target Mode
Zip Line Point Draggable
The A, B, or Center location in Zip Line Mode
Waypoint Reference Draggable
The Reference location in Waypoint Mode. Tapping the tooltip will reveal options to Reverse Waypoints, Move the
Reference to Center, and Delete All Waypoints.
Waypoint Path Inspector Draggable
The Path Inspector in Waypoint Mode. Tapping the tooltip will start a realtime Mission Preview. Tapping the Mission
Preview aircraft tooltip will speed up the Mission Preview, or stop it.
Waypoint Draggable
A Waypoint in Waypoint Mode. The top number indicates the Waypoint number, and the bottom number indicates the
altitude.
Waypoint Insert / Append Draggable
Append or insert a Waypoint in Waypoint Mode
Waypoint Drawing Tool Draggable
Draw a line to create Waypoints in Waypoint Mode
Waypoint Segment Draggable
A Segment between two Waypoints in Waypoint Mode. The number indicates the Segment number and dragging the
marker will split the Segment by creating a new Waypoint.
Waypoint Mark Draggable
The Mark in Waypoint Mode when the Mission Type is Mark
Intercept Origin Draggable
The Origin location in Intercept Mode
Airspace iPhone
The location of an iPhone in your Airspace
Airspace iPad
The location of an iPad in your Airspace
Airspace Aircraft
The location of an aircraft in your Airspace
 Tip In order to drag most circular map markers, first tap the marker to select it. An information bubble will appear above the
marker once it is selected. Then tap and hold on the same marker until it rises off of the map under your finger. Then drag your
finger to the desired location and let go. Pin map markers are draggable even before selection. You can also longpress the map
view to place any of the available markers.
7. PreFlight
To ensure maximum safety and an enjoyable flight experience, always execute all checklists before engaging Autopilot.
7.1 Aircraft Preflight Checklist
1. Confirm Aircraft is running the correct firmware.
2. Confirm Aircraft props are secure.
3. Insert fullycharged battery into Aircraft.
4. Remove camera lens cover and gimbal lock.
5. Confirm MicroSD card is inserted and has sufficient storage space available for video.
6. Turn on Remote Control and confirm four green lights (full charge).
7. Point Remote Control antennas up.
8. Toggle Flight Mode switch to F.
9. Turn on Aircraft.
10. Confirm four green lights on battery display panel (full charge).
11. Perform compass calibration procedure per the DJI Instruction Manual (http://wiki.dji.com/en/index.php/Phantom_3_Advanced
Calibrating_the_Compass)
12. Confirm GPS lock when the aircraft back lights flash and display as static green.
7.2 iOS Device Preflight Checklist
1. Confirm fullycharged battery for iOS device.
2. Adjust screen brightness given ambient light conditions.
3. Connect iOS Device to remote control with Lightning cable.
4. Open Autopilot app.
5. Confirm all Autopilot settings are set as desired.
6. Choose a Mode
7. Confirm that Autopilot is connected to the aircraft by looking at the status bar:
Searching for Aircraft App is not connected, return to Step 3.
Connected to Aircraft App is connected and ready to engage.
Connected to Aircraft App is connected and ready to engage.
8. Confirm Open Flight Dashboard button is illuminated.
9. Confirm control settings for selected Mode, or select a flight plan.
7.3 Autopilot Engage Checklist
1. From any Mode, tap Flight Dashboard and the Flight Dashboard screen will appear.
2. Tap Start Engage Sequence and the Engage Sequence screen will appear.
3. Answer a series of questions that will assist in selecting an appropriate Altitude Reference.
4. If Autopilot determines that you need to calibrate your aircraft altimeter, position your aircraft at the same height as the indicated
Altitude Reference (may be your iOS Device or an Airspace Object).
5. If using the GPS altimeter, wait for the altitude reading to settle and confirm that Autopilot reports the true MSL altitude for your
location.
Go here if you are unsure of your true MSL altitude (http://www.mapcoordinates.net/en)
6. Tap Confirm to complete calibration and the Takeoff screen will appear.
7. Position the aircraft in the desired takeoff location (either on the ground or fly it to a safe location).
8. Tap Continue and the Engage Countdown will begin (countdown is set to 5 seconds by default). At the conclusion of the
countdown, the aircraft will initiate propulsion and Autopilot will fly the aircraft to its initial hover position (see Flight) before
beginning to fly the aircraft according to the specified Mode.
9. Tap Abort during the countdown if you are not ready for Autopilot to engage for any reason.
 Warning When the countdown reaches zero, Autopilot will engage and the aircraft will takeoff within a few seconds. It is vital that
proper safety protocols are followed and all persons and property are clear of the aircraft.
7.4 Altitude Reference
Autopilot can utilize several different instruments to measure both aircraft and device altitude, including absolute and relative altitude.
Given your desired flight plan, it is crucial to select and properly calibrate the appropriate instruments to ensure a safe flight and
produce wellframed video. The reason Autopilot requires this, where other apps may not, is because the normal usage pattern within
Autopilot is a moving operator as opposed to a stationary operator (see Understanding Autopilot).
With a stationary operator, there is much less danger in using the poweron altitude as the reference, since the assumption is that the
operator will be flying lineofsight and the terrain cannot change that dramatically within sight range. Furthermore, even if the terrain
does change, the operator is manually controlling the aircraft and has the ability to compensate.
With a moving operator, there is a very real danger that as you move, your altitude will change. If altitude does change, Autopilot must
know about it or else you risk letting it fly the aircraft into obstacles, or worse, the ground.
 Critical Improper instrument selection and/or calibration may result in erratic flight behavior or even crashes. The calibration
procedure establishes the effective ground level for your flight, so it is strongly recommended that you perform calibration while the
aircraft is not flying (on the ground).
7.4.1 Instruments
Barometer Dynamic Altitude
Altitude is measured as the difference between the aircraft and an object relative to where each is during calibration. Object altitude is
determined from barometric pressure. The object can either be your device, or an Airspace Object.
 Autopilot will select Barometer if the object will change altitude relative to the aircraft altitude.
GPS Dynamic Altitude
Altitude is measured as the difference between the aircraft and and object relative to where each is during calibration. Object altitude
is determined from GPS. The object can either be your device, or an Airspace Object.
 Autopilot will select GPS if the object will change altitude relative to the aircraft altitude and the object does not have a Barometer.
 Warning iOS does not provide a way to programmatically determine if GPS hardware is present. It is your responsibility to
determine the capabilities of your device before allowing Autopilot to select this option.
Takeoff Fixed Altitude
Altitude is measured relative to where the aircraft took off.
 Autopilot will select Takeoff if you intend to operate Autopilot from the same location and altitude where the aircraft took off for the
entire flight.
Offset Fixed Altitude
Altitude is measured relative to where the aircraft is during calibration.
 Autopilot will select Offset if you intend to operate Autopilot from a fixed location and the current aircraft altitude should be used as
ground level.
7.5 Flight Plans
7.5 Flight Plans
Autopilot allows saving and sharing Mode Controls as named Flight Plans. By default, Flight Plans are saved on your local device, but
you can create a free Autopilot user account to enable syncing across multiple devices. You may also import a KML/KMZ file
(https://en.wikipedia.org/wiki/Keyhole_Markup_Language) as a Waypoint Mode Flight Plan.
Saving
To save a Flight Plan, first open the Mode that you intend to use and set the Controls to the desired values. Then tap the Flight Plan
icon in the toolbar and choose the Save Flight Plan option.
Loading
To load a Flight Plan, tap the Flight Plan option from the main screen and choose from a list of previously saved Flight Plans in the
Flight Plan Manager. It can load Flight Plans while engaged, but if the Flight Plan is for a different Mode, Autopilot will not switch
Modes until you disengage.
Updating
Once a Flight Plan has been saved or loaded, you can make changes and either ovewrite the existing Flight Plan, or save the changes
as a new Flight Plan. To edit the name or description of a Flight Plan, open the Flight Plan Manager and swipe to the left on the Flight
Plan. This will reveal a menu of options, including Edit, which allows you to change the name and / or description of the Flight Plan.
Sharing
To share a Flight Plan, either swipe to the left on the Flight Plan in the Flight Plan Manager, or tap the Flight Plan button in the bottom
right toolbar on the Mode Controls screen. In either case, tap the Share option, and you will be prompted to choose a sharing target,
such as text message or email. Anyone with access to the unique link that is generated will be able to open your Flight Plan, and it will
create a copy of the Flight Plan in their account. This means that any changes that either person makes will not be reflected in the other
person's account as the shared Flight Plan is actually a copy.
Importing
To Import a Flight Plan, send a KML/KMZ file to your device via Airdrop, text message, email, etc. Once the file is available on the
device, Autopilot will appear as one of the available apps capable of opening the file. Open the file in Autopilot and any points that are
found in the imported file will automatically be used as Waypoints in Waypoint Mode.
8. Flight
If the aircraft is on the ground when Autopilot is first engaged, Autopilot will perform a takeoff. Once in the air, Autopilot will apply the
necessary flight controls in order to fly the Mode specified. If the aircraft is already flying when Autopilot is first engaged, Autopilot will
begin sending commands immediately.
8.1 Autopilot Inflight Checklist
1. Confirm that the aircraft achieves the appropriate location (according to the specified Mode) before attempting to change your
location.
2. Constantly monitor the aircraft battery and telemetry to ensure maximum safety and flight operating efficiency.
3. Tap Disengage when you are ready to finish your Autopilot flight.
4. Autopilot will then disengage, and you must toggle the Flight Mode switch to P on the Remote Control to assume control of the
aircraft.
5. Perform manual landing with the Remote Control.
9. PostFlight
9.1 PostFlight Checklist
1. If you want to fly again, proceed to Preflight, otherwise continue.
2. Turn off the aircraft and remove the battery.
3. Turn off the Remote Control.
4. Reinstall the camera lens cover and gimbal lock.
10. Flight Recorder
If data or audio recording is enabled, Autopilot will create files in the app's documents directory, which can be accessed as follows:
10.1 File Access
1. Connect your iOS device to your computer or other device and open iTunes.
2. Find the Settings pane for your device and click the Apps category.
3. Scroll down to the File Sharing section and select Autopilot from the list of Apps.
4. Select the flights, engagements, and airspaces directories in the list of documents to the right
5. Click Save to... and choose a location to save the directories.
6. You should now have the following directories saved on your computer:
1. flights contains files corresponding to motors on/off events
2. engagements contains files corresponding to engage/disengage events
3. airspaces contains files corresponding to airspace entered/exited events
Files are named using the event start date and time (UTC), e.g. YYYYMMDDHHMMSSmode. The engagement files depend on the
current app settings and the mode (see below).
Engagement Audio Recording Enabled
All Modes generate audio.aac or audio.m4a, depending on the format selected in the app settings.
Engagement Data Recording Enabled
All Modes generate settings.tsv
This file contains a snapshot of the settings in the app when Autopilot was engaged
All Modes generate telemetry.tsv
The frequency of data is at most every 100ms
All Modes (except Black Box) generate commandsgimbal.tsv
The frequency of data is as often as commands are sent
All Modes (except Human Flight Control Modes) generate commandsmovement.tsv
The frequency of data is as often as commands are sent
Modes with controls (all except Black Box or Focus) generate controls[mode id].tsv
The frequency of data is as often as the controls change during flight
The columns in this file are specific to the controls available for the given Mode
The units for values in each file can be either Metric or Imperial, depending on the app setting. The column headers list the units in
(parenthesis) after the name. For example, Device Speed (kph).
10.2 ThirdParty Import
The following thirdparty services are capabable of importing Autopilot data logs directly:
DroneLogbook (http://dronelogbook.com/)
HealthyDrones (http://healthydrones.com/) with automatic upload
11. Airspace
Autopilot offers a powerful networking feature called Airspace. Airspace allows multiple devices to share telemetry in realtime, including
both location and altitude information. If a device is connected to an aircraft, it will also share the aircraft telemetry with the other devices
in the Airspace.
Once connected to an Airspace, Autopilot will continue to run even if you put the app in the background. Background execution enables
use cases where it is desirable to lock the device screen, such as an athlete performing an action sport.
Additionally, any location source Mode Control (such as the Focus Subject or Orbit Center) will display an Airspace option allowing you
to select one or more Airspace Objects. If you select more than one Airspace Object, Autopilot will continually calculate a 3D bounding
box that contains the selected Objects and use the center point as the location.
Autopilot currently supports PeertoPeer Airspaces with limited connection distance. Network Airspaces utilizing infrastructure wifi and
cellular data are planned for a future release.
11.1 Use Cases
There are many possible use cases for Airspace, including but not limited to:
Using the location of an iPhone as Focus Subject where the iPhone is attached to an athlete
Using the location of an iPhone as the Follow Leader on a wifionly iPad
Using the barometric altitude of an iPhone as the Altitude Reference on an older iPad without a barometer
Using the location of an aircraft as the Focus Subject for a second aircraft (chase plane)
Using the location of an aircraft as the Follow Leader for a second aircraft (formation flying)
11.2 PeertoPeer Airspaces
PeertoPeer Airspaces use bluetooth and adhoc wifi networks to enable communication, which means the connection distance is
limited to the maximum range of those signals (about 250400 ft). The maximum number of devices in a PeertoPeer Airspace is eight,
each of which can be connected to one aircraft for a total of sixteen possible Airspace Objects.
Entering a PeertoPeer Airspace
From each device, tap the Airspace option from the main screen to open the Airspace Manager
Enter a call sign for your device and aircraft
Tap Enter Airspace in the toolbar
If this is the first device, choose Wait to wait for connection invitations
If this is not the first device, choose Search to send connection invitations
If new devices are ready to connect after the initial setup, tap Search for Devices to send more invitations
Optional: If your device is connected to an aircraft, tap Calibrate to record the relative altitude between your aircraft and any
Airspace Object that you may want to track
 Tip Testing shows that enabling a Personal Hotspot on your iPhone may interfere with PeertoPeer connections. If you
experience connection issues, make sure to disable your Personal Hotspot.
12. Advanced
Once comfortable operating Autopilot with each available Mode, there are several advanced features that can enhance your Autopilot
Once comfortable operating Autopilot with each available Mode, there are several advanced features that can enhance your Autopilot
experience.
12.1 External GPS
If your device does not have GPS (/autopilot#systemrequirements), it is still possible to use Operator Location Dependent Features by
utilizing an external GPS receiver, such as the Dual Electronics XGPS150A
(http://www.amazon.com/gp/product/B006M49G80/ref=as_li_tl?
ie=UTF8&camp=1789&creative=9325&creativeASIN=B006M49G80&linkCode=as2&tag=autoflogic20&linkId=Z5LLURT5BJR7UIG5).
Once the external GPS receiver is connected to your device, iOS will automatically share the location with any locationaware apps such
as Autopilot. This means that if you select Device as the location source for any of the Mode Controls, it will automatically use the
location from your GPS receiver.
12.2 Dual Remote Control Inspire 1 Only
Autopilot was specifically designed to compliment dual Remote Control configuration on the Inspire 1. First, establish dual Remote
Control communication using the DJI GO app, and then engage any Mode that allows the Gimbal to be set to Manual. Autopilot will fly
the aircraft while connected to Master Remote Control, and you will be free to operate the Gimbal using the Slave Remote Control.
12.3 iOS Device Separate from Remote Control Phantom 2 Vision and Vision+ Only
Since Autopilot flies the aircraft according to the relative position of the iOS device running the Autopilot app, it is possible to have
Autopilot track a subject that does not possess the Remote Control. Simply give possession of the iOS device and the wifi range
extender to another person or object (the subject), while you possess the aircraft Remote Control for emergency overrides, landing, etc.
For safety reasons, it is important that the aircraft Remote Control stay within operating range of the aircraft.
 Warning You will not be able to monitor Autopilot's status since your iOS device will be with the subject. Use caution during
extended flights where battery life may become an issue.
12.4 Apple Watch Telemetry and Quick Disengage
When using Autopilot with an iPhone paired with an Apple Watch, it is possible to monitor flight telemetry and even quickly disengage
Autopilot right from the Autopilot watch app.
(https://autoflightlogic.com/images/autopilot/flightschool/watch1.jpg)
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Home (/) / Autopilot (/autopilot) / Flight School

Autopilot - Product Overview (Phantom 3 & Inspire 1)

Autopilot - Follow on Follow

Autopilot - Flight Concerns

Flight Controls Gimbal Flight Recorder

Mode Pitch Yaw Altitude Pitch Yaw Data Audio Video

Focus              

Follow                

Orbit                

Target                

Zip Line                

Waypoint                  

Cruise                    

Mimic                

Intercept               

Tap Use Aircraft Position to use the current aircraft location and altitude as the Subject POI.

Tap Reset to set the Pitch and Roll to zero.

Tap Use Aircraft Position to use the current aircraft location as Bearing Angle, Altitude, Distance. Values outside of the Mode Control

Tap Use Aircraft Position to use the current aircraft location as the Center POI, or the Altitude and Distance of the Orbit. Values outside

Tap Use Aircraft Position to use the current aircraft location as the Mark location, and the current aircraft altitude as the Altitude. Values

Tap Set Point A to use the current aircraft location as the Point A POI, and the current aircraft altitude as the Altitude. Values outside

Tap Set Point B to use the current aircraft location as the Point B POI, and the current aircraft altitude as the Altitude. Values outside

Feature Autopilot DJI SDK

Curved Flight Paths Supports true Bézier Curves Supports corner rounding only.

Multiple Mission Types Supports Patrol, Mark, and Joystick Mission Types Not Supported

Dynamic Missions Supports updating the Fight Path and Focus Strategies in real­ Not Supported

Multiple Focus Strategies Supports unlimited Focus Strategies via Focus Triggers, which Supports Joystick and Direction

Combined Flight Control Supports direct Operator control over the flight speed and Not Supported

Segment Acceleration Supports smooth acceleration (positive or negative) over the Not Supported

Closed Flight Paths Supports using the First Waypoint as the Last Waypoint, which Not Supported

Moving Flight Paths Supports anchoring the Flight Path to a Reference Point, which Not Supported

Tap Hold Altitude to switch the Vertical Strategy to Altitude and use the current aircraft altitude as the Altitude. Values outside the

Tap Hold Percent to switch the Vertical Strategy to Percent and use the current Remote Control input as the Throttle Percent.

Tap Use Aircraft Position to use the current aircraft altitude as the Altitude. Values outside the Mode Control limits will be bounded.

Tap Reset to set the Throttle Percent to zero.

Tap Hold Vector to switch the Pitch/Roll Strategy to Vector and use the current aircraft movement and speed as the Course and

Tap Hold Percent to switch the Pitch/Roll Strategy to Percent and use the current Remote Control input as the Pitch and Roll Percent.

Tap Use Device Heading to use the current device heading as the Course.

Tap Use Aircraft Speed to use the current aircraft speed as the Speed.

Tap Reset to set the Pitch and Roll Percent to zero.

Tap Hold Heading to switch the Yaw Strategy to Heading and use the current aircraft heading as the Heading.

Tap Hold Percent to switch the Yaw Strategy to Percent and use the current Remote Control input as the Rudder Percent.

Tap Use Device Heading to use the current device heading as the Heading.

Tap Reset to set the Rudder Percent to zero.

Pitch/Roll Vector 0 Degrees at 35 mph

Yaw Heading 0 Degrees

Pitch/Roll Percent 100% Front Pitch

Yaw Focus Operator

Vertical Percent 15% Up

Pitch/Roll Percent 20% Right Roll

Yaw Percent 20% Left

Vertical Altitude 100 ft

Yaw Percent 20% Right

Tap Use Aircraft Position to use the current aircraft altitude as the Altitude. Values outside the Mode Control limits will be bounded.

Autopilot - User Interface Overview

Waiting Engaged Warning Danger

Normal Warning Danger

Waiting Engaged Warning Danger

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2/5/2016 Flight School Autoflight Logic

Dynamic Missions Supports updating the Fight Path and Focus Strategies in real Not Supported