Onboard SDK implements functionality to wait for ACK frame from a flight controller. Developer is responsible to parse received ACK. DJI_Mission.cpp implements flight mission ACK map to allow you to map received ACK to a meaningful message (see "Flight Mission ACK Map" below with an example).
List of Flight Mission CMDs returning ACK:
Ground Station CMD Set : WayPoint
Ground Station CMD Set : Hotpoint
Ground Station CMD Set : Follow Me
Flight Mission ACK Map
Mission Or Control Name | ACK Code | Description |
---|---|---|
Control Call | 0x00 | Success |
0x01 | Wrong WayPoint Index | |
0xD0 | Not At Mode F | |
0xD1 | Need obtain control | |
0xD2 | Need close IOC mode | |
0xD3 | Mission not initialized | |
0xD4 | Mission not running | |
0xD5 | Mission already running | |
0xD6 | Too consuming of time | |
0xD7 | Other mission running | |
0xD8 | Bad GPS | |
0xD9 | Low battery | |
0xDA | UAV did not take off | |
0xDB | Wrong patameters | |
0xDC | Conditions not satisfied | |
0xDD | Crossing No-Fly zone | |
0xDE | Unrecorded Home | |
0xDF | Already at No-Fly zone | |
0xC0 | Too High | |
0xC1 | Too Low | |
0xC7 | Too far from home | |
0xC8 | Mission not supported | |
0xC9 | Too far from current position | |
0xCA | Beginner mode does not support missions | |
0xF0 | Taking off | |
0xF1 | Landing | |
0xF2 | Returning home | |
0xF3 | Starting motors | |
0xF4 | Invalid command | |
0xFF | Unknown error | |
Follow | 0xB0 | Too far from your position, lack of radio connection |
0xB1 | Cutoff time overflow | |
0xB2 | Gimbal pitch angle too large | |
HotPoint | 0xC2 | Invalid radius |
0xC3 | yawRate too large | |
0xC4 | Invalid vision | |
0xC5 | Invalid yaw mode | |
0xC6 | Too far from HotPoint | |
0xC6 | Too far from HotPoint | |
0xC6 | Too far from HotPoint | |
0xA2 | Invalid HotPoint parameter | |
0xA3 | Invalid latitude or longtitude | |
0xA6 | Invalid direction | |
0xA9 | HotPoint paused | |
0xAA | HotPoint failed to pause | |
WayPoint | 0xE0 | Invalid waypoint mission data |
0xE1 | Invalid waypoint point data | |
0xE2 | WayPoint distance out of range | |
0xE3 | WayPoint mission out of range | |
0xE4 | Too many points | |
0xE5 | Points too close | |
0xE6 | Points too far | |
0xE7 | Check failed | |
0xE8 | Invalid action | |
0xE9 | Point data not enough | |
0xEA | WayPoint mission data not enough | |
0xEB | WayPoints not enough | |
0xEC | WayPoint mission already running | |
0xED | WayPoint mission is not running | |
0xEE | Invalid velocity | |
IOC | 0xA0 | Too near to home |
0xA1 | Too close to home, within 20 meters |
Example:
Mission ack = api->task(