Flight Mission ACK codes

2016-07-01v3.1.8Github

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

  • Upload waypoint info
  • Upload waypoint
  • Start
  • Stop
  • Pause
  • Resume

Ground Station CMD Set : Hotpoint

  • Start
  • Stop
  • Pause
  • Resume
  • Set radius
  • Reset yaw

Ground Station CMD Set : Follow Me

  • Start
  • Stop
  • Pause
  • Resume

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(); if (!api->decodeMissionStatus(ack)) std::runtime_error("Mission ACK error");