[Pluto]

Hi,

I'm reading is possible upload a flight plant to custom autonomous flight but I'm newbie and I don't know how.

I'm working in an own project building a multicopter from scratch, mi goal is build a drone capable to do a flight in interior without GPS using a 3d model describing interior shape and obstacles. But i dont know how program the flight, I think to modify firmware to include a scripting engine which could be able to interpret a script with move commands.

Is there already a approach for this in the firmware?

Thanks

[TheOtherCliff]

First get your copter flying without GPS.

Then enable GPS (INS13), but still fly in non-GPS modes (Stabilized1=Attitude).  No GPS-Assist.

Then try VelocityRoam GPS mode.  No GPS-Assist.

Then add PathPlanner (no GPS-Assist) to flight mode switch and do waypoint flight.  You basically click a place on the GPS map and press Ctrl-A (add more the same way).  Then right click, select waypoint editor.  Change all altitudes to at least 4.  Set all speeds to maybe 3.  Press the upload button to send it to the model.