Litchi CSV Format Description

Global Parameters vs Waypoint Parameters

When creating a Litchi Mission, both global and waypoint parameters may be configured. It's important to understand that the Litchi CSV file format only saves waypoint parameters. Global parameters, such as Heading Mode, Finish Action, Path Mode, Cruising Speed, and others, are not stored in the Litchi CSV file. These settings must be configured manually after importing a Litchi CSV file into the Litchi Mission Hub.

Column Headings

Litchi uses a standard CSV (comma-separated values) file format to store waypoint mission data. A CSV file consists of a header row followed by one or more rows of data. In a Litchi CSV file, the header contains column names separated by commas, and each subsequent row includes corresponding data values, also separated by commas. There are two variations of the Litchi CSV format, one using metric units and the other using imperial units. The column headings and data fields for both formats are described below.

• latitude
  • The latitude of a waypoint in decimal degrees format.
  • Valid range: -90..90.
• longitude
  • The longitude of a waypoint in decimal degrees format.
  • Valid range: -180..180.
• altitude(m) or altitude(ft)
  • This is the altitude of this waypoint.
    • If the "Above Ground" option is not checked, this value will be the altitude above the ground elevation at the take-off location.
    • If the "Above Ground" option is checked, this will be the altitude above ground assuming the ground elevation at the take-off location is the same as the ground elevation under waypoint #1.
  • Valid range: -200m..500m
• heading(deg)
  • This is the heading (the direction the drone is pointing) at this waypoint.
  • This value is ignored unless the mission global parameter "Heading Mode" is set to "Custom".
  • Valid range: 0°..360°
• curvesize(m) or curvesize(ft)
  • For missions using curved turns, this value defines the sharpness of the curve at this waypoint. Although the curve at a waypoint is generated using a spline and not a simple arc, you can think of this as the radius of the curve. For example, if you have a mission in the shape of a square where each side of the square is 100m, the curve size at each waypoint should be no more than 50m.
  • This value is ignored unless the global parameter "Path Mode" is set to "Curved Turns".
  • While 0 (zero) is a valid value, the smallest value found in an exported mission will be 0.2m (0.656ft).
  • Valid range: ≥0
• rotationdir
  • This value is ignored by default and is normally 0 (zero). If the "Rotation Direction" is set to "Manual" (instead of the default "Managed") in the Litchi app, this value will control which direction the drone will rotate as it travels from one waypoint to the next.
  • Valid values:
    • 0: (default) Rotate clockwise
    • 1: Rotate counter-clockwise
• gimbalmode
  • This value controls how the gimbal angle is managed at this waypoint.
  • Valid values:
    • 0: Disabled (the gimbal can be controlled manually during the mission)
    • 1: Focus POI (the gimbal pitch angle will be automatically computed if a POI is defined for this waypoint)
    • 2: Interpolate (the gimbal pitch angle will smoothly transition from and to the gimbal pitch angle specified for this waypoint)
• gimbalpitchangle
  • When the "gimbalmode" is set to 2 (interpolate), this value will determine the angle of the gimbal.
  • Valid range: -90°..20°
  • Depending on the drone, gimbal pitch angles greater than 20° may be supported.
• actiontype1
  • This is one of any number of optional action types defined for this waypoint. If no actions are desired for any waypoint, this column can be omitted. However, if any waypoint has at least one action, each waypoint must include the same number of actiontypes (and actionparams) as the waypoint with the greatest number of actions. This is to ensure that all of the action columns line up appropriately. The first action type should be named "actiontype1". The second action type should be named "actiontype2", and so on.
  • Valid values:
    • -1: no action performed at this waypoint.
    • 0: Wait, pause, or stay for
    • 1: Take Photo
    • 2: Start Recording
    • 3: Stop Recording
    • 4: Rotate Aircraft (yaw/heading)
    • 5: Tilt Camera (gimbal pitch)
• actionparam1
  • This column contains any values associated with a specified "actiontype". Some action types do not require a value. In this case, the value should be set to 0 (zero). Each action param should be named with the corresponding action type number. For example, "actionparam1", "actionparam2", and so on.
  • Valid values:
    • Action type=0: The action parameter should be set to the number of milliseconds to wait. For example, a value of 1000 will cause the drone to wait 1 (one) second.
    • Action type=1: The action parameter is ignored and should be set to zero.
    • Action type=2: The action parameter is ignored and should be set to zero.
    • Action type=3: The action parameter is ignored and should be set to zero.
    • Action type=4: The action parameter is the heading to which the aircraft should be rotated. The value should be in the range of 0°..360°.
    • Action type=5: The action parameter is the gimbal pitch angle of the camera. The value should be in the range of -90°..20°. Some drones may allow greater angles than 20°.
• altitudemode
  • This parameter sets the altitude mode to be either above take-off or above ground. Typically, the altitude mode should be set to the same value for all waypoints.
  • Valid values:
    • 0: This altitude is above take-off.
    • 1: This altitude is above ground.
      • For this to work it is assumed that the take-off elevation is the same as that of the ground under waypoint #1.
• speed(m/s)
  • The mission speed is normally set with a global parameter. However, if desired, a custom speed can be set at a waypoint. If a waypoint speed is configured, the configured speed will be used from this waypoint to the next.
  • Valid values:
    • 0: No speed defined for this waypoint. Use the global mission speed.
    • > 0: Speed in m/s from this waypoint to the next.
• poi_latitude
  • The latitude of a POI in decimal degrees format.
  • 0: No POI defined for this waypoint.
• poi_longitude
  • The longitude of a POI in decimal degrees format.
  • 0: No POI defined for this waypoint.
• poi_altitude(m) or poi_altitude(ft)
  • If a POI is defined for this waypoint, this value provides the height of that POI. This will be used to compute the gimbal pitch angle if the "Gimbal Pitch" is set to "Focus POI". If not used, a value of 0 (zero) is typically used.
• poi_altitudemode
  • This parameter sets the altitude mode used for this POI to be either above take-off or above ground.
  • Valid values:
    • 0: This altitude is above take-off.
    • 1: This altitude is above ground.
• photo_timeinterval
  • This value is used to create a time interval (in seconds) for taking photos starting at this waypoint. The minimum value used should allow enough time for the drone to take and save a photo. This is typically at least three seconds.
  • Valid values:
    • -1: No time interval defined at this waypoint.
    • > 0: A valid time interval for photos taken starting with this waypoint.
• photo_distinterval
  • This value is used to create a distance interval (in meters) for taking photos starting at this waypoint. The minimum value used should allow enough time for the drone to take and save a photo and depends on the speed the drone is being flown.
  • Valid values:
    • -1: No distance interval defined at this waypoint.
    • > 0: A valid distance interval for photos taken starting with this waypoint.

Examples

• A four-waypoint, curved-turn mission with POIs, imperial units
• A four-waypoint, curved-turn, mission with interpolated headings, metric units
• A four-waypoint, above-ground, straight-line, mission with waypoint actions, metric units