无人机任务规划与地面站
UAV mission planning & ground control
Plan, upload and monitor drone missions in a ground-control station.
20 条本项目编写的提案 · 分类 v1.1 · 新增基准运行 0 次。下方验证方式与部分得分规则是设计，不是执行结果。
- 典型应用
- QGroundControl · Mission Planner
- 小类 GUI 需求标签
G3· 仅 GUI
任务提案 · 20
展开查看完整原文与建议检查方式；两种界面均保留提案英文原文。
R07.09.02.03-T01 Plan and upload a four-waypoint mission in QGroundControl
原始指令
In QGroundControl connected to PX4 SITL (x500), create a mission: takeoff to 30 m, waypoints at the 4 coordinates in input/wps.csv at 40 m, then Return. Upload to the vehicle and save output/patrol.plan.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击type· 文字与表单nav· 平移 / 缩放 / 滚动- 工作产物
WP08· 应用 / 系统状态- 条件
- 未声明
- 提案难度
- 2 / 5
建议验证方式
Grader downloads the mission from SITL via MAVLink: item sequence and coordinates within 1 m, altitudes exact; .plan file matches the vehicle mission. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
20% takeoff item; 50% waypoints; 15% RTL; 15% plan saved.
R07.09.02.03-T02 Draw a photogrammetry survey with overlap and GSD targets
原始指令
In QGroundControl Plan View, draw a Survey polygon matching the field boundary in input/field.kml, choose a camera with 23.5x15.6 mm sensor, 6000x4000 px, 16 mm lens, set GSD 2.0 cm/px, 75% front and 65% side overlap, entry at the SW corner. Upload to PX4 SITL and report the image count.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击path· 连续路径type· 文字与表单- 工作产物
WP08· 应用 / 系统状态- 条件
- 未声明
- 提案难度
- 3 / 5
建议验证方式
Grader downloads mission: polygon IoU >=0.97 vs KML, transect spacing and trigger distance match overlap/GSD math within 2%, altitude for 2.0 cm GSD within 1 m; reported image count within 3%. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
30% polygon; 40% camera/overlap math reflected in mission; 15% entry point; 15% image count.
R07.09.02.03-T03 Generate an Auto WP grid in Mission Planner and verify read-back
原始指令
In Mission Planner connected to ArduCopter SITL, draw the polygon from input/orchard.kml, use Auto WP > Survey (Grid) with 30 m line spacing, 50 m altitude, 8 m/s, write to the vehicle, then read the mission back and save output/orchard.waypoints.
- 平台
win· Windows- 应用
- Mission Planner · ArduPilot SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
AP· API 足够- 交互原语
click· 指向与点击path· 连续路径type· 文字与表单- 工作产物
WP08· 应用 / 系统状态- 条件
- 未声明
- 提案难度
- 3 / 5
建议验证方式
Grader downloads mission: lane spacing 30+/-1 m, all waypoints inside polygon buffer, altitude 50 m, speed command present; saved file equals vehicle mission. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
30% polygon; 40% grid spacing/altitude; 15% speed; 15% read-back file.
R07.09.02.03-T04 Configure a geofence, exclusion zone and rally points and test a breach
原始指令
In QGroundControl with PX4 SITL, add a polygon inclusion fence from input/site_boundary.kml, a 50 m circular exclusion zone around the substation point, max altitude 120 m, fence action RTL and two rally points. Upload, then fly a test mission that breaches the fence and confirm RTL triggers.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
AP· API 足够- 交互原语
click· 指向与点击path· 连续路径type· 文字与表单- 工作产物
WP08· 应用 / 系统状态- 条件
risk· 高风险 / 不可逆- 提案难度
- 4 / 5
建议验证方式
Grader downloads fence and rally items and reads parameters (GF_ACTION, GF_MAX_VER_DIST); ULog shows a geofence breach followed by RTL mode within 1 s. Flight is SITL-only. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
30% inclusion fence; 20% exclusion circle; 20% params and rally; 30% breach test triggers RTL.
R07.09.02.03-T05 Plan a corridor scan along a power line
原始指令
In QGroundControl, create a Corridor Scan along the polyline in input/powerline.kml with corridor width 40 m, altitude 50 m AGL, 70% front and 60% side overlap for the default camera, turnaround 10 m. Upload to PX4 SITL and save output/powerline.plan.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击path· 连续路径type· 文字与表单- 工作产物
WP08· 应用 / 系统状态- 条件
- 未声明
- 提案难度
- 3 / 5
建议验证方式
Grader: corridor polyline within 2 m of the KML vertices, width/overlap settings in the .plan, mission transects cover the 40 m band (coverage >=98% of corridor area). The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
35% polyline accuracy; 30% corridor parameters; 35% coverage.
R07.09.02.03-T06 Set up a structure scan around a telecom tower
原始指令
In QGroundControl, add a Structure Scan around the tower footprint in input/tower.kml: 4 layers from 10 to 40 m, 10 m distance to structure, gimbal pitch -10 deg, 80% front overlap. Upload to PX4 SITL and fly it; the vehicle must never come closer than 8 m to the tower.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击path· 连续路径type· 文字与表单- 工作产物
WP08· 应用 / 系统状态- 条件
- 未声明
- 提案难度
- 4 / 5
建议验证方式
Grader downloads mission (layers, distances, gimbal commands) and reads the ULog: min horizontal distance to tower polygon >=8 m, all 4 layers flown. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
30% scan parameters; 20% gimbal commands; 30% layers flown; 20% minimum standoff respected.
R07.09.02.03-T07 Handle a battery failsafe during a windy SITL mission
原始指令
Fly fixtures/inspection.plan with PX4 SITL in QGroundControl. Mid-mission the simulator raises wind to 12 m/s and the battery reaches the low threshold. Pause, re-plan to skip the remaining far waypoints, and land at the nearest rally point with >=15% battery, without triggering an emergency land.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击rt· 实时控制vis· 视觉判断- 工作产物
WP11· 游戏 / 仿真状态- 条件
interrupt· 中断risk· 高风险 / 不可逆long· 长流程- 提案难度
- 5 / 5
建议验证方式
Grader reads the ULog: hold/pause issued within 20 s of the low-battery warning, landing within 5 m of a rally point, battery at touchdown >=15%, no EMERGENCY_LAND mode. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
20% timely pause; 30% re-plan; 30% landed at rally point; 20% battery margin.
R07.09.02.03-T08 Set failsafe parameters in the QGroundControl parameter editor
原始指令
In QGroundControl connected to ArduCopter SITL, set RTL_ALT to 6000 cm, BATT_FS_LOW_ACT to RTL, BATT_LOW_VOLT to 14.4, FS_GCS_ENABLE to 1 and FS_THR_ENABLE to 1, write them to the vehicle and save all parameters to output/failsafe.params.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · ArduPilot SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
AP· API 足够- 交互原语
type· 文字与表单click· 指向与点击- 工作产物
WP08· 应用 / 系统状态- 条件
- 未声明
- 提案难度
- 2 / 5
建议验证方式
Grader reads parameters from SITL: all 5 exact; no other parameter changed vs baseline; params file equals vehicle state. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
80% five parameters (16 pts each); 20% file saved and no collateral changes.
R07.09.02.03-T09 Plan a terrain-following mission over hilly ground
原始指令
In QGroundControl with PX4 SITL and the terrain tiles in fixtures/terrain_cache, plan a 6-waypoint route from input/route.csv using terrain frame altitudes of 60 m AGL; check the terrain profile so no leg comes within 45 m of terrain between waypoints, adding intermediate waypoints if needed.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击type· 文字与表单vis· 视觉判断- 工作产物
WP08· 应用 / 系统状态- 条件
- 未声明
- 提案难度
- 4 / 5
建议验证方式
Grader downloads mission and samples the DEM along each leg (10 m step): min clearance >=45 m; altitude frame is terrain/AGL; original 6 waypoints present. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
30% terrain frame set; 50% clearance along legs; 20% route preserved.
R07.09.02.03-T10 Diagnose a crash from a dataflash log in Mission Planner
原始指令
Open fixtures/crash_0917.bin in Mission Planner's log review. Using graphs of VIBE, EKF, BAT and RCOU, determine the primary cause of the crash from input/causes.md (vibration, EKF failure, battery sag, motor failure) and its onset time; write output/crash.json.
- 平台
win· Windows- 应用
- Mission Planner
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
HY· 混合- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击nav· 平移 / 缩放 / 滚动vis· 视觉判断- 工作产物
WP12· 答案 / 决策- 条件
- 未声明
- 提案难度
- 3 / 5
建议验证方式
Grader: cause matches the planted fault; onset time within 1 s of the injected event.
建议部分得分
60% cause correct; 40% onset time.
R07.09.02.03-T11 Deconflict two drone missions with 50 m lateral separation
原始指令
In QGroundControl connected to two PX4 SITL vehicles, plan inspection missions for vehicle 1 (input/v1_area.kml) and vehicle 2 (input/v2_area.kml), launch both, and keep at least 50 m horizontal separation at all times (adjust timing or paths as needed) until both land.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
AP· API 足够- 交互原语
click· 指向与点击path· 连续路径rt· 实时控制- 工作产物
WP11· 游戏 / 仿真状态- 条件
long· 长流程- 提案难度
- 5 / 5
建议验证方式
Grader merges both ULogs on time: min horizontal separation >=50 m, each mission's survey coverage >=95% of its area, both landed at home. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
40% separation maintained; 40% coverage (20 pts each); 20% both landed.
R07.09.02.03-T12 Build an orbit inspection with spline legs in Mission Planner
原始指令
In Mission Planner with ArduCopter SITL, plan: takeoff 25 m, spline waypoints to the turbine at input/turbine.txt, LOITER_TURNS 3 turns radius 30 m at 60 m, ROI on the hub, spline waypoints back, and land. Write to vehicle and fly it.
- 平台
win· Windows- 应用
- Mission Planner · ArduPilot SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击type· 文字与表单nav· 平移 / 缩放 / 滚动- 工作产物
WP08· 应用 / 系统状态- 条件
- 未声明
- 提案难度
- 3 / 5
建议验证方式
Grader: mission items (SPLINE_WAYPOINT, LOITER_TURNS, DO_SET_ROI) and values exact; dataflash log shows 3 orbits with radius 30+/-3 m. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
40% mission items; 40% flown orbit geometry; 20% landed.
R07.09.02.03-T13 Fly a VTOL transition mission with a set landing approach
原始指令
In QGroundControl with PX4 standard_vtol SITL, plan VTOL takeoff to 40 m, transition, fixed-wing loop through 5 waypoints at 100 m, and a VTOL landing pattern approaching from heading 270 deg with 300 m approach. Upload, fly and land.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
AP· API 足够- 交互原语
click· 指向与点击type· 文字与表单path· 连续路径- 工作产物
WP11· 游戏 / 仿真状态- 条件
- 未声明
- 提案难度
- 4 / 5
建议验证方式
Grader downloads the mission (VTOL takeoff/land items, approach heading within 5 deg) and reads the ULog: transitions occur, fixed-wing legs within 30 m of waypoints, landing within 5 m of the land point. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
25% mission structure; 15% approach heading; 30% transitions and legs flown; 30% landing accuracy.
R07.09.02.03-T14 Route around restricted airspace polygons
原始指令
Plan a delivery mission in QGroundControl from the depot to the drop point in input/delivery.txt that avoids every restricted polygon in input/airspace.geojson by at least 100 m, with total path length at most 115% of the shortest feasible path. Upload to PX4 SITL.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击path· 连续路径nav· 平移 / 缩放 / 滚动vis· 视觉判断- 工作产物
WP08· 应用 / 系统状态- 条件
- 未声明
- 提案难度
- 3 / 5
建议验证方式
Grader downloads mission: buffered polygons never intersected by any leg; path length vs grader's visibility-graph optimum <=1.15. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
50% no airspace infringement; 30% length within 1.15x optimum; 20% start/end correct.
R07.09.02.03-T15 Convert a client KML survey into an uploaded QGC plan
原始指令
A client sent input/parcel_survey.kmz. Import it into QGroundControl as a Survey area, set altitude 70 m with default camera and 70/60% overlap, upload to PX4 SITL and save output/parcel.plan.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
CL· CLI 足够- 交互原语
click· 指向与点击type· 文字与表单- 工作产物
WP08· 应用 / 系统状态- 条件
- 未声明
- 提案难度
- 2 / 5
建议验证方式
Grader: polygon IoU >=0.98 vs KMZ; altitude and overlap settings exact; vehicle mission equals .plan. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
40% polygon imported; 40% survey settings; 20% uploaded and saved.
R07.09.02.03-T16 Configure distance-based camera triggering and verify in the log
原始指令
In QGroundControl with PX4 SITL, enable the camera trigger interface (MAVLink), set trigger distance 18 m in the mission's Camera section, gimbal pitch -90 deg, fly fixtures/strip.plan and confirm trigger events occur every 18 m.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
AP· API 足够- 交互原语
click· 指向与点击type· 文字与表单- 工作产物
WP08· 应用 / 系统状态- 条件
- 未声明
- 提案难度
- 3 / 5
建议验证方式
Grader reads parameters (TRIG_MODE, TRIG_INTERFACE) and ULog camera_capture events: mean spacing 18+/-1 m along the strip, gimbal pitch -90 within 2 deg. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
30% trigger parameters; 20% mission camera settings; 50% trigger spacing in flight.
R07.09.02.03-T17 Run an expanding-square search and mark the target position
原始指令
In QGroundControl with PX4 SITL in Gazebo (fixtures/sar_world), plan an expanding-square search around the last known position in input/lkp.txt with 40 m track spacing at 50 m, fly it while watching the video feed, and when the orange life raft appears, record its coordinates in output/target.txt.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- QGroundControl · PX4 SITL · Gazebo
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
G2· GUI 必要- 交互原语
click· 指向与点击path· 连续路径vis· 视觉判断rt· 实时控制- 工作产物
WP12· 答案 / 决策- 条件
long· 长流程- 提案难度
- 5 / 5
建议验证方式
Grader: mission pattern is an expanding square centered within 10 m of LKP with 40 m spacing; reported target within 10 m (full) or 25 m (half) of ground truth. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
30% correct search pattern; 20% flown until detection; 50% target position accuracy.
R07.09.02.03-T18 Generate the survey mission with MAVSDK (control pair of T02)
原始指令
Control pair of T02: without a GCS, write output/survey.py using MAVSDK-Python or pymavlink to compute and upload the same survey (polygon from input/field.kml, GSD 2.0 cm, 75/65% overlap, SW entry) to PX4 SITL.
- 平台
mac· macOSwin· Windowslin· Linux- 应用
- MAVSDK · PX4 SITL
- 交互表面
term· 终端api· API / SDK- GUI 需求 · 任务设定
CL· CLI 足够- GUI 需求 · 普通权限
AP· API 足够- 交互原语
code· 代码与命令- 工作产物
WP06· 代码 / 工程- 条件
- 未声明
- 提案难度
- 3 / 5
建议验证方式
Control pair of T02: same mission-level checks (coverage of polygon, spacing/trigger distance within 2%, altitude within 1 m); script reruns deterministically.
建议部分得分
30% script uploads a mission; 40% spacing/altitude; 30% coverage and entry point.
R07.09.02.03-T19 Map RC flight modes and RC failsafe in Mission Planner setup
原始指令
In Mission Planner (ArduCopter SITL with a simulated RC), configure flight modes on channel 5 per input/modes.csv (6 PWM bands), enable simple mode on mode 2, set the RC failsafe to RTL at 975 PWM, and write the settings.
- 平台
win· Windows- 应用
- Mission Planner · ArduPilot SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
AP· API 足够- 交互原语
click· 指向与点击type· 文字与表单- 工作产物
WP08· 应用 / 系统状态- 条件
- 未声明
- 提案难度
- 3 / 5
建议验证方式
Grader reads FLTMODE1-6, FLTMODE_CH, SIMPLE, FS_THR_ENABLE and FS_THR_VALUE from SITL: exact; injected RC loss triggers RTL in a scripted check. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
50% flight modes; 15% simple mode; 35% RC failsafe values and behavior.
R07.09.02.03-T20 Set up an ArduPlane autoland sequence into the wind
原始指令
In Mission Planner with ArduPlane SITL, add a DO_LAND_START sequence: approach waypoints and a landing point on runway 27 (input/runway.txt), 3 deg glide slope, flare parameters per input/land_params.csv; fly fixtures/patrol.waypoints and trigger the landing sequence with RTL.
- 平台
win· Windows- 应用
- Mission Planner · ArduPilot SITL
- 交互表面
desk· 桌面 GUI- GUI 需求 · 任务设定
G3· 仅 GUI- GUI 需求 · 普通权限
AP· API 足够- 交互原语
click· 指向与点击type· 文字与表单geom· 精确几何- 工作产物
WP11· 游戏 / 仿真状态- 条件
risk· 高风险 / 不可逆- 提案难度
- 4 / 5
建议验证方式
Grader downloads mission: DO_LAND_START present, approach aligned within 5 deg of 270; dataflash log shows touchdown within 30 m of the landing point and on the runway centerline +/-5 m. SITL only. The SITL MAVLink port is reachable only from the GCS process; MAVProxy/pymavlink are absent and non-GCS system IDs on the link fail the task.
建议部分得分
30% landing sequence items; 20% parameters; 50% touchdown accuracy.
已有研究映射
当前映射未给此小类指定基准参考。