Litchi Waypoint Mission to DJI Waypoint Mission Converter Instructions

Instructions

This web application can be used to convert a Litchi mission CSV file into a DJI Fly (all models) of DJI Pilot 2 (all models) waypoint KMZ file. The instructions below were created after reading how others have uploaded missions to DJI Fly for their Mavic 3 / Air 3 / Mini 4 Pro. If you see any details that are not correct or incomplete, please let me know so that I can refine these instructions.

Create a mission using Litchi's Mission Hub
1. A mission can be created like any other Litchi mission then exported as a CSV file.
2. Note that some parameters (Mission speed, Path mode, Finish action, et.) are not stored in the CSV file. As a result, they must be manually set here or in the DJI Fly app.
In page one of the Litchi Waypoint Mission to DJI Fly Waypoint Mission page:
1. Set the desired "Signal Lost Action" to either continue the mission or to execute the normal "Signal Lost" action.
2. Set the mission flight speed in meters per second.
3. Use the file chooser to upload your Litchi CSV file.
4. Generate the mission and review the resulting parameters.
Warning: file_get_contents(litchiToDji3Instr2.html): failed to open stream: No such file or directory in /home/wesbarri/litchiutilities.com/public_html/litchiToDji.php on line 48

A screen snapshot showing a DJI waypoint mission — DJI Fly Waypoint Mission Created From Litchi

This web application can be used to convert a Litchi mission CSV file into a DJI Fly (all models) or DJI Pilot 2 (all models) waypoint KMZ file.

Once created, the KMZ file must be uploaded to the "waypoint" folder on the device running DJI Fly. If using DJI Pilot 2, the import function can be used to upload the KMZ file. Detailed instructions are available from the "Instructions" button above.

Things you should know about this application

DJI Fly was not designed for mission uploads. Therefore, some extra steps must be performed to upload missions. This process may be too complicated for the casual user.
Differences between Litchi Missions and DJI Fly Missions:
- Mission Path: It is important to understand that the resulting DJI Fly waypoint mission will not follow the exact path of the Litchi waypoint mission. This is because Litchi and DJI use different methods to generate a curved mission flight path. The differences between Litchi and DJI flight paths are described here.
- Waypoint Actions: DJI's implementation of waypoint actions in DJI Fly is very limited. Like Litchi, the WPML language does support multiple actions at one waypoint and allows them to be specified sequentially. However, when one waypoint has multiple actions (like are used in my Panorama Mission), DJI Fly continues to execute those actions sequentially as the drone flies away from that waypoint.
- Headings: Litchi has two ways to define the heading and gimbal pitch angles at a waypoint:
  1. Heading and Gimbal Pitch (Focus POI or Interpolate) settings
  2. Rotate aircraft and Tilt Camera waypoint actions
  DJI Fly has one way to define heading or gimbal pitch angles using "action groups" and "actions". Converting between the Litchi method and the DJI Fly method is not always well-defined and may produce unexpected results.
Large Missions: It has been reported that the DJI RC or RC2 can become sluggish when working with large missions. This is due to the DJI Fly map display. If you experience sluggishness, minimize the map display. Once the map display is minimized, DJI Fly will become responsive again.

NOTE: If you encounter any abnormalities flying a converted Litchi mission, please let me know.

Signal Lost Action:

Continue Mission

Execute Configured Lost Signal Action

Drone Type:

Allow Straight Lines:

If the Path Mode is set to straight lines. See note below.

Convert intervals to WPs:

For mapping missions. See note below.

Heading Mode:

Toward POI or Interpolate

Follow Wayline

Manual

Mission Speed:

m/s

Google API Key:

Litchi CSV File Upload:

Choose file to upload

Google Elevation API Key

If your Litchi mission uses the "Above Ground" option, a call to the Google Elevation API must be made to convert the input heights into above ground (above take off) heights. These utilities use a shared Google Elevation API key which is limited to 5,000 free elevation API calls per month (roughtly 150 API calls per day. When the limit of 150 per day is reached, a Google Elevation API call error will be displayed. To prevent this from happening, you may obtain and provide your own Google Elevation API key so that you are not dependent on the shared API key. If you use Virtual Litchi Mission, this would be the same API key used with that application.

Allow Straight Lines

Litchi allows the path mode of waypoint missions to be set to either "Curved Turns" or "Straight Lines". The WPML language used in DJI Fly also allows either curved turns or straight lines to be specified. However, for unknown reasons, DJI's implementation of waypoints in DJI Fly does not allow one to specify straight lines and all waypoint missions created in DJI Fly are executed using curved turns. Therefore, by default, this converter will convert all missions to use curved turns no matter what path type is configured.

This checkbox has been added to override this default behavior. If the mission has straight lines, this checkbox can be used to set the appropriate straight-line parameters in the KMZ file. However, doing so may cause the waypoint mission to be displayed incorrectly (wonky like a spiderweb [example 1, example 2]) in DJI Fly. Despite this, the mission will be executed correctly with straight lines even though DJI Fly's display of the mission is incorrect.

Convert Intervals to Waypoints

In Litchi, either time or distance intervals can be specified at a waypoint. These are commonly used in mapping missions to capture photos without stopping the drone. DJI Fly does not support time or distance intervales. This option can be used to convert any photo capture intervals to additional waypoints. This will allow Litchi mapping missions to be converted and executed using DJI Fly.

Heading Mode

When 'Toward POI or Interpolate' is selected, the existence of a POI for any waypoint will result in the heading mode being set to "toward POI" at that waypoint. Otherwise, the heading mode is set to "smooth transition" and the specified heading angle is used at that waypoint.

When 'Follow Wayline' is selected, every waypoint will have its heading mode set to "follow wayline" regardless of the existence of either a POI or heading angle defined at any waypoint.

When 'Manual' is selected, manual control of the aircraft heading will be allowed throughout the flight regardless of the existence of either a POI or heading angle defined at any waypoint.

Updates

2023-02-06: Reworked the Google Elevation API code that handles "Above Ground" waypoint heights.
This converter can now read a CSV file created with semi-colons used as delimiters instead of commas. This enables it to be able to read a file created by Grid Mission Designer (ancient.land).
In addition to Litchi CSV files, one can now upload and convert KML files containing a 3D path.