US 11,927,953 B2
Customizable waypoint missions
Rohit Sant, Palo Alto, CA (US); Arnaud Thiercelin, San Francisco, CA (US); and Arjun Sukumar Menon, San Jose, CA (US)
Assigned to DJI RESEARCH LLC, Palo Alto, CA (US)
Filed by DJI Research LLC, Palo Alto, CA (US)
Filed on Oct. 30, 2020, as Appl. No. 17/085,102.
Application 17/085,102 is a continuation of application No. 15/967,369, filed on Apr. 30, 2018, granted, now 10,852,724.
Prior Publication US 2021/0064025 A1, Mar. 4, 2021
Int. Cl. G05D 1/00 (2006.01); G01C 21/20 (2006.01); G01S 17/88 (2006.01); G01S 19/13 (2010.01); G05D 1/10 (2006.01)
CPC G05D 1/0044 (2013.01) [G01C 21/20 (2013.01); G01S 17/88 (2013.01); G01S 19/13 (2013.01); G05D 1/101 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A system for communicating instructions in a movable object environment, comprising:
at least one movable object including
a flight controller,
a positioning system, and
a communication system;
an onboard computing device in communication with the flight controller, the computing device including a processor and an onboard data manager, the onboard data manager including instructions which, when executed by the processor, cause the onboard data manager to:
determine a current position of the at least one movable object using the positioning system during executing an existing mission;
receive at least one input including a modified waypoint definition for at least one waypoint in the existing mission;
update the at least one waypoint using the modified waypoint definition;
determine a difference between the current position of the at least one movable object and a position defined by a next waypoint, which is one of the at least one waypoint corresponding to the modified waypoint definition; and
generate movement commands, including one or more of a yaw command, a pitch command, and a roll command, based on the difference between the current position of the at least one movable object and the position defined by the next waypoint; and
send the movement commands to the flight controller to be executed, wherein the flight controller converts the movement commands into a plurality of motor controls.
 
8. The method of claim 7, further comprising:
determining one or more instructions to be performed by the at least one movable object based on the at least one input;
generating the movement commands to implement the one or more instructions.
 
15. The non-transitory computer readable storage medium of claim 14, wherein the at least one input includes a data stream of a plurality of waypoint definitions, wherein a plurality of waypoints corresponding to the plurality of waypoint definitions is added to an existing mission during execution of the existing mission.