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Waypoint Missions

Waypoint-based missions are the simplest and most common way to program underwater vehicle missions.

What is a Waypoint?

A waypoint is a 3D point in space that the vehicle navigates to:

waypoint = {
    'position': [x, y, z],  # meters in NED frame
    'tolerance': 0.5,        # acceptance radius (meters)
    'heading': 45,           # optional heading (degrees)
    'speed': 0.5,           # optional speed (m/s)
    'action': 'survey'       # optional action at waypoint
}

Creating Waypoint Missions

Method 1: YAML File

mission_name: "Pipeline Survey"
waypoints:
  - id: 0
    position: [0, 0, -2]
    heading: 90
    action: descend

  - id: 1
    position: [20, 0, -5]
    speed: 0.3
    action: photo

  - id: 2
    position: [40, 0, -5]
    action: photo

  - id: 3
    position: [40, 20, -5]
    heading: 0
    action: photo

  - id: 4
    position: [0, 20, 0]
    action: surface

Method 2: Python API

from aqua import Mission, Waypoint

mission = Mission("Survey Mission")

mission.add_waypoint(Waypoint(0, 0, -2, heading=90))
mission.add_waypoint(Waypoint(20, 0, -5, speed=0.3, action="photo"))
mission.add_waypoint(Waypoint(40, 0, -5, action="photo"))
mission.add_waypoint(Waypoint(0, 20, 0, action="surface"))

mission.save("survey_mission.yaml")
mission.execute()

Method 3: QGroundControl

  1. Open QGroundControl
  2. Connect to vehicle
  3. Click "Plan" tab
  4. Add waypoints by clicking map
  5. Set altitude for each waypoint
  6. Upload to vehicle

Waypoint Types

Standard Waypoint

Vehicle navigates to position:

- position: [10, 5, -8]
  tolerance: 0.5

Loiter Waypoint

Hold position for duration:

- position: [10, 5, -8]
  action: loiter
  duration: 60  # seconds

Survey Waypoint

Take sensor readings:

- position: [10, 5, -8]
  action: survey
  duration: 30
  sensors: [camera, sonar]

Pass-Through Waypoint

Don't stop, just pass through:

- position: [10, 5, -8]
  tolerance: 2.0
  pass_through: true

Waypoint Actions

Actions executed upon reaching waypoint:

actions = {
    'photo': take_photo(),
    'video_start': start_video(),
    'video_stop': stop_video(),
    'sample': collect_sample(),
    'loiter': hold_position(duration),
    'survey': run_survey_pattern(),
    'marker': drop_marker(),
    'surface': ascend_to_surface(),
}

Advanced Features

Conditional Waypoints

- position: [20, 0, -5]
  condition:
    type: battery_level
    operator: greater_than
    value: 50  # percent
  else_waypoint: 0  # return home if condition fails

Repeating Segments

- position: [0, 0, -5]
- repeat: 5
  waypoints:
    - position: [20, 0, -5]
    - position: [20, 20, -5]

Speed Profiles

- position: [0, 0, -2]
  speed: 0.5  # approach slowly

- position: [50, 0, -5]
  speed: 1.0  # transit quickly

- position: [50, 20, -5]
  speed: 0.3  # slow for photo

Mission Planning Tools

Grid Survey Generator

from aqua.mission import GridSurvey

grid = GridSurvey(
    origin=[0, 0, -5],
    width=40,
    height=20,
    spacing=5,
    heading=0,
    altitude=-5
)

waypoints = grid.generate()

Circular Pattern

from aqua.mission import CircularPattern

circle = CircularPattern(
    center=[10, 10, -5],
    radius=5,
    num_points=8
)

from aqua.mission import SpiralSearch

spiral = SpiralSearch(
    center=[20, 20, -10],
    max_radius=15,
    spacing=3,
    revolutions=5
)

Best Practices

✓ DO: - Start missions at surface for safety - Include return-to-home waypoint - Test missions in simulation first - Set reasonable speeds (0.3-0.5 m/s) - Add geofence boundaries - Plan for battery capacity

✗DON'T: - Create vertical ascents/descents >1m/s - Space waypoints <1m apart - Exceed vehicle capabilities - Plan missions without safety margins - Forget to set depth limits

Next Steps