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MAVLink v.1 flightplan direct upload to ANAFI USA


New member
Nov 15, 2022
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Hi all,
I'm in the process of creating rather involved flight plans, requiring photographs to be taken at several specified locations with specific yaw and pitch angles. So, *fat-fingering* in this type of flight plan on a little (iPhone) screen
with 50 to 100 points is not on my list of ways to spend my time; I will automate the process. Hence, I'd like to directly load the MAVLink file to the aircraft.

I have been able to upload a test MAVLink flight plan directly to the drone by connecting to the drone's WiFi AP and then opening in a browser. I can see that the file is there. So all is good so far.
Also, I will be conducting the flight with an iPhone 14 Pro Max connected to the ANAFI controller.

My questions are as follows:
  1. Is there a way to preview the flight on an iPhone running FreeFlight6, before I attempt the flight? The phone is not and cannot be, *jail-broken* (Per company regulations - they own the phone.)
  2. How do I start the flight with this flight plan on the drone?
  3. Is the trace of the flight displayed within FreeFlight6 during the flight?
  4. If I run into trouble, is there a *soft button* on the screen or on the controller that I can press to just get the aircraft to hold position, at which point I can manually fly with the sticks on the controller?

Here's an update on this issue that might stimulate a helpful response.
I am currently unable to activate an uploaded MAVLink V1 flight plan to my ANAFI and I’m looking for some suggestions to get the vehicle to execute the flight plan when using a smartphone running FreeFlight6 while connected to the controller.
Here’s what I have done so far:

  1. Turned on the ANAFI
  2. Connected laptop WiFi to the ANAFI WiFi
  3. Open web browser and go to and uploaded the following flight plan:
    QGC WPL 120
    0 0 3 16 0.000000 5.000000 0.000000 0.000000 42.0 -71.0 3.000000 1
    1 0 3 112 20.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
    2 0 3 16 0.00000000 5.00000000 0.00000000 0.00000000 42.0 -71.0 5.000000 1
    3 0 3 112 5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
    4 0 3 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
    5 0 3 21 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1
Note I have “dithered” my actual lat/lon values for the waypoint commands.

  1. Then I downloaded and checked the flight plan to make sure that it was what I just uploaded; it was.
  2. Open up Freeflight6 on the Android attached via USB cable to the Skycontroller 3.
  3. Go to “Fly”
  4. Select “Flight Plan”
  5. Press ‘Green arrow’ at bottom center of screen.
    Nothing happens at this point.
What additional steps do I need to take to execute the uploaded flight plan?
Thanks for your suggestions.
Hi ✋,
I have seen your post on Parrot Developers Forum, did you find something to solve your problem?
I read your MAVLink commands, and I think you are missing code 22 for takeoff (first argument). See MAV_CMD_NAV_TAKEOFF.
Take a look at this thread: Olympe Mavlink working example, there is also a sample code to start flightplan, but you must change the drone_ip for real ANAFI ;)
(some small MAVLink example here: Anafi Olympe - MAVlink.Start get StartingErrorEvent)
Let me know about it!
Hi epysod12,
Thanks for the suggestion. I'll give it a try next week.

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