Fly File Breakdown

[Evan Schellenberg]

The fly file contains different sections and commands, understanding the structure of the fly file and how it works is crucial to configuring the autopilot behavior.

The PDF attached to this post is a supplementary document to help explain the sections of a fly file. See this document for a breakdown of what you find in a fly file.

Other tips:

The body commands always run in thread 0. Patterns also always run in thread 0.
(Referring to commands after the unit declaration and before the fixed command as the body).

Execution of thread 0 starts from the first command and moves down to the next command. The only way execution does not flow from one command to the next is if a pattern is started, or a repeat or skip command makes execution jump.

Thread 0 must have a navigation command active to actively fly the UAV, so do not put wait commands or loops that delay or prevent a navigation command from running in thread 0.
Use user-defined threads for adding features that require wait commands.

In-flight reprogramming can only change the body commands that are before the fixed commands. You cannot change the patterns and threads in flight - only on the ground.