Inconsistent waypoint mission progress

NCB

Hi!

Problem

At the exact moment the mission starts, my WaypointMissionProgress notifies the target waypoint as being 0 and that it has already arrived at it, even if the drone hasn't even taken off. This makes my app behave in unexpected ways. The last waypoint gets notified three times also.

Is this an expected or known behavior? How could I fix it?

Environment

Android 11
SDK 4.15
Phantom 4 Pro V2Drone firmware: 01.00.5200
RC firmware: 01.00.5200

Mission

{
"autoFlightSpeed":12.5,
"finishedAction":"GO_HOME",
"flightPathMode":"CURVED",
"gotoFirstWaypointMode":"SAFELY",
"headingMode":"AUTO",
"maxFlightSpeed":15.0,
"missionID":3,
"pointOfInterest":null,
"repeatTimes":1,
"waypointCount":10,
"waypointList":[
   {
      "actionRepeatTimes":1,
      "actionTimeoutInSeconds":999,
      "altitude":30.0,
      "coordinate":{
         "latitude":-23.160064680262902,
         "longitude":-45.793138167755586,
         "valid":true
      },
      "cornerRadiusInMeters":0.2,
      "gimbalPitch":0.0,
      "heading":148,
      "isUseCustomDirection":false,
      "shootPhotoDistanceInterval":0.0,
      "shootPhotoTimeInterval":0.0,
      "speed":12.5,
      "turnMode":"COUNTER_CLOCKWISE",
      "waypointActions":[

      ],
      "headingInner":148
   },
   {
      "actionRepeatTimes":1,
      "actionTimeoutInSeconds":999,
      "altitude":30.63971,
      "coordinate":{
         "latitude":-23.16035352517325,
         "longitude":-45.79294537267839,
         "valid":true
      },
      "cornerRadiusInMeters":0.2,
      "gimbalPitch":0.0,
      "heading":59,
      "isUseCustomDirection":false,
      "shootPhotoDistanceInterval":0.0,
      "shootPhotoTimeInterval":0.0,
      "speed":12.5,
      "turnMode":"COUNTER_CLOCKWISE",
      "waypointActions":[

      ],
      "headingInner":59
   },
   {
      "actionRepeatTimes":1,
      "actionTimeoutInSeconds":999,
      "altitude":30.344177,
      "coordinate":{
         "latitude":-23.16028490142418,
         "longitude":-45.79281902897924,
         "valid":true
      },
      "cornerRadiusInMeters":0.2,
      "gimbalPitch":0.0,
      "heading":-31,
      "isUseCustomDirection":false,
      "shootPhotoDistanceInterval":0.0,
      "shootPhotoTimeInterval":0.0,
      "speed":12.5,
      "turnMode":"CLOCKWISE",
      "waypointActions":[

      ],
      "headingInner":329
   },
   {
      "actionRepeatTimes":1,
      "actionTimeoutInSeconds":999,
      "altitude":29.966614,
      "coordinate":{
         "latitude":-23.15991783895118,
         "longitude":-45.793064031946955,
         "valid":true
      },
      "cornerRadiusInMeters":0.2,
      "gimbalPitch":0.0,
      "heading":24,
      "isUseCustomDirection":false,
      "shootPhotoDistanceInterval":0.0,
      "shootPhotoTimeInterval":0.0,
      "speed":12.5,
      "turnMode":"CLOCKWISE",
      "waypointActions":[

      ],
      "headingInner":24
   },
   {
      "actionRepeatTimes":1,
      "actionTimeoutInSeconds":999,
      "altitude":29.104614,
      "coordinate":{
         "latitude":-23.159770997639463,
         "longitude":-45.79298989630087,
         "valid":true
      },
      "cornerRadiusInMeters":0.2,
      "gimbalPitch":0.0,
      "heading":148,
      "isUseCustomDirection":false,
      "shootPhotoDistanceInterval":0.0,
      "shootPhotoTimeInterval":0.0,
      "speed":12.5,
      "turnMode":"COUNTER_CLOCKWISE",
      "waypointActions":[

      ],
      "headingInner":148
   },
   {
      "actionRepeatTimes":1,
      "actionTimeoutInSeconds":999,
      "altitude":29.96222,
      "coordinate":{
         "latitude":-23.16021627767511,
         "longitude":-45.79269268540955,
         "valid":true
      },
      "cornerRadiusInMeters":0.2,
      "gimbalPitch":0.0,
      "heading":59,
      "isUseCustomDirection":false,
      "shootPhotoDistanceInterval":0.0,
      "shootPhotoTimeInterval":0.0,
      "speed":12.5,
      "turnMode":"COUNTER_CLOCKWISE",
      "waypointActions":[

      ],
      "headingInner":59
   },
   {
      "actionRepeatTimes":1,
      "actionTimeoutInSeconds":999,
      "altitude":29.96521,
      "coordinate":{
         "latitude":-23.160147653926042,
         "longitude":-45.79256634196932,
         "valid":true
      },
      "cornerRadiusInMeters":0.2,
      "gimbalPitch":0.0,
      "heading":-31,
      "isUseCustomDirection":false,
      "shootPhotoDistanceInterval":0.0,
      "shootPhotoTimeInterval":0.0,
      "speed":12.5,
      "turnMode":"CLOCKWISE",
      "waypointActions":[

      ],
      "headingInner":329
   },
   {
      "actionRepeatTimes":1,
      "actionTimeoutInSeconds":999,
      "altitude":28.554016,
      "coordinate":{
         "latitude":-23.15962415632774,
         "longitude":-45.79291576081732,
         "valid":true
      },
      "cornerRadiusInMeters":0.2,
      "gimbalPitch":0.0,
      "heading":24,
      "isUseCustomDirection":false,
      "shootPhotoDistanceInterval":0.0,
      "shootPhotoTimeInterval":0.0,
      "speed":12.5,
      "turnMode":"CLOCKWISE",
      "waypointActions":[

      ],
      "headingInner":24
   },
   {
      "actionRepeatTimes":1,
      "actionTimeoutInSeconds":999,
      "altitude":28.408203,
      "coordinate":{
         "latitude":-23.159477315016023,
         "longitude":-45.79284162549635,
         "valid":true
      },
      "cornerRadiusInMeters":0.2,
      "gimbalPitch":0.0,
      "heading":148,
      "isUseCustomDirection":false,
      "shootPhotoDistanceInterval":0.0,
      "shootPhotoTimeInterval":0.0,
      "speed":12.5,
      "turnMode":"COUNTER_CLOCKWISE",
      "waypointActions":[

      ],
      "headingInner":148
   },
   {
      "actionRepeatTimes":1,
      "actionTimeoutInSeconds":999,
      "altitude":29.958801,
      "coordinate":{
         "latitude":-23.160079030176973,
         "longitude":-45.79243999865855,
         "valid":true
      },
      "cornerRadiusInMeters":0.2,
      "gimbalPitch":0.0,
      "heading":17,
      "isUseCustomDirection":false,
      "shootPhotoDistanceInterval":0.0,
      "shootPhotoTimeInterval":0.0,
      "speed":12.5,
      "turnMode":"CLOCKWISE",
      "waypointActions":[

      ],
      "headingInner":17
   }
],
"exitMissionOnRCSignalLostEnabled":false,
"gimbalElevationOptimizeEnabled":false,
"gimbalPitchRotationEnabled":false
}

Code

DJISDKManager.getInstance().getMissionControl().getWaypointMissionOperator()
.addListener(new WaypointMissionOperatorListener() {
      @Override
      public void onDownloadUpdate(@NonNull final WaypointMissionDownloadEvent __) {
      }

      @Override
      public void onUploadUpdate(@NonNull final WaypointMissionUploadEvent __) {
      }

      @Override
      public void onExecutionUpdate(@NonNull final WaypointMissionExecutionEvent event) {
         final NcbWaypointExecutionProgress ncbProgress = NcbWaypointExecutionProgress
            .fromDji(event.getProgress());
         Logger.d(ncbProgress == null ? null : ncbProgress.toString());
      }

      @Override
      public void onExecutionStart() {
      }

      @Override
      public void onExecutionFinish(@Nullable final DJIError djiError) {
      }
});

Log of some executions

- First

2021-08-25 15:53:28.316 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=0, isWaypointReached=true)
2021-08-25 15:53:59.517 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=0, isWaypointReached=true)
2021-08-25 15:53:59.709 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=1, isWaypointReached=false)
2021-08-25 15:54:06.725 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=1, isWaypointReached=true)
2021-08-25 15:54:07.115 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=2, isWaypointReached=false)
2021-08-25 15:54:11.124 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=2, isWaypointReached=true)
2021-08-25 15:54:11.615 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=3, isWaypointReached=false)
2021-08-25 15:54:19.205 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=3, isWaypointReached=true)
2021-08-25 15:54:19.506 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=4, isWaypointReached=false)
2021-08-25 15:54:24.007 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=4, isWaypointReached=true)
2021-08-25 15:54:24.516 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=5, isWaypointReached=false)
2021-08-25 15:54:33.027 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=5, isWaypointReached=true)
2021-08-25 15:54:33.414 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=6, isWaypointReached=false)
2021-08-25 15:54:37.414 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=6, isWaypointReached=true)
2021-08-25 15:54:37.925 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=7, isWaypointReached=false)
2021-08-25 15:54:47.216 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=7, isWaypointReached=true)
2021-08-25 15:54:47.627 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=8, isWaypointReached=false)
2021-08-25 15:54:52.127 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=8, isWaypointReached=true)
2021-08-25 15:54:52.525 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=9, isWaypointReached=false)
2021-08-25 15:55:02.801 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=9, isWaypointReached=true)
2021-08-25 15:55:02.914 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=9, isWaypointReached=false)

- Second

2021-08-25 15:56:14.626 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=0, isWaypointReached=true)
2021-08-25 15:56:45.843 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=0, isWaypointReached=true)
2021-08-25 15:56:46.024 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=1, isWaypointReached=false)
2021-08-25 15:56:52.924 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=1, isWaypointReached=true)
2021-08-25 15:56:53.425 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=2, isWaypointReached=false)
2021-08-25 15:56:57.429 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=2, isWaypointReached=true)
2021-08-25 15:56:57.826 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=3, isWaypointReached=false)
2021-08-25 15:57:05.428 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=3, isWaypointReached=true)
2021-08-25 15:57:05.813 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=4, isWaypointReached=false)
2021-08-25 15:57:10.314 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=4, isWaypointReached=true)
2021-08-25 15:57:10.817 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=5, isWaypointReached=false)
2021-08-25 15:57:19.313 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=5, isWaypointReached=true)
2021-08-25 15:57:19.725 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=6, isWaypointReached=false)
2021-08-25 15:57:23.751 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=6, isWaypointReached=true)
2021-08-25 15:57:24.116 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=7, isWaypointReached=false)
2021-08-25 15:57:33.516 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=7, isWaypointReached=true)
2021-08-25 15:57:33.826 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=8, isWaypointReached=false)
2021-08-25 15:57:38.216 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=8, isWaypointReached=true)
2021-08-25 15:57:38.715 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=9, isWaypointReached=false)
2021-08-25 15:57:48.955 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=9, isWaypointReached=true)
2021-08-25 15:57:49.114 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=9, isWaypointReached=false)

- Third

2021-08-25 15:59:45.922 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=0, isWaypointReached=true)
2021-08-25 16:00:18.953 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=0, isWaypointReached=true)
2021-08-25 16:00:19.125 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=1, isWaypointReached=false)
2021-08-25 16:00:26.114 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=1, isWaypointReached=true)
2021-08-25 16:00:26.514 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=2, isWaypointReached=false)
2021-08-25 16:00:30.517 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=2, isWaypointReached=true)
2021-08-25 16:00:30.924 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=3, isWaypointReached=false)
2021-08-25 16:00:38.517 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=3, isWaypointReached=true)
2021-08-25 16:00:38.923 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=4, isWaypointReached=false)
2021-08-25 16:00:43.313 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=4, isWaypointReached=true)
2021-08-25 16:00:43.823 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=5, isWaypointReached=false)
2021-08-25 16:00:52.313 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=5, isWaypointReached=true)
2021-08-25 16:00:52.826 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=6, isWaypointReached=false)
2021-08-25 16:00:56.816 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=6, isWaypointReached=true)
2021-08-25 16:00:57.217 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=7, isWaypointReached=false)
2021-08-25 16:01:06.526 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=7, isWaypointReached=true)
2021-08-25 16:01:06.815 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=8, isWaypointReached=false)
2021-08-25 16:01:11.314 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=8, isWaypointReached=true)
2021-08-25 16:01:11.806 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=9, isWaypointReached=false)
2021-08-25 16:01:22.001 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=9, isWaypointReached=true)
2021-08-25 16:01:22.124 D: │ NcbWaypointExecutionProgress(targetWaypointIndex=9, isWaypointReached=false)