I’ve been really struggling to find a solution for this fairly niche request and thought I would reach out to anyone that might have had a similar mission requirement.  Any help would be greatly appreciated.

I'm using a DJI Phantom 4 RTK drone with a non SDK controller and need to set up missions with the following requirements:

        1        Waypoint-to-waypoint navigation at about 10 feet altitude

        2        Waypoints will be near each other (within 10-40 feet)

        3        Ability to stop at waypoints or set hold times (30-60 seconds)

Current setup and issues:

• Phantom 4 RTK using the built-in tablet controller (non-SDK so limited software options)
  
• Working exclusively on Mac and iOS (no immediate access to Windows, but can consider it if necessary)
  
• Tried creating missions in Litchi and exporting as KML files
  
• ◦        Litchi is the only app or program I've found that allows setting hold times at waypoints and exporting KML files
  
• ◦        Litchi, as I understand it does not support RTK at this time
  
• Imported the Litchi KML files to the drone controller, but the mission appears to chang drastically (and perhaps changes it to a corridor mission) or errors out when I try to generate flight plan: “flight route failed to generate. adjust waypoint positions”
  
• Unsure if the hold times set in Litchi will transfer correctly in the KML file
  
• ◦        Nothing i can see suggests that the waypoint actions came with the KML file and/or the P4 RTK controller is seeing the waypoint actions
• 
  
  

I've tested many apps, including:

• Litchi: Allows setting hold times at waypoints and KML export, but having issues with the export/import process
  
• DJI GS Pro: Successfully built a waypoint mission with required hold times, but couldn't find a way to export a KML file from the iPad app or sync with the P4 RTK
  
• Maps Made Easy: no way point actions I can find
  
• Google Earth:  no waypoint actions
  
• Drone Deploy (for mission plan): no waypoint actions I can find
  
• Pix4d: seems even for mission plan, a subscription is required
• 
  
  

Questions:

        1        Is there a Mac/iOS app or browser-based tool that can create KML files with hold times at waypoints?

        2        Is there a native DJI app for the Phantom 4 RTK controller (with built-in screen) that can accomplish this?

        3        Any other Mac/iOS solutions or workarounds for creating missions with timed holds at specific waypoints?

        4        If Windows-only solutions exist, what are they? (I can consider getting a Windows machine if necessary)

        5        Do waypoint actions export out with the KML file?

Summary: I need to create a mission and export it as a KML file to upload/import onto the controller for the Phantom 4 RTK. The main challenge is ensuring that the 30-60 second holds I set on the waypoints are correctly transferred in the KML file…Or find a way to do this in the P4 RTK android based - built in screen controller (non SDK controller.)

UgCS might do it w/ the SDK controller, but you don't have that.

When you look at a KML exported from Litchi in a text editor, can you see the hold times at the waypoints? Regardless, it sounds like importing a KML into a GS-RTK Waypoint Mission is not working.

I don't use Waypoint missions, but the User Guide says you can have actions at each waypoint, so maybe the action could be a pause? Have you tried creating the waypoint mission in GS-RTK?

Whatever the case, if you plan and fly in GS RTK I think the only way you can autonomously fly that low is to use "Relative Altitude", which is available for Photogrammetry Missions but I don't think for Waypoint ones. But perhaps waypoint altitudes can be that low, unlike the 25m minimum for Photogrammetry missions.

Sorry, I don't have my P4R here so I can't experiment right now to help.