The flight trajectory data for a waypoint route is typically stored in a
digital file that is submitted to the UAVwith a wireless data upload link
from a ground control station, a mobile computer or smartphone.
Thanks to a XML-based file structure of the waypoint file it is possible
to create awaypoint routewith an external software solution. Equipped
with a differential GPS receiver, the quadrocopterwas able to followautonomously
a pre-defined 3D flight trajectory of up to 100 waypoints.