Dji TERRA Camera User Manual

v3.0

User Manual

DJI TERRA

2021.05

Content

Disclaimer

Warning

Introduction

Download and Launch

Connect the Remote Controller and Aircraft

Mission Type

Flight Route Missions 4

Reconstruction Missions 5

Interface Introduction

Main Screen 7

Flight Route Mission Editing View 9

Flight Route Missions

Create a Mission 11

Perform Mission 13

Parameter Setting Introduction 15

Reconstruction Missions

Importing Image POS Data 30

Using the PPK Result Files 31

2D Map Reconstruction 32

2D Multispectral Map Reconstruction 35

Agricultural Application 36

3D Model Reconstruction 40

ROI Reconstruction 43

Output Coordinate System Settings 44

GCP Management 45

LiDAR Point Cloud Processing 48

More Functions

Purchase Licenses 50

Activate Online Licenses and Bind Devices 51

Cluster Reconstruction 51

View and Export Logs 55

Software Shortcuts 55

Disclaimer

Read this disclaimer and the terms in DJI TERRA

(hereinafter referred to as “product”) carefully

before using this product. By using this product, you hereby agree to this disclaimer and the Terms

of Use and signify that you have read it fully. Please install and use this product in strict accordance

with the User Manual. SZ DJI TECHNOLOGY CO., LTD. and its afliated companies assume no

liability for damage(s) or injuries incurred directly or indirectly from using this product improperly.

DJI

is a trademark of SZ DJI TECHNOLOGY CO., LTD. (abbreviated as “DJI”) and its afliated

companies. Names of products, brands, etc., appearing in this manual are trademarks or registered

trademarks of their respective owner companies. This product and manual are copyrighted by DJI

the prior written consent of or authorization from DJI.

This disclaimer is produced in various languages. In the event of variance among different versions, the

Chinese version shall prevail when the product in question is purchased in China, and the English version

shall prevail when the product in question is purchased in any other region.

Warning

1. Ensure your ight area is safe before each ight.

2. Be sure to maintain a visual line of sight (VLOS) to your aircraft at all times.

3. The aircraft will continue its mission, meaning Failsafe RTH will not be triggered, if the remote

controller signal is lost during the mission.

4. When the GNSS signal is strong and the RTH button is pressed and held during a mission, the

aircraft will stop the mission immediately and begin RTH. Users can resume the mission if required.

5. When there is only sufcient battery power for RTH during a mission, the remote controller will

alert for a few moments, the aircraft will pause the mission, and begin RTH. After replacing the

battery, the mission can resume from the paused point

6. When using an aircraft with obstacle avoidance function, check that the Sensing System is

operational in the current surroundings. If it is not, disable it in DJI Terra (go to

> ), or ight

may be adversely affected.

7. All of the altitude values in DJI Terra are relative to the altitude of the takeoff point. In the same

mission, the altitude above sea level for the same point during the mission will vary if taking off at

different altitudes.

Introduction

DJI Terra is a PC software designed to improve mission performance efficiency for industrial

applications including — but not limited to — agricultural plant protection, search and rescue,

and reghting. It can control a DJI aircraft* to y along a planned 2D or 3D route and provides

functions such as 2D map reconstruction, 3D model reconstruction, eld planning, and more.

* Support for DJI devices will be added as testing and development continues. Visit the DJI Terra product

page on dji.com for a complete list. https://www.dji.com/dji-terra

DJI Terra has four versions: Agriculture, Pro, Electricity, and Cluster. To purchase DJI Terra, visit

the DJI Online Store or the ofcial DJI website. After purchasing, activate licenses and bind devices

using DJI Terra. For more information, refer to “More Functions” on p. 50.

Agriculture version includes functions such as real-time 2D mapping, 2D map reconstruction (for

eld and fruit tree scenes), 2D multispectral reconstruction, agriculture applications, and LiDAR

point cloud processing.

DJI TERRA

User Manual

Pro version includes all the functions from Agriculture version with additional functions such as

importing KML files, importing image POS data, 2D map reconstruction (for urban scenes), ROI

reconstruction, output coordinate system settings, multi-GPU reconstruction, 3D model reconstruction,

3D Mission Planning, GCP management, and LiDAR point cloud accuracy optimization.

Electricity version includes all the functions from Pro version with additional functions such as 3D

model reconstruction (for power lines scenes) and detailed inspection.

Cluster version includes all the functions mentioned above and enables multiple devices in the

same local network to be used to perform cluster reconstruction.

NOTE: The Agriculture version is only available in China.

Download and Launch

DJI Terra is supported on Windows 7 (64-bit) or later.

Your computer should meet certain hardware requirements for optimal use of some of the advanced

functions such as reconstruction.

Hardware Real-time 2D Mapping

2D Map Reconstruction / 3D Model

Reconstruction / Real-time 3D Mapping

LiDAR Point Cloud

Processing

CPU i5 or later

GPU

NVIDIA graphics card

is recommended

GeForce GTX TITAN X, GeForce RTX 2080 Ti

GeForce GTX 1080 Ti, GeForce GTX 1080

GeForce GTX 1070 Ti, GeForce GTX 1070

GeForce GTX 1060, GeForce GTX 1050 Ti

GeForce GTX 970, GeForce GTX 960

Other NVIDIA graphics cards with a compute capability of no less than 3.0

VRAM No less than 4GB No less than 4GB

RAM No less than 8GB No less than 16GB No less than 32GB

HDD 50GB Free (basic requirement) or SSD+50GB Free (better)

NOTE:

The requirements for 2D map reconstruction / 3D model reconstruction / real-time 3D mapping

are equally applicable to real-time 2D mapping. There are no mandatory requirements on the

graphics card for real-time 2D mapping. However, using a low-performance computer for real-time

2D mapping may result in delayed performance. If using an NVIDIA graphics card, the processing

speed will be faster.

It is recommended to use the graphics cards listed above. If using other models, please contact

DJI Support before use.

Make sure that the graphics card driver is up-to-date regardless of the models.

Refer to Preparation Before Using DJI Terra on the ofcial DJI website for more information on

hardware and other conguration requirements when using the Cluster version.

1. Visit the DJI Terra product page on dji.com using your computer to download and install the software.

2. Launch DJI Terra and log in with your DJI account. If an ofine license was purchased, ofine

DJI devices must be activated before using DJI Terra.

Set a waypoint ight path, then dene waypoint actions for each waypoint.

Connect the Remote Controller and Aircraft

Using Phantom 4 RTK / Phantom 4 Pro V2.0 / Phantom 4 Pro+ V2.0

Connect the remote controller to the computer using a USB-C cable (for the Phantom 4 RTK) or

Micro USB cable (for the Phantom 4 Pro V2.0 / Phantom 4 Pro+ V2.0), then power on the remote

controller and aircraft. The location and status information of the aircraft will display on DJI Terra.

When using the Phantom 4 Pro V2.0, make sure to connect the remote controller to the

computer rst and then power it on. Otherwise, DJI Terra cannot recognize the device.

Currently, the Phantom 4 RTK (SDK) remote controller (which refers to the Phantom 4 RTK

remote controller without a display device) is not supported by DJI Terra.

Using Other Devices

1. Switch remote controller communication mode to PC mode.

a. Power on the remote controller. Make sure the flight mode is P-mode. Then, connect the

remote controller (Micro USB port) to PC (USB port) via a Micro USB cable.

b. Launch DJI Terra, enter

> , choose “Switch to PC Mode.” The status LED of the remote

controller will blink red (blink green if the aircraft is connected), indicating that the remote

controller is in PC mode. Restart the remote controller to enable PC mode.

2. Remove the Micro USB cable. Connect the remote controller (USB port) to PC (USB port) via an

A male to A male USB cable, then power on the aircraft. The location and status information of

the aircraft will display in DJI Terra.

If you want to use DJI GO 4 or other apps on a mobile device connected to the USB port on

the remote controller, be sure to switch the remote controller communication mode to App

mode in DJI Terra. The switching procedure is similar to the one above. The only difference

is choosing “App Mode.”

Mission Type

Flight Route Missions

Waypoints

DJI Terra automatically generates efcient ight paths after user has set their required

ight area and camera parameters. The aircraft will then follow this route throughout

its mission. Real-time 2D mapping or real-time 3D mapping (of low accuracy) during

a mission can be enabled. After the mission is complete, users can also import the

original images into DJI Terra for 2D map reconstruction or 3D model reconstruction (of

high accuracy).

Mapping

This function automatically generates five flight paths after users have set their

required ight area and parameters. These include a single ight path with a gimbal

pitch angle of -90°, indicating a downward facing direction. Subsequently, this is

followed by four flight paths with a customizable gimbal pitch of more than -90°

to capture photos from multiple angles such as forward, backward, leftward, and

rightward. After the mission is complete, users can import the original images onto

DJI Terra for 3D model reconstruction of different resolutions.

Oblique

Corridor

DJI Terra automatically generates corridor ight area and several independent

flight paths after the user has set the corridor points, expansion distance, and

ight band cutting distance. After the mission is complete, users can import the

original images into DJI Terra for 2D map or 3D model reconstruction.

Use the original photos captured by the camera to obtain a high-precision 2D

map. After a map has been produced, users have the option to add annotations

and perform a variety of measurements.

Use the original photos captured by the multispectral cameras to obtain a high-

precision 2D multispectral map. After a map has been produced, users have the option

to add annotations and perform a variety of measurements and agriculture applications.

Detailed Inspection

2D Multispectral Map

3D Model

DJI Terra automatically generates waypoints to make up the inspection ight path

after the user has imported models from 3D reconstruction results using DJI Terra

or third-party LAS point cloud les, added target points on the model, and set

shooting distance, ight route speed, and other parameters. After planning the

ight path, users can export a KML le and upload it to the DJI Pilot app (using

the Phantom 4 RTK (SDK) or Matrice 300 RTK) or to a Waypoints mission in DJI

Terra (using the Phantom 4 RTK) to perform it.

Use the original photos captured by the camera to obtain a high-precision

3D model. After a model has been produced, users have the option to add

annotations and perform a variety of measurements.

Reconstruction Missions

2D Map

DJI TERRA

User Manual

LiDAR Point Cloud Processing

Use the point cloud data captured by the Zenmuse L1 to obtain a high-precision

true-color point cloud. After the point cloud has been reconstructed, users can

add annotations and perform a variety of measurements.

256m

Fly Safe

Created on: 12/03/2019

Last update: 23/06/2019

TERRA

0000

Home Distance

0000

Altitude

00.00

m/s

Speed

00.00

Time

New Mission

Mission Library

New Waypoint Mission

100%

PHANTOM 4

1. System Status Bar

: Indicates the aircraft ight status and displays various warning messages.

2. Aircraft Connection Status

: Shows the current connection status between DJI Terra and the aircraft.

3. GNSS signal Strength

: Shows the current GNSS signal strength and number of connected satellites.

4. Obstacle Avoidance System Status

: Shows if the obstacle avoidance system is functioning properly.

5. Remote Controller Signal Strength

: Shows the strength of the remote controller signal.

6. HD Video Link Signal Strength

: Shows the strength of the HD video downlink connection between the aircraft and

remote controller.

7. Aircraft Battery Level

100%

: Shows the current battery level.

8. Cluster Reconstruction Settings

: This icon will only appear when using DJI Terra Cluster. Click to enter the cluster

reconstruction settings to set the corresponding parameters and view cluster reconstruction

devices. Refer to “Cluster Reconstruction” on p. 51 for more information.

9. Settings

Click to enter the Settings menu.

: Flight Controller Settings — Includes RTH altitude, ight distance limit, altitude limit, etc.

Interface Introduction

Main Screen

1 2 3 4 5 76 98 10

1718

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User Manual

: Gimbal and Camera Settings — Includes, photo quality, metering mode, etc.

: Remote Controller Settings — Includes customizing Button C1 and C2, selecting stick mode,

and switching the remote controller communication mode between PC mode and app mode.

: Obstacle Avoidance Settings — Enable or disable the obstacle avoidance function.

: General Settings — Includes length unit, area unit, language, cache directory, etc.

10. Account Information

: Log into/out of your account, activate license(s), check the unlocking license(s), version

number, read the privacy policy, and congure privacy data settings.

11. Search

: Input names to search on the map.

12. Self Mapping List

: Click to show a self mapping list. Choose a map or multi maps to display in the map view.

Maps will not display if not chosen.

13. Show/Hide GEO Zones

: Click to show or hide the DJI GEO Zones on the map.

14. Positioning

: If the aircraft is connected, click the icon to center the map around the aircraft’s location.

If the aircraft is disconnected, the map will be centered around the current network location. If

there is no available internet connection, it will be centered around the defaulted initial location

or the location when quitting from the software.

15. Map Mode

: Tap to switch bettwen Regular Map, Satellite Map, and Road Map.

16. Map Zoom

Click +/- to zoom in or out of the map.

17. Map View

Displays the map. Scroll the scroll wheel on the computer mouse to zoom in/out. Press and

hold the left button on the computer mouse to move the map.

18. Flight Telemetry

Home Distance: Horizontal distance from the Home Point.

Altitude: Vertical distance from the Home Point.

Speed: Movement speed across a horizontal distance.

Time: Aircraft operating time from motors started for the rst time.

Photo Count (Downloaded/Captured): In a Mapping mission, this function displays the photo

count downloaded from the aircraft to DJI Terra and the total number of photos captured.

The photos will be downloaded to DJI Terra only if Real-Time 2D Mapping or Real-Time 3D

Mapping is enabled. If it is disabled, by default the downloaded photo count is set to 0.

19. Mission Library

Missions will be assorted by types in mission library. Click each tag to display all missions of

the corresponding type. Click the arrow on the right of the library to collapse or expand it.

: Reconstruction Mission Management — Click to enter reconstruction mission

management to view the status of all reconstruction missions. When using cluster

reconstruction, users can also view the status of worker devices.

: Search — Click and input keywords in the text box to search a mission.

: Import — Click to import missions.

DJI TERRA

User Manual

: Export — Click to enter mission managing mode. Choose missions and export them.

The export function here is the same as the one mentioned below in the text about the export

function for a selected mission.

: Manage — Click to enter mission managing mode. Choose missions and delete them.

New Mission: Click to choose a mission type and create a new mission.

Click a mission to select it and:

: Edit — This icon can only be clicked before a mission starts. Click to enter mission editing

mode and set parameters.

: Continue — If a mission is stopped and “Back to Mission List” is chosen in the prompted

menu, this icon will appear when the same mission is selected in the mission library. Click to

choose the next operation from the prompted menu.

: View — This icon will appear after a mission is completed. Click to view the parameters.

NOTE: Parameters cannot be edited.

: Reconstruction — This icon will only appear in Reconstruction missions. The icon will

also appear in Flight Route missions if the reconstruction was created using DJI Terra v2.3.0

or earlier. Click to enter the reconstruction page for 2D map reconstruction or 3D model

reconstruction. For more information, refer to “Reconstruction Missions” on p. 30.

: Copy — Click to create a copy of this mission. The ight path and parameter settings will

be the same.

: Open Folder — Click to open the folder where the current mission is located.

: Delete — Click to delete the mission.

: Export — Click to export the mission with the current settings and its les such as photos,

2D maps, and 3D models. The exported file can be used to create a mission via “Import”.

The mission name of the exported mission is the same as the one in DJI Terra. It will not be

changed when importing it to create a mission even if the exported le’s name is changed.

Flight Route Mission Editing View

1. Back

Click to return to the main screen.

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Time

Photo Count (Downloaded/Captured)

Estimated Flight Route

Time

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User Manual

2. Parameter List

This list includes the common screen elements below. The other settings vary according to

different mission types. Refer to Parameter Setting Introduction for details.

/ : Collapse / Expand — Click to collapse or expand the list.

Mission Name: Click the button on the right to edit the mission name.

: Save — Click to save current settings.

: KML Import — Click to import a KML le. The data in the KML le will be converted to waypoints

or edge points and displayed on the map for planning. Refer to “Create a Mission” on p. 11 for details.

: KML Export — This icon will appear only in Waypoints and Detailed Inspection missions.

Click to export the current flight route as a KML file. The exported file can be used to plan

the ight path in a Waypoints mission via “Import KML”. For KML les exported from Detailed

Inspection missions, users can also import the le into the Library in the DJI Pilot app to perform

the mission.

Mission Information: Information varies according to different mission types. These include:

route distance, estimated flight route time, estimated total flight route time, waypoint count,

cover area, estimated photo count, etc.

Sliders and -/+: Move to the left or right to adjust values. Click -/+ for ne-tuning.

Waypoint / Edge Point Edit:

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Longitude

Latitude

Click the box to input values. Click the arrow keys on the right for ne tuning. Up and down

adjust latitude while left and right adjust longitude.

Mission Button (aircraft connection is required):

a. Start: Click to start the mission after parameters are set.

b. Stop: During the mission, click to stop the mission. The aircraft hovers and records its

location as a breakpoint and users can control the aircraft manually. Users can then choose

an operation after stopping the mission from the prompted list in the software.

c. Pause / Continue: During a Waypoints mission, click to pause the mission, and the aircraft

will hover. Users can control the aircraft to y forward or backward along the ight path, but

the aircraft heading cannot be controlled. Click “Continue,” and the aircraft continues the

mission from its current position.

Flight Route Missions

Create a Mission

1. New Mission

Create a mission via the following two methods:

a. Click the “New Mission” button on the lower left corner, choose the mission type, input the

mission name, and then click “OK” to enter Mission Editing mode.

b. Click

in the right section of the mission library to import a mission le from the computer.

Click to select the imported mission and then click

to enter Mission Editing mode. The

imported mission cannot be edited, if it has already been nished before export.

2. Mission Settings

For a Detailed Inspection mission, there will be a prompt for route planning instructions after a

mission is created to guide users throughout the basic procedure. Click “OK” after reading the

instructions and enter the Mission Settings page to edit the mission name, select aircraft and

desired model. The list in this page will list the models from 3D reconstruction results using DJI

Terra. Users can also click “Import Point Cloud” to import third-party LAS point cloud les as the

model to use. After conguration, click “OK” to enter Mission Editing mode.

Make sure that the accuracy of the imported models or point clouds meets the operation

requirements.

3. Plan Flight Path

Waypoints missions are flight paths with waypoints. When using a Phantom 4 RTK aircraft,

the waypoint quantity should not exceed 199. While using other aircraft, the waypoint quantity

should not exceed 99.

For Mapping missions or Oblique missions, DJI Terra automatically generates ight paths after

the user has set their required ight area and parameters.

For Corridor missions, DJI Terra automatically creates a ight area extending from the center line

and generates ight paths after the user has set their required corridor points and parameters.

Add points via the following methods:

a. Click on the map to add a point.

b. Fly the aircraft to the desired position and then click

on the upper right corner to set the

aircraft position as a point.

c. Click

in the parameter list to import a KML le. The data in the le will be converted to

points and displayed on the map. This is a premium function included in DJI Terra Pro and

more advanced versions. Please purchase a license and then activate it before use. For

more information related to purchase and activation, refer to “More Functions” on p. 50.

For Waypoints missions, users can plan ight paths based on a 2D map, 3D model or point

cloud generated in DJI Terra. Make sure that there is no waypoint added, then click

on the

right of the 2D/3D section in the parameter list, select a desired 2D map or 3D model, and click

“Import.” The imported map or model will be displayed in the map view. Add waypoints based

on the 2D map or 3D model using the above methods.

DJI TERRA

User Manual

The functions for importing 2D maps or 3D models, ight path planning based on a 2D map, and

ight path planning based on a 3D model (called “3D Mission Planning” in a Waypoints mission)

are included in the DJI Terra Pro and more advanced versions. Please purchase a license and

then activate it before use. For information related to purchase and activation, refer to “More

Functions” on p. 50.

During 3D mission planning, waypoints can only be added when the 3D model is

displayed in top view. Click

to switch to the top view automatically.

For a Detailed Inspection mission, click on the model to add a target point, and then congure the

parameters. DJI Terra will generate its corresponding waypoint. All the waypoints make up the

ight path. When using a Phantom 4 RTK aircraft, the waypoint quantity should not exceed 199.

4. Edit Points

Click a point to select it and the selected point will turn from white to blue. Drag the point to

change the area shape or flight path (except Detailed Inspection missions). In a Mapping

mission or Oblique mission, click on the map, and a new point will be added between the two

points. These points will be situated near the location you have clicked on.

For a Detailed Inspection mission, click the target point to select it and the selected point will

turn from green to red. Drag the target point to change its position. Select a waypoint or target

point, then click the desired position for a new target point on the model, and a new point will be

added between the selected point and its next point.

Other operations can also be performed via the buttons below:

: Delete selected waypoint/edge point — Click a point to select it and it will turn to blue. Then

click this button to delete it.

: Delete all waypoints/edge points — Click to delete all the waypoints or edge points in this

mission.

: Switch start and endpoints — Click to swap the start and endpoints to reverse the ight

path.

: Set your aircraft’s current position as a waypoint/edge point — Click to set the aircraft

position as a waypoint or edge point.

During 3D Mission Planning, hold down the mouse wheel and drag to adjust the display view

of the 3D model, and different icons will be displayed on the selected waypoint to indicate the

directions in which this waypoint can be adjusted.

indicates that the position in horizontal

direction can be adjusted, and

indicates that the position in vertical direction can be

adjusted. Drag the waypoint in the corresponding direction to adjust its position. The image

of viewing the model from the selected waypoint’s perspective is displayed on the lower right

corner on the screen.

Edge points of a ight area should not be too close. Otherwise, it will fail to generate

ight path.

The above requirements are also applicable when importing a KML le to plan a ight

path.

DJI TERRA

User Manual

There are different limits depending on the models of the aircraft when planning and

editing a Waypoint mission.

For Phantom 4 RTK, Phantom 4 Pro+ V2.0, and Phantom 4 Pro V2.0 aircraft: The

distance between two waypoints should not exceed 200 km. The total distance of the

ight path has no limits.

For Phantom 4 Pro+, Phantom 4 Pro, Phantom 4 Advanced, and Phantom 4 aircraft:

The distance between two waypoints should not exceed 2 km. The total distance of

the ight path cannot exceed 40 km.

For a Detailed Inspection mission, users can also perform the operations below.

/ : To display or hide the target name. When the target name is displayed, click the text

box near the target point on the map to edit its name.

In the 3D model view, hold down the mouse wheel and drag to adjust the display view of the

3D model. Click the buttons on the right of the screen to adjust the display of the 3D model in

specic views and to zoom in or out.

In “Waypoint Settings”, edit and congure each waypoint separately. Refer to “Parameter Setting

Introduction” on p. 15 for more details.

5. Parameter Settings

Set each item in the parameter list and click to save when complete. Refer to “Parameter

Setting Introduction” on p. 15 for more details.

Perform Mission

For a Detailed Inspection mission, if the Phantom 4 RTK aircraft is selected in the Mission Settings,

import the ight route KML le to a Waypoints mission in DJI Terra or import the le into Library in

DJI Pilot to perform the mission. If the Matrice 300 RTK aircraft is selected, to perform the mission,

the ight route KML le can only be imported into Library in DJI Pilot.

To perform the mission using KML les exported from Detailed Inspection missions, aircraft

rmware and DJI Pilot app of the corresponding version are required. Pay attention to the

release notes of the related products.

Before performing the mission, make sure that the aircraft positioning is in the RTK FIX

status to avoid accidents.

For other missions, follow the descriptions below.

Start Mission

1. Select a mission in the mission library. Click “Edit” and then click “Start.” A ight preparation list

will appear.

2. Wait for the ight path to upload to the aircraft. Check and adjust the aircraft according to the list

that appears until all items are green, indicating that takeoff is permitted. Items in yellow require

adjustment, but the aircraft can take off without doing so. Only ying when all items are green is

highly recommended.

3. Click “Start.” The aircraft will y along the pre-set ight path to perform the mission.

DJI TERRA

User Manual

4. In a Mapping mission, if Real-Time 2D Mapping or Real-Time 3D Mapping is enabled, the real-

time mapping result will display on the map during the mission as follows:

a. The aircraft ies to the starting point of the ight path and start shooting.

b. When photo count (shown in the ight telemetry at the bottom of the screen) is more than 10, the

real-time mapping pictures or 3D point cloud will be shown at the corresponding position on the

map. No picture display may be due to the map display level. Zoom in or out to view the result.

c. As the mission progresses, the mapping result of the ight area will be shown on the map

gradually.

Stop Mission

During a mission, click the “Stop” button on the screen and the aircraft will hover in place and

record the current position as a breakpoint. The aircraft can then be own freely and a menu will

pop up with additional control options. In a Mapping mission, the pop-up menu display will vary

depending on whether “Real-Time 2D Mapping” or “Real-Time 3D Mapping” is enabled.

Real-Time 2D Mapping or Real-Time 3D Mapping Enabled

Click the “Stop” button, and there will be a prompt indicating that real-time 2D mapping or real-time

3D mapping is paused. Click “OK”, and then choose from the options below.

Resume from break point: The aircraft will continue the mission from the recorded breakpoint.

End Current Mission and Start Image Processing: The aircraft will stop the current mission, and DJI Terra

will start post-processing for the captured photos to reconstruct a 2D map or 3D point cloud/model.

Cancel Mission: The aircraft will stop the mission. DJI Terra will not process the photos.

Real-Time 2D Mapping or Real-Time 3D Mapping Disabled

Click the “Stop” button, and then choose from the options below.

Save waypoint route info and mission status: DJI Terra will save the breakpoint information and exit

from the current mission.

Cancel Mission: The aircraft will stop and exit from the current mission. The mission cannot be

continued.

If “Save waypoint route info and mission status” is chosen, users can select from the list below as

required after connecting the aircraft and entering the same mission again:

Resume from break point: The aircraft will continue the mission from the recorded breakpoint.

Resume from previous waypoint: The aircraft will continue the mission from the previous waypoint

before the recorded breakpoint.

Resume from next waypoint: The aircraft will continue the mission from the next waypoint after the

recorded breakpoint.

Restart: The aircraft will y to the start point and restart the mission.

Cancel Mission: DJI Terra will clear the recorded breakpoint information in the current mission and

exit from the mission.

Back to Mission List: Back to the mission library. To check this menu again, select the required

mission and click “Continue”.

Special Cases

1. During any mission, the aircraft will exit from its mission and enter a normal flight mode if

positioning is not available due to a weak GNSS signal. Users can choose to continue the mission

if the signal is strong. When continuing, the aircraft will continue from its last recorded point.

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User Manual

2. Smart Low-Battery Level: When there is only sufcient battery level for RTH, an audio prompt will

emit from the remote controller. After a few seconds, the aircraft will stop the mission and begin

RTH. Users can cancel the RTH by pressing the Smart RTH button on the remote controller.

The mission can be continued and the aircraft will continue the mission from the point where

recording stopped after replacing battery.

3. Low Battery Level / Critically Low Battery Level: When the battery level is lower than the Low

Battery value pre-set in the app*, an audio prompt will sound from the remote controller. When

the battery level is lower than the Critically Low Battery value pre-set in the app, an audio prompt

will sound from the remote controller. The aircraft will stop the mission and land automatically.

The mission can be continued and the aircraft will continue the mission from the point where

recording stopped after replacing battery.

* App refers to all the apps used with the aircraft, for example DJI GO 4.

Mission Complete

After nishing a mission, the aircraft will perform the pre-set “Finishing Action.” The aircraft can be

controlled freely afterward.

For a Mapping mission:

If Real-Time 2D Mapping or Real-Time 3D Mapping is enabled, DJI Terra will enter post-processing

stage after mission completion to process the captured photos again for mapping result of higher

accuracy with more zoom levels. After post-processing completion, users can zoom in to view the

more accurate result.

If the option is disabled, after mission completion, users can create a Reconstruction mission to

process the captured photos for reconstruction. Refer to “Reconstruction Missions” on p. 30 for details.

Parameter Setting Introduction

Select a mission in the mission library. Click “Edit” to enter mission editing mode for parameter

settings.

Waypoints Settings

Route Settings

Route Settings Waypoint Settings

Coordinated Turn

Phantom 4

Camera

4: 3

Ratio

Hover

Finishing Action

10 m/s

Initial Speed

100 m

Route Altitude

4 m/s

Route Speed

-20°

Gimbal Pitch Angle

2.5 s

Interval

Timed Shot

Capture Mode

Follow Route

Aircraft Heading

Route Settings Waypoint Settings

Coordinated Turn

Phantom 4

Camera

4: 3

Ratio

Hover

Finishing Action

10 m/s

Initial Speed

100 m

Route Altitude

4 m/s

Route Speed

-20°

Gimbal Pitch Angle

2.5 s

Interval

Timed Shot

Capture Mode

Follow Route

Aircraft Heading

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User Manual

1. Coordinated Turn

If enabled, the aircraft will y on a smooth curve when passing a waypoint. Set a “Turn Radius”

in “Waypoint Settings.” However, be aware that only Waypoint Actions on the start and

endpoints will be performed, while the Waypoint Actions on other points will not.

If disabled, the aircraft will fly to a waypoint and perform Waypoint Actions. If no Waypoint

Actions are set on a waypoint, the aircraft will stop at the waypoint, adjust its heading and y to

the next waypoint.

2. Camera

DJI Terra can recognize the camera model of the aircraft. Unless otherwise specied, users

don’t need to set it.

3. Ratio

Refers to the ratio of the width and height of the photos captured during the mission.

4. Finishing Action

Aircraft action after mission complete.

Hover: The aircraft will hover at the nal waypoint after mission completion. Then users can then

control the aircraft directly.

Return to Home: If the aircraft altitude is higher than this pre-set value, it will return to home at its

mission completion altitude. If the aircraft altitude is lower than the pre-set value it will ascend to

the RTH altitude after mission completion before returning to home. The RTH altitude can be set

in Flight Controller Settings.

Land: The aircraft will land at the final waypoint and stop motors automatically after mission

completion.

Return and Hover: The aircraft will return to the starting point of the flight path and hover after the

mission is complete. The altitude when returning to the starting point is the same as RTH altitude.

Make sure that the endpoint of the ight path is suitable for landing when nishing action is

set to “Land” to avoid potential ight accidents.

5. Aircraft Heading

Aircraft heading when performing the mission.

Follow Route: The aircraft’s nose is always aligned to the direction of the next two waypoints.

Set Waypoint Separately: Set aircraft heading at each waypoint in “Waypoint Settings”.

6. Capture Mode

Waypoint Hovering Shot: The aircraft will hover and capture at each waypoint. In this mode,

shooting is stable, but the time required will be long. The number of waypoints required may be

large, which will also make mission times longer.

Timed Shot: The aircraft will capture in a xed time interval as it ies along the path. The aircraft

will not hover during capturing unless there is a waypoint action. Users can set the time interval.

In this mode, operation is fast. However, short exposure times are required.

7. Interval

This setting will appear when capture mode is set to Timed Shot.

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8. Route Altitude

The relative altitude between the aircraft and the takeoff point during ight. This can be set from

0 to 500 m. You can also set the altitude of each waypoint in “Waypoint Settings”.

During 3D mission planning, the altitude at each waypoint is the relative altitude between the

aircraft and the scene in the 3D model below the corresponding waypoint.

9. Route Speed

The ight speed when ying along a waypoint ight path.

10. Initial Speed

Flight speed when not ying along the waypoint-determined ight path. This includes the ight

speed from the aircraft position to the starting point of the ight path when starting a mission,

or returning speed after mission completion.

11. Gimbal Pitch Angle

The gimbal pitch angle at the selected waypoint. Pitch angle can range from -90° to 0°, with

downward represented by -90° and forward represented by 0°.

If capture mode, route speed, or gimbal pitch angle are set in “Route Settings,” the capture

mode, speed, or gimbal pitch angle setting in “Waypoint Settings” will automatically change

to the same as the one in “Route Settings.”

Waypoint Settings

Gimbal Pitch Angle

Waypoint 01

Route Settings Waypoint Settings

2.5 s

Interval

Min Angle

Turning Mode

Timed Shot

Capture Mode

10 m/s

Speed

100 m

Altitude

-20°

8.2 m

Turn Radius

Action 0 Action(s)

Gimbal Pitch Angle

Waypoint 01

Route Settings Waypoint Settings

2.5 s

Interval

Min Angle

Turning Mode

Timed Shot

Capture Mode

10 m/s

Speed

100 m

Altitude

-20°

8.2 m

Turn Radius

Action 0 Action(s)

Select a waypoint (it will turn blue when selected) then set waypoint parameters. Click or to

switch to the previous or next waypoint. The keyboard shortcut “Ctrl+ ← ” or “Ctrl+ → ” can also be

used to switch accordingly.

1. Capture Mode

Waypoint Hovering Shot: The aircraft will hover and capture at the selected waypoint.

Time Shot: The aircraft will capture in a xed time interval as it ies from the selected waypoint to

the next waypoint. The aircraft will not hover during capturing. Users can set the time interval.

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User Manual

2. Turning Mode

The aircraft rotation direction when ying to the next waypoint. This option will be available only if

“Set Waypoint Separately” is set for “Aircraft Heading” in “Route Settings”. “Min Angle” and “Max

Angle” respectively indicate that the aircraft will rotate in the direction with a min or max rotation

angle to adjust its heading to the pre-set value of the next waypoint.

3. Interval

This setting will appear when capture mode is set to Timed Shot.

4. Altitude

Set the relative altitude of each waypoint between the aircraft and the takeoff point. The range

can be set from -120 m to 500 m with a negative value lower than the takeoff point and a positive

value higher than the takeoff point. When the altitude of the start point is set to a negative value,

indicating that the start point is lower than the takeoff point, make sure to click

for the setting,

read and comply with the warning message: To ensure ight safety, when the altitude of the rst

waypoint is lower than the takeoff point altitude, y the aircraft to an obstacle-free environment

before starting the ight mission.

During 3D mission planning, the altitude at each waypoint is the relative altitude between the

aircraft and the scene in the 3D model below the corresponding waypoint.

5. Speed

The aircraft will ascend/descend to the ight speed set here when ying to the selected waypoint

and then contitues ying at this speed. The range can be set from 0.2 to 13 m/s.

6. Gimbal Pitch Angle

The gimbal pitch angle at the selected waypoint. Pitch angle can range from -90° to 0°, with

downward represented by -90° and forward represented by 0°. The gimbal will tilt gradually

to the angle pre-set at the next waypoint if the values at the two consecutive waypoints are

different.

7. Turn Radius

This is the aircraft’s turn radius when ying past a waypoint. Radius can range from 0.2 to 1000 m.

This option will be available only if “Coordinated Turn” is enabled in “Route Settings”. Note that

the “Turn Radius” setting is unavailable for start and stop points, and the sum of the turn radius

of two neighboring waypoints should not exceed the distance between the two waypoints.

8. Action

Click to enter. Up to 15 actions can be added. Delete actions or re-order them.

Add Actions: Click to add. Actions will be performed in the order they are added unless re-

ordered.

a. Hover: The aircraft will hover at the waypoint. Set hovering time from 0 to 30000 ms.

b. Capture: Capture on arrival at a waypoint. Note that Capture cannot be performed if the

camera is recording.

c. Start Recording: Start recording on arrival at a waypoint.

d. Stop Recording: Stop recording on arrival at a waypoint.

e. Aircraft Heading: Adjust the aircraft heading on arrival at a waypoint. North is 0° with a

negative value representing clockwise and the range is -180° to 180°.

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User Manual

f. Gimbal Pitch: Adjust the gimbal pitch angle on arrival at this waypoint. Pitch angle can range

from -90° to 0°, with downward represented by -90° and forward represented by 0°. If “Gimbal

Pitch Angle” is set as a value in “Waypoint Settings”, the aircraft will y to the waypoint with

the dened Gimbal Pitch Angle then adjust it according to the Gimbal Pitch settings dened

when adding an Action for the current waypoint.

Delete Action: Click

on the right side of the desired action to delete it.

Re-Order: Click and hold

on the left side of the desired action, drag it to the desired position

and release.

DO NOT add Start Recording after Capture. Otherwise recording cannot be started.

DO NOT add Capture after Stop Recording. Otherwise a picture cannot be captured.

Mapping / Oblique Settings

The settings for Mapping and Oblique missions are similar. Unless otherwise specified, the

descriptions below are compatible with both types of missions.

For Oblique missions, parameters such as overlap ratio and speed can be set separately for the

nadir view ight path and oblique ight paths. During mission settings, click the numbers 1 to 5 in

the map view to preview each ight path. 1 refers to the nadir view ight path, and 2 to 5 refer to the

four oblique ight paths respectively.

Basic Settings

Mapping

Basic Advanced Camera

Real-Time 2D Mapping

Real-Time 3D Mapping

2.74 cm/pixelGSD

Field

Mapping Scenes

Return to Home

Finishing Action

100 m

Mission Altitude

10 m/s

Speed

Max. Speed 13m/s Set

10 m/s

2.74 cm/pixelGSD

Max. Speed 13m/s Set

Return to Home

Finishing Action

100 m

Mission Altitude

10 m/s

Speed (Nadir View)

Speed (Oblique)

Basic Advanced Camera

Select Flight Route

Route 1

Route 2

Route 3

Route 5

Route 4

Oblique

Basic Advanced Camera

Real-Time 2D Mapping

Real-Time 3D Mapping

2.74 cm/pixelGSD

Field

Mapping Scenes

Return to Home

Finishing Action

100 m

Mission Altitude

10 m/s

Speed

Max. Speed 13m/s Set

10 m/s

2.74 cm/pixelGSD

Max. Speed 13m/s Set

Return to Home

Finishing Action

100 m

Mission Altitude

10 m/s

Speed (Nadir View)

Speed (Oblique)

Basic Advanced Camera

Select Flight Route

Route 1

Route 2

Route 3

Route 5

Route 4

1. Real-Time 2D Mapping (for Mapping only)

If enabled, DJI Terra will process the photos captured during a mission and display the mapping

results on the map in real time. However, the results will be less accurate. Users can import the

original photos into DJI Terra after the mission is complete for mapping with higher accuracy.

If disabled, there will not be any real-time results.

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User Manual

2. Real-Time 3D Mapping

This is a premium function. Please purchase a license and then activate it before use. For more

information, refer to “More Functions” on p. 50.

If enabled, DJI Terra will process the photos captured during a mission and display the 3D point

cloud results on the map in real time. Users can import the original photos into DJI Terra after

the mission is complete for 3D model reconstruction with higher accuracy. The default real-time

3D mapping results include both the point cloud and model results. The real-time model results

can be removed by unchecking the model option box.

If disabled, there will not be any real-time results.

Real-time 3D mapping is only available when using the Phantom 4 RTK, Phantom 4 Pro

V2.0+ or Phantom 4 Pro V2.0 aircraft. The real-time 2D mapping and real-time 3D mapping

cannot be enabled simultaneously.

3. Mapping Scenes (for Mapping only)

Choose mapping scenes such as eld and urban according to application requirements. It is

recommended to choose eld in open areas where objects have a minor difference in height.

Use urban for surroundings with more buildings. The urban option is included in DJI Terra Pro

and more advanced versions. Please purchase a license and then activate it before use. For

more information, refer to “More Functions” on p. 50.

4. Finishing Action

Aircraft action after mission complete.

Hover: The aircraft will hover at the nal waypoint after mission completion. Then users can then

control the aircraft directly.

Return to Home: If the aircraft altitude is higher than this pre-set value, it will return to home at its

mission completion altitude. If the aircraft altitude is lower than the pre-set value it will ascend to the

RTH altitude after mission completion before returning to home. The RTH altitude can be set in Flight

Controller Settings.

Land: The aircraft will land at the final waypoint and stop motors automatically after mission

completion.

Make sure that the end point of the ight path is suitable for landing when nishing action is

set to “Land” to avoid potential ight accidents.

5. GSD

Ground Sample Distance. This value is the actual ground distance represented by each pixel

in the original image captured, and is automatically calculated by DJI Terra based on the ying

altitude and camera model.

6. Mission Altitude

The relative altitude between the aircraft and the area being mapped.

7. Speed / Speed (Nadir View) / Speed (Oblique)

The ight speed of the aircraft during mission. When ying out of the ight path such as ying

from the current position to the starting point when mission starts, or ying back after mission

completion, the ight speed will be 13 m/s, which cannot be customized.

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User Manual

For Oblique missions, “Speed (Nadir View)” refers to the speed at which the aircraft is ying

along the nadir view ight path. “Speed (Oblique)” refers to the speed at which the aircraft is

ying along the oblique ight paths.

8. Max Speed

DJI Terra will calculate a maximum ight speed at which images meeting mapping requirements

can be captured according to the altitude, camera model, and advanced settings. Click “Set” to

set the ight speed to this max speed.

9. Select Flight Route

Check the corresponding box to select the desired ight route. The unchecked ight route will

not be executed.

For Oblique missions, if required, users can adjust the location of the start point for each

ight route after planning the routes. Click the start point or end point to switch the two.

Advanced Settings

74%

Forward Overlap Ratio

Side Overlap Ratio (Oblique)

66%

74%

66%

287º

-13 m

30 m

Basic Advanced Camera

Side Overlap Ratio

Forward Overlap Ratio

Course Angle

Mission Relative Height

Margin

74%

Side Overlap Ratio

66%

Forward Overlap Ratio (Oblique)

287º

Course Angle

30 m

Mission Relative Height

-13 m

Margin

Mapping

74%

Forward Overlap Ratio

Side Overlap Ratio (Oblique)

66%

74%

66%

287º

-13 m

30 m

Basic Advanced Camera

Side Overlap Ratio

Forward Overlap Ratio

Course Angle

Mission Relative Height

Margin

74%

Side Overlap Ratio

66%

Forward Overlap Ratio (Oblique)

287º

Course Angle

30 m

Mission Relative Height

-13 m

Margin

Oblique

1. Side Overlap Ratio / Side Overlap Ratio (Oblique)

The overlap ratio of two pictures on two parallel main paths. The range can be set from 10% to

90%.

For Oblique missions, “Side Overlap Ratio” refers to the overlap ratio for the nadir view ight

path, and “Side Overlap Ratio (Oblique)” refers to the overlap ratio for the oblique ight paths.

2. Forward Overlap Ratio / Forward Overlap Ratio (Oblique)

The overlap ratio of two consecutive pictures captured along the same main path. The range

can be set from 10% to 90%.

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User Manual

For Oblique missions, “Forward Overlap Ratio” refers to the overlap ratio for the nadir view ight

path, and “Forward Overlap Ratio (Oblique)” refers to the overlap ratio for the oblique flight

paths.

3. Course Angle

The angle of the main path. North is 0°, with a positive value when it is clockwise. The range can

be set from 1° to 360°.

4. Margin

Expand (positive value) or narrow (negative value) the area margin for control over the area of

ight. The range can be set from -30 to +30m.

5. Mission Relative Height

The relative height between the takeoff point and the area being mapped.

NOTE: Make sure to set the correct relative height. Otherwise, the overlap ratios will be affected

which may have a negative effect on the mapping results.

Users can adjust the overlap ratios, altitude, and gimbal pitch angle (for Oblique mission

only) according to actual situations. Reduce overlap ratio accordingly for areas with less

terrain uctuations. Increase overlap ratio accordingly for areas with more terrain uctuations.

However, it is recommended to set a side overlap ratio of no less than 60% and a forward

overlap ratio of no less than 65%. For objects that require highly detailed results, create

multiple missions to cover more perspectives of the desired area or object.

Camera Settings

100

ISO

Undistortion

Basic Advanced Camera

Phantom 4 RTK

Camera

4:3

Ratio

Field

White Balance

Exposure Mode

Customize

Exposure Scenes

400

Shutter

Undistortion

100

ISO

-0.3

Exposure Compensation

-0.3

Exposure Compensation

Phantom 4 RTK

Camera

4:3

Ratio

400

Shutter

-50°

Gimbal Pitch Angle

White Balance

Field

Exposure Mode

Exposure Scenes

Customize

Basic Advanced Camera

Mapping

100

ISO

Undistortion

Basic Advanced Camera

Phantom 4 RTK

Camera

4:3

Ratio

Field

White Balance

Exposure Mode

Customize

Exposure Scenes

400

Shutter

Undistortion

100

ISO

-0.3

Exposure Compensation

-0.3

Exposure Compensation

Phantom 4 RTK

Camera

4:3

Ratio

400

Shutter

-50°

Gimbal Pitch Angle

White Balance

Field

Exposure Mode

Exposure Scenes

Customize

Basic Advanced Camera

Oblique

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User Manual

1. Camera

DJI Terra can recognize the camera model of the aircraft. Unless otherwise specified, users

don’t need to set it.

2. Ratio

Set the photo ratio of the photos captured during the mission. 4:3 is recommended.

3. Balance

Field is set by default. Users can select other options according to the application.

4. Exposure Mode

Choose from Auto or S (shutter priority). If S is set, choose from Sunny, Cloudy, Low light, and

Customize for the Exposure Scenes setting. If Customize is set, users can adjust shutter, ISO,

and exposure compensation.

5. Undistortion

This option will appear when using the Phantom 4 RTK. It is disabled by default. If enabled, the

software can automatically correct the distortion when capturing, but the quality of the photos

captured may be lower than the photo quality when this option is disabled. It is recommended to

disable this option when original photos are needed for post processing.

6. Gimbal Pitch Angle (for Oblique only)

The gimbal pitch angle at which the aircraft is ying along the oblique ight path. The range for

the gimbal pitch angle can be set from -85° to -40°.

Corridor Settings

Select Flight Route

Route 1

Route 2

Return to Home

Finishing Action

2.74 cm/pixelGSD

100 m

Mission Altitude

Max. Speed 13m/s Set

10 m/s

Speed

Basic Advanced Camera

Route Preview

Include center line?

Expansion Distance to Left

31 m

Expansion Distance to Right

31 m

Flight Band Cutting Distance

2000 m

Adjust expansion distance

at the same time?

Yes

Basic Settings

1. Route Preview

When enabled, the ight route generated according to the current settings can be previewed on

the map. During route preview, users cannot edit the corridor points on the center line.

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User Manual

2. Include center line

To set if the center line will be included the ight paths generated. The center line refers to the

line consisting of the corridor points added when planning the Corridor mission.

3. Adjust expansion distance at the same time

To set if expansion distance for both sides will be adjusted at the same time. If yes, the

expansion distance for one side will follow the adjustment for the other side. If no, each

expansion distance can be adjusted separately.

4. Expansion Distance to Left/Right

To adjust the expansion distance to left or right for the corridor ight area. Left or right refer to

the left or right side of the center line when the front direction is dened by the line from one of

the corridor points pointing to its previous point.

5. Flight Band Cutting Distance

DJI Terra will divide corridor ight areas with a long center line into multiple segments according

to this ight band cutting distance. Each segment has a sub mission with an independent ight

route. Users can check the corresponding box in the Select Flight Route setting at the bottom of

the screen to select the desired ight route before performing the mission. Click the area of each

sub mission to view the mission information. For each sub mission, a starting point, end point,

and several white points will be displayed on the map. Click one of these points to set it as the

starting point of the sub mission ight route.

6. GSD

Ground Sample Distance. This value is the actual ground distance represented by each pixel

in the original image captured, and is automatically calculated by DJI Terra based on the ying

altitude and camera model.

7. Mission Altitude

The relative altitude between the aircraft and the area being mapped.

8. Speed

The ight speed of the aircraft during mission. When ying out of the ight path such as ying

from the current position to the starting point when mission starts, or ying back after mission

completion, the ight speed will be 13 m/s, which cannot be customized.

9. Max Speed

DJI Terra will calculate a maximum ight speed at which images meeting mapping requirements

can be captured according to the altitude, camera model, and advanced settings. Click “Set” to

set the ight speed to this max speed.

10. Finishing Action

Aircraft action after mission complete.

Hover: The aircraft will hover at the nal waypoint after mission completion. Then users can

then control the aircraft directly.

Return to Home: If the aircraft altitude is higher than this pre-set value, it will return to home

at its mission completion altitude. If the aircraft altitude is lower than the pre-set value it will

ascend to the RTH altitude after mission completion before returning to home. The RTH altitude

can be set in Flight Controller Settings.

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User Manual

30 mMission Relative Height

Basic Advanced Camera

74%

Forward Overlap Ratio

74%

Side Overlap Ratio

Full Coverage

Collection Mode

Land: The aircraft will land at the nal waypoint and stop motors automatically after mission

completion.

Make sure that the end poit of the ight path is suitablefor landing when nishing action is

set to “Land” to avoid potential ight accidents.

11. Select Flight Route

Check the corresponding box to select the desired ight route. The unchecked ight route will

not be executed.

Advanced Settings

1. Collection Mode

The image capture area varies by modes, which also affects the generated ight route.

Full Coverage: An additional route will be added on both left and right edges of the corridor

ight area when generating the ight route.

High Efciency: The generated ight route can only cover the corridor ight area.

2. Side Overlap Ratio

The overlap ratio of two pictures on two parallel main paths. The range can be set from 10% to

90%.

3. Forward Overlap Ratio

The overlap ratio of two consecutive pictures captured along the same main path. The range

can be set from 10% to 90%.

4. Mission Relative Height

The relative height between the takeoff point and the area being mapped.

NOTE: Make sure to set the correct relative height. Otherwise, the overlap ratios will be affected

which may have a negative effect on the mapping results.

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User Manual

100

ISO

Undistortion

Basic Advanced Camera

Phantom 4 RTK

Camera

4:3

Ratio

Field

White Balance

Exposure Mode

Customize

Exposure Scenes

400

Shutter

Undistortion

100

ISO

-0.3

Exposure Compensation

-0.3

Exposure Compensation

Phantom 4 RTK

Camera

4:3

Ratio

400

Shutter

-50°

Gimbal Pitch Angle

White Balance

Field

Exposure Mode

Exposure Scenes

Customize

Basic Advanced Camera

1. Camera

DJI Terra can recognize the camera model of the aircraft. Unless otherwise specified, users

don’t need to set it.

2. Ratio

Set the photo ratio of the photos captured during the mission. 4:3 is recommended.

3. Balance

Field is set by default. Users can select other options according to the application.

4. Exposure Mode

Choose from Auto or S (shutter priority). If S is set, choose from Sunny, Cloudy, Low light, and

Customize for the Exposure Scenes setting. If Customize is set, users can adjust shutter, ISO,

and exposure compensation.

5. Undistortion

This option will appear when using the Phantom 4 RTK. It is disabled by default. If enabled, the

software can automatically correct the distortion when capturing, but the quality of the photos

captured may be lower than the photo quality when this option is disabled. It is recommended to

disable this option when original photos are needed for post processing.

6. Gimbal Pitch Angle

The gimbal pitch angle at which the aircraft is ying along the oblique ight path. The range for

the gimbal pitch angle can be set from -85° to -40°.

Detailed Inspection Settings

When none of target points are added, there will be a parameters list on the right screen, including

ight route information and ight route settings. After a target point is added, there will also be a

Waypoint Settings page on the left screen. Click

/ to collapse or expand the page.

Camera Settings

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User Manual

Route Info

Click to collapse the route information. Information based on the current parameter settings will

be displayed, including ight route distance, estimated ight route time, waypoint count, estimated

photo count, aircraft, height mode, and model. Click

to enter the Mission Settings page again to

change the mission name, aircraft and model.

Flight Route Settings

Aircraft Yaw

Set Waypoint Separately

Finishing Action

Return to Home

Route Info

Photo Ratio

4:3

Initial Speed

13 m/s

Flight Route Speed

8.3 m/s

Zoom

104.5 mm

Shooting Distance

12 m

Unless otherwise specied, the ight route settings below will only be applied to the waypoints that

are added after the conguration.

1. Aircraft Yaw

Aircraft yaw when performing the mission.

Set Waypoint Separately: The aircraft yaw will change gradually to the angle pre-set at the next

waypoint if the values at the two consecutive waypoints are different.

Follow Flight Route Direction: The front of the aircraft is always aligned to the direction of the two

consecutive waypoints when ying between the two waypoints.

2. Finishing Action

Aircraft action after mission complete.

Hover: The aircraft will hover at the nal waypoint after mission completion. Then users can then

control the aircraft directly.

Return to Home: If the aircraft altitude is higher than this pre-set value, it will return to home at its

mission completion altitude. If the aircraft altitude is lower than the pre-set value it will ascend to

the RTH altitude after mission completion before returning to home. The RTH altitude can be set

in Flight Controller Settings.

Land: The aircraft will land at the final waypoint and stop motors automatically after mission

completion.

Return and Hover: The aircraft will return to the starting point of the flight path and hover after the

mission is complete. The altitude when returning to the starting point is the same as RTH altitude.

DJI TERRA

User Manual

Make sure that the endpoint of the ight path is suitable for landing when nishing action is

set to “Land” to avoid potential ight accidents.

3. Photo Ratio

Set the photo ratio of the photos captured during the mission. 4:3 is the default setting for

Matrice 300 RTK that cannot be changed by users.

4. Shooting Distance

Set the distance between the aircraft and target point when shooting. The range is 1 to 50 m.

5. Zoom

Set the focal length of the camera when shooting. The range is 31.7 to 200 mm. The parameter

will appear only when the aircraft is set to Matrice 300 RTK.

6. Flight Route Speed

The ight speed when ying along a waypoint ight path. The range can be set from 0.2 to 13 m/s.

7. Initial Speed

Flight speed when not ying along the waypoint-determined ight path. This includes the ight

speed from the aircraft position to the starting point of the ight path when starting a mission, or

returning speed after mission completion.

Waypoint Settings

Select a waypoint (it will turn blue when selected) then set waypoint parameters. Click or to

switch to the previous or next waypoint. The keyboard shortcut “Ctrl+ ← ” or “Ctrl+ → ” can also be

used to switch accordingly.

Camera Facing Target

Waypoint Action

Take Photo

Add Actions

Waypoint 04

Zoom

31.7 mm

Gimbal Pitch Angle

-28 º

Aircraft Yaw

-4 º

Flight Route Speed

Click the arrow keys on the left

to adjust the waypoint location

Shooting Distance

3 m

4 m/s

DJI TERRA

User Manual

1. Arrow Keys

Click to adjust the waypoint location on upward, downward, left and right directions.

114.20149139404

纬titude

22.70718090696

经度

纬度

2. Shooting Distance

Set the distance between the aircraft and target point when shooting. The range is 1 to 50 m.

3. Flight Route Speed

The ight speed when ying along a waypoint ight path. The range can be set from 0.2 to 13 m/s.

4. Simulated Camera View

Displays the expected image from the camera’s perspective with the current settings.

5. Waypoint Action

Add actions the aircraft will perform at each waypoint. Name, delete, and order the added actions.

Add Actions: Click the button and then select the desired action.

a. Hover: The aircraft will hover at the waypoint. Set hovering time from 0 to 30 s.

b. Take Photo: Capture on arrival at a waypoint. Users can set the parameters about taking photos

below.

Camera Facing Target — ① When this is enabled, the camera will always face the target point

whatever the other parameter settings are. Users cannot set the aircraft yaw and gimbal pitch

angle. During mission, users can manually adjust the aircraft yaw and gimbal pitch angle at the

waypoint. Note that the operations will change the aircraft position. ② When this is disabled,

users can set the aircraft yaw and gimbal pitch angle here. During mission, if users adjust the

aircraft yaw or gimbal pitch angle at the waypoint, the aircraft position will not change.

Zoom — Set the focal length of the camera when shooting. The range is 31.7 to 200 mm. The

parameter will appear only when the aircraft is set to Matrice 300 RTK.

Name Actions, Delete Actions: Hover the mouse over the added action. Then click

to edit the

name of the action. Click × to delete the action.

Re-Order: Drag the added action to the desired position and release.

Reconstruction Missions

Users can use the Reconstruction function with the original photos captured by the aircraft to obtain

a high-precision 2D map or 3D model. After a model has been produced, users have the option to

add annotation and perform a variety of measurements. For photos captured in Mapping and Corridor

missions, both 2D reconstruction and 3D reconstruction are achievable, and agriculture-specic functions

can be done based on a 2D map. For photos captured in Oblique missions, only 3D reconstruction is

available. If the imported photos include a PPK result le from the Cloud PPK Service of the Phantom 4

RTK, this PPK le can be used for 2D or 3D reconstructions at a higher accuracy. If the imported photos

are captured using the P4 Multispectral, you can reconstruct 2D multispectral maps. You can also import

image POS data and generate reconstructions in the designated coordinate system.

Reconstruction mission types also include LiDAR point cloud processing. Use the point cloud data

captured by the Zenmuse L1 to obtain a high-precision true-color point cloud. After the point cloud

has been reconstructed, users can add annotations and perform a variety of measurements.

Importing Image POS Data

After adding the photos, import the image POS data that has already converted to the designated

coordinate system, set the corresponding coordinate system, and generate reconstructions to get

results in the desired coordinate system.

1. Follow the instructions in 2D or 3D reconstruction to import the photos.

2. Import image POS data using one of the two methods:

a. After importing photos captured by a DJI aircraft, click

to export the image POS data,

convert the coordinates and relevant data in a third-party software, and then click

import the converted POS data to DJI Terra.

b. Click

to import custom POS data.

3. After the POS data is imported, you will see the page to edit the format and properties. There are

four sections: File Format, Preview, Data Properties, and Dene Data Column.

File Format

Lines to Skip From Top: Select the number of the lines to skip from the top when reading the

data.

Decimal Separator: Select the decimal separator of the data. Choices are: period (.) and comma (,).

Column Separator: Select the separator of the data columns. Choices are: comma (,), period (.),

semicolon (;), space ( ), and tab.

Treat combined separators as one: If the box is checked, the software will treat combined

decimal separators or column separators as one when they exist in the data.

Preview

Preview the content of the imported le. Click

on the upper right corner to add another POS

data le.

Data Properties

POS Data Coordinate System: Select the coordinate system the POS data used and set the

elevation and height offset.

Euler Angles: Set the euler angles of the POS data.

a. N/A: The imported POS data does not include euler angles. Default settings from DJI Terra

will be used.

DJI TERRA

User Manual

b. Omega, Phi, Kappa: The imported POS data includes euler angles of Omega, Phi, and

Kappa.

c. Yaw, Pitch, Roll: The imported POS data includes euler angles of Yaw, Pitch, and Roll.

POS Data Accuracy: Set the accuracy of the POS data.

a. Use Default DJI Terra Accuracy: The imported POS data does not include accuracy. Default

settings from DJI Terra will be used. When using images with RTK positioning, the horizontal

accuracy is 0.03 m, and the vertical accuracy is 0.06 m. When using images with non-RTK

positioning, the horizontal and vertical accuracies are 2 m and 10 m respectively.

b. Use Custom Accuracy: Use the horizontal accuracy and vertical accuracy in the POS data

le.

Dene Data Column

Define each column in the POS data file, including photo name, latitude (X/E), longitude (Y/

N), Altitude (Z/U), Omega (Yaw), Phi (Pitch), Kappa (Roll), Horizontal Accuracy, and Vertical

Accuracy.

123.103553535

123.103689989

123.103469989

123.103359979

123.103345346

123.103398979

123.103422424

123.103447722

123.103528574

123.100000009

31.75678992

31.75689223

31.75646378

31.75711232

31.75699889

31.75677782

31.75669682

31.75683357

31.75692240

111.10000008

23.13423423

23.36525445

23.26243534

23.56464565

23.67648356

23.13443545

23.89876454

23.36754364

23.98764533

23.10000008

-179.9633456

-179.9663678

-179.9645676

-179.9879788

-179.5789868

-179.9885777

-179.9898599

-123.1000007

-89.476576546

-89.637746546

-89.987976789

-89.768798546

-89.786586465

-89.989605456

-89.786965764

-1.1000000009

-12.10000008

Deﬁne Data Column Total Rows

Undeﬁned Undeﬁned Undeﬁned Undeﬁned Undeﬁned Undeﬁned Undeﬁned

Name

Longtitude

Latitude

Altitude

Yaw

Pitch

Roll

Photo name, latitude (X/E), longitude (Y/N), and altitude (Z/U) are required.

You cannot select the same denition for multiple columns.

4. After setting the format and properties, click the preview button to view the congured data, and

click the import button after checking the data to import the data for reconstruction.

5. Users can also click

on the right of the Image POS Data section in Reconstruction page to

view the POS data after import. If any setting is incorrect, click the edit button in the preview

page to make changes.

6. Refer to the section below for the remaining instructions on reconstruction.

Using the PPK Result Files

Use PPK result les from the Cloud PPK Service of the Phantom 4 RTK only.

1. Name the result le from Phantom 4 RTK’s Cloud PPK Service as “result.csv”, and store it in the

same folder as the photos you want to import.

2. Follow the instructions in 2D or 3D reconstruction to import the photos.

3. The POS data in the PPK result le will also be imported with the photos. Click

on the right of

Image POS Data to view and edit the POS data in the PPK result le.

DJI TERRA

User Manual

Urban

2D Map

Medium

New 2D Map Mission

Type

Mapping Scenes

Resolution

Annotation and Measurement

Agricultural Application

Add Photo

Start Reconstruction

Mission Library

New Waypoint Mission

Created on: 12/03/2019

Last update: 23/06/2019

New Mission

4. If users want to use the GPS positioning information included in the photos for reconstruction,

remove the PPK result le in the photo folder before importing photos.

5. Refer to the section below for the remaining instructions on reconstruction.

2D Map Reconstruction

Reconstruction Procedure

1. Create a mission via the following two methods:

a. Click the “New Mission” button on the lower left corner, choose the mission type, input the

mission name, and then click “OK” to enter Mission Editing mode.

b. Click

in the right section of the mission library to import a mission le from the computer.

Click to select the imported mission and then click

to enter Mission Editing mode.

2. Click

or . Select photos corresponding to the Mapping mission to add photos.

It is recommended to select at least six photos on two main paths for reconstruction.

3. After import, the icon

will appear on the upper right corner of the map view. Click to turn it

blue indicating that capture location display is enabled. The corresponding location of the photos

captured will be displayed on the map as a dot. Click

on the right to manage the photos. The

photos are grouped by the folders they are located. Expand the list to view and manage photos.

If capture location display is enabled, click the name of the photo to turn it blue and the

corresponding dot on the map will turn orange. Similarly, when you click the dot on the map, its

corresponding photo name in the list will turn blue.

Double-click a photo to view in a large size and zoom in or out.

Click “Manage,” select photos and then click “Delete” to delete photos. Click “Cancel” to exit

management.

Click

to return to the reconstruction page.

4. Select “2D Map” as the reconstruction type.

DJI TERRA

User Manual

5. Select the desired mapping scene. Field is suitable for open areas with objects of small height

difference such as farmland, Urban is suitable for areas with more buildings, and Fruit Tree is

suitable for areas with objects of large height difference such as orchard.

DJI Terra will recognize in the reconstruction result to mark different areas such as fruit trees,

buildings, and ground. After reconstruction, in Agriculture Application page, users can add

boundary points of a ight area and calibration point(s) and DJI Terra can automatically generate

a flight path according to the recognition results. For more information, refer to “Agricultural

Application” on p. 36.

6. Select the desired resolution. High refers to the original resolution, Medium refers to 1/2 of the

original resolution (i.e. the length and width are both 1/2 of the original photo), and Low refers

to 1/3 of the original resolution (i.e. the length and width are both 1/3 of the original photo). For

example, if the original photo resolution is 6000x6000, the high resolution is the same, while the

medium resolution is 3000x3000, and the low resolution is 2000x2000.

7. Set the ROI, output coordinate system and manage GCPs if required. Refer to the section below

for details.

8. Click “Start Reconstruction,” a pop-up window will appear to ask if a user wants to copy the

photos to the mission folder. If a user chooses to save a copy, the added photos will be copied

to the current mission folder and they will be included in the mission file when exporting a

mission. If the user does not save a copy, the added photos will not be copied and will not be

included when exporting a mission. Then click “Continue” to start reconstruction. The progress

bar at the bottom will show the mapping progress. Click “Stop” to stop mapping, and the

progress will be saved.

9. Multiple reconstruction missions can be started. Before the rst mission nishes, other missions

will be lined up and processed in order.

10. After mapping, the result will be shown in the map view. Zoom in or out to view the map at different

levels. Annotation and measurement and agriculture applications are also available.

11. Click “Quality Report” to view and save a report in html format. The report includes reconstruction

result overview, RTK status, camera calibration information and process information. Refer to the

document How to Read a DJI Terra Quality Report on the ofcial DJI website for details.

File Format and Storage Path of 2D Maps

The 2D map reconstruction result is raster data in GeoTIFF format which can be used in third party

software compatible with GeoTIFF format.

The default storage path of the 2D map les is as below. This cache directory can be changed in

Settings.

C:\Users\<computer name>\Documents\DJI\DJI Terra\<DJI account name>\<mission code>\map\result.tif

In the reconstruction page, users can open the current mission folder using the keyboard shortcut

“Ctrl+Alt+F”.

If PC GS Pro has been used on your computer, after DJI Terra has been installed, the

cache directory will still be as follows:

C:\Users\<computer name>\Documents\DJI\Groundstation\Missions\<DJI account name>

The mission code is the number generated by the software automatically when a mission

is created. It cannot be changed by users.

DJI TERRA

User Manual

Annotation and Measurement

Measurement

Coordinate Manage

Measurement 1

Measurement 2

Coordinate

1. Click

to enter Coordinate Adding mode.

2. Click on the map to add a coordinate. Drag to adjust its position. Click

on top to delete the

coordinate. The box below the coordinate shows the name, longitude, and latitude, indicating

that the coordinate is in editing status. Click the text box of the name to input the name, then

click “Save” to exit editing.

22.358588422040

Horizontal Distance

Area

2199.28m

Coordinate

Longitude 114.191106276392

Latitude

Distance

Area

5667.84m

SaveCancel

Save

3. The coordinate list displays the added coordinates. Click to expand the information to view

the longitude and latitude and change the name.

4. Make sure that there is no coordinate in editing status. Click “Manage,” and select coordinates

(the outer box of the coordinate will turn blue when selected) to export or delete them.

Distance

1. Click

to enter distance measurement mode.

2. Click the left mouse button on the map to add measurement points. Drag to adjust the position.

The selected point is red, while the unselected point is gray. Click

on top to delete the selected

point. Click

to delete all the points in this measurement. Click the right mouse button to end

measurement. The box below the line shows the name and horizontal distance. Click the text

box of the name to input the name, then click “Save” to exit editing. A distance measurement is

in editing status when the measurement is not ended or saved. To exit editing status, end the

measurement and save.

Annotation and Measurement

Click on the right of Annotation and Measurement bar to enter the page. Users can add

coordinates, measure distance and area.

22.358588422040

Horizontal Distance

Area

2199.28m

Coordinate

Longitude 114.191106276392

Latitude

Distance

Area

5667.84m

SaveCancel

Save

DJI TERRA

User Manual

3. The process to view and manage distance measurements is the same as the one used for

coordinates.

Area

1. Click

to enter area measurement mode.

2. As with distance measurement, the procedure to add measurement points for area is similar.

The only difference is that there are three measurements points required before ending the

measurement, which is achievable by clicking the right mouse button.

22.358588422040

Horizontal Distance

Area

2199.28m

Coordinate

Longitude 114.191106276392

Latitude

Distance

Area

5667.84m

SaveCancel

Save

2D Multispectral Map Reconstruction

2D multispectral map reconstruction is only supported when using photos captured by the P4

Multispectral. The reconstruction procedure is similar to that of 2D map reconstruction. Users

can view the supported vegetation index outputs. Radiometric correction is available before

reconstruction to improve the reliability of the output index when images of the calibration board

and the camera reectance factor can be obtained.

Annotations and measurements can be done the same way you would after a 2D map reconstruction.

Click

on the right of Agricultural Application bar to enter the page. Users can plan operations on the

2D multispectral map. For more information, refer to "Agricultural Application" on p. 36.

Radiometric Correction

Radiometric correction can reduce the effects on images caused by weather and time and helps to

output more reliable indexes in reconstruction missions. Multispectral images with radiometric correction

can be reconstructed to a 2D multispectral map with an output of reectance. Click

on the right of

Radiometric Correction bar to enter the page. After conguration, return to the reconstruction page to

start reconstruction with radiometric correction.

Importing Calibration Board Data

Users should import at least one group of images of the calibration board in each band and up to

three groups. The groups are named Calibration Board 1, 2, and 3.

1. Select Calibration Board 1, 2, or 3.

2. Click Import Calibration Photo and select photos including the calibration board in blue, green,

red, red edge, and near infrared bands to import.

3. Click the photo in the desired band and the photo will be displayed on the main screen on the left.

4. Click

or to replace or delete the selected photo.

5. Input the corresponding reectance factor in the text box for each band.

DJI TERRA

User Manual

Marking the Calibration Board

1. Click the photo displayed on the main screen on the left to add a point as a mark of the edge of

the calibration board in the photo.

2. Drag the edge point to adjust the position.

3. Click

to delete all the points in the selected photo.

4. Mark the calibration board for each photo accordingly.

5. The marks of the calibration board will be applied to the next group of images of the calibration

board. Drag the edge points to adjust if needed.

Vegetation Index Outputs

DJI Terra supports 5 types of vegetation indices: NDVI, LCI, GNDVI, OSAVI, and NDRE, each

requiring photos from different spectral bands. DJI Terra will display the indices that can be

calculated according to the imported photos. There will be notications under output index if any

photos are missing in the required band. After reconstruction, click the buttons for different indices

to view the results.

Even if only one photo is missing from a required band for the desired vegetation index, it is

considered that the information of that whole band is missing. Users can view which photos

are missing in the required band in the photo list.

File Format and Storage Path of 2D Multispectral Maps

The 2D multispectral map reconstruction results are raster data in the GeoTIFF format which can be

used in third party software compatible with GeoTIFF format. The results include multispectral index

maps for each index, 2D orthographic maps in RGB and for each of the spectral bands. The default

storage path of the 2D multispectral map files can be found below. In the reconstruction page,

users can open the current mission folder using the keyboard shortcut “Ctrl+Alt+F”. This cache

directory can be changed in Settings.

The default storage path of the multispectral index maps is

C:\Users\<computer name>\Documents\DJI\DJI Terra\<DJI account name>\<mission code>\map\

index_map

The default storage path of the 2D orthographic maps in RGB and for each of the spectral bands is

C:\Users\<computer name>\Documents\DJI\DJI Terra\<DJI account name>\<mission code>\map

The result.tif le is the RGB 2D orthographic map. The result_XXX.tif le is the 2D orthographic map

for the spectral band corresponding to “XXX” in the le name.

Agricultural Application

For 2D map reconstruction (Field and Fruit Tree) and 2D multispectral map reconstruction, click on

the right of the Agricultural Application bar to enter the page. Users can plan operations for elds or

fruit trees on the map.

DJI TERRA

User Manual

Generate 3D Flight Route

Display Result

Modify Result

Flight Route Plan Type

Distance Interval (Auto)

Spraying Type

Continuous Spraying

Task Area Planning

Field

Generate Route

Result Display

Result Correction

221597.72

Farmland

Area

Boundary Points

Generate Route

Task Area Planning

1. If Display Result is enabled, recognition for different areas such as fruit trees, buildings, ground,

water, and poles will be displayed on the map.

2. Click Modify Result to use the corresponding brush for each type of area to paint on the map to

modify the recognition result.

3. Click

and to add boundary points and calibration points in the area that includes elds.

4. Click “Generate Route.” DJI Terra will automatically generate a route for eld operations. Users

can enable or disable route display and obstacle avoidance, and congure altitude, route width,

and route angle.

5. Click

to save the mission. Click and the mission will be uploaded to DJI Agras

Management Platform. Agras aircraft users can download the mission from the platform to the

compatible app. Click

and the mission will be exported to the microSD card in the remote

controller connected to the computer. Insert the card into the Agras remote controller and import

the mission in the pop-up menu in the app.

Fruit Tree

DJI TERRA

User Manual

1. Select Spraying Type. When using an Agras aircraft to perform the ight mission generated by

DJI Terra, the aircraft will spray according to the selected type.

Continuous Spraying refers to spraying when ying within a recognized fruit tree area and is

suitable for orchards with moderately sized and evenly distributed fruit trees.

Spot Spraying refers to spraying only when ying to the center of the tree crown in the recognized

fruit tree area and is suitable for orchards that have scattered trees with thick crowns.

2. Select Flight Route Plan Type. The plan type varies for different spraying type. Continuous

spraying corresponds to Distance Interval (Auto), Tree Crown Center (Auto), Semi-automated,

and Manual, while Spot spraying corresponds to Tree Crown Center (Auto) and Semi-automated.

Six planning methods are available for different operation scenarios when combining the parameters

above: Continuous Spraying - Distance Interval (Auto), Continuous Spraying - Tree Crown Center

(Auto), Continuous Spraying - Semi-automated, Continuous Spraying - Manual, Spot Spraying - Tree

Crown Center (Auto), and Spot Spraying - Semi-automated. Refer to the descriptions below.

3. If Display Result is enabled, recognition for different areas such as fruit trees, buildings, ground,

water, and poles will be displayed on the map.

4. Click Modify Result to modify the recognition result manually. Operation varies for different

spraying types:.

• When Continuous Spraying is selected, use the corresponding brush for each type of area to

paint on the map to modify the recognition result.

• When Spot Spraying is selected, circles will be displayed on the map to mark the tree crown

centers. Click

to edit them. Click the recognized tree crown center to select it, then click

to delete. Click on the map to mark a new tree crown center.

5. Click

and to add farmland points and calibration points in the area that includes fruit trees.

Click the icon

or to show or hide the planned farmland and calibration points. The farmland

points that can be added vary for different ight route plan type, such as boundary points and

waypoints. Refer to the description below.

6. Click “Generate 3D Flight Route.” DJI Terra will automatically generate a route for fruit tree

operations. Users can enable or disable route display and obstacle avoidance, and congure

route altitude, route width, route angle and terrain follow accuracy.

7. Click

to save the mission. Click and the mission will be exported to the microSD card in

the remote controller connected to the computer. Insert the card into the Agras remote controller

and import the mission in the pup-up menu in the app.

Continuous Spraying - Distance Interval (Auto)

After adding boundary points and calibration points, click “Generate 3D Flight Route.” DJI Terra will

automatically generate a zig-zag route with a same line spacing in the eld. This function ts the

needs of most large orchards.

Continuous Spraying - Tree Crown Center (Auto)

After adding boundary points and calibration points, click “Generate 3D Flight Route.” DJI Terra will

automatically generate a route including all the tree crown centers. This is suitable for orchards with

evenly distributed trees and where continuous spraying is required.

DJI TERRA

User Manual

Continuous Spraying - Semi-automated

Click on the map to add waypoints along the fruit trees. The ight route will contain the waypoints.

Click “2D Flight Route Preview.” DJI Terra will adjust the waypoints according to the location of

the tree crown centers. Click “Back” after the preview, then click “Generate 3D Flight Route” to

generate the nal ight route. This is suitable for orchards with trees distribution following some kind

of pattern and where continuous spraying is required.

Continuous Spraying - Manual

Click on the map to add waypoints along the fruit trees. The ight route will contain the waypoints.

Click “Generate 3D Flight Route.” DJI Terra will automatically generate a route. This is suitable for

orchards with unevenly distributed trees and where a custom ight route is required.

Spot Spraying - Tree Crown Center (Auto)

After adding boundary points and calibration points, click “Generate 3D Flight Route.” DJI Terra will

automatically generate a route including all the tree crown centers. This is suitable for orchards with

evenly distributed trees and where only spraying on the top of the trees is required.

Spot Spraying - Semi-automated

Click on the map to add waypoints along the fruit trees. The ight route will contain the waypoints.

Click “2D Flight Route Preview.” DJI Terra will generate a route that connects all the tree crown

centers within 1.5 m of the waypoints. Click “Back” after the preview, then click “Generate 3D Flight

Route” to generate the nal ight route. This is suitable for orchards with a tree distribution following

some kind of pattern and where only spraying on the top of the trees is required.

2D Multispectral Map

Prescription Map

Task Area Editing

Modify Result

4.00

131.87

3.00

5.00

L (kg) / Ha

L (kg)

Display Result

Parameter Conﬁguration

Average

Estimated Total

Good Growth

Poor Growth

Apply

Generate Route

DJI TERRA

User Manual

1. If Display Result is enabled, recognition for different areas such as fruit trees, buildings, ground,

water, and poles will be displayed on the map.

2. Click Modify Result to use the corresponding brush for each type of area to paint on the map to

modify the recognition result.

3. Click

and to add boundary points and calibration points in the area that includes elds.

4. Select a planned field and set the material amount for average, good, and poor growth in

Parameter Conguration. Click

to view the detailed descriptions for the parameters.

5. Click Apply and wait for the software to generate the prescription map. Users can select to show

or hide the prescription map.

The prescription map is used for Agras aircraft to conduct variable rate fertilizer application. Users

can adjust the parameters to change the prescription map. When a prescription map is shown in

NDVI view, each eld on the map will be displayed in a color corresponding to its material amount

according to the color bar on the left. Hover the mouse on the map to view the specic amount.

6. Click “Generate Flight Route.” DJI Terra will automatically generate a route for eld operations.

Users can enable or disable obstacle avoidance and congure route altitude, route width, and

route angle.

7. Click

to save the mission. Click and the mission will be uploaded to DJI Agras

Management Platform. Agras aircraft users can download the mission from the platform to a

compatible app. Click

and the mission will be exported to the microSD card in the remote

controller connected to the computer. Insert the card into the Agras remote controller and import

the mission in the prompted menu in the app.

3D Model Reconstruction

Reconstruction Procedure

1. The method to enter the reconstruction page and add photos is similar to that used for 2D

reconstruction.

3D reconstruction occupies more computer resources. To ensure smooth 3D reconstruction

processes by adding an adequate amount of photos, refer to the number of photos corresponding

to the following computer congurations.

Graphic Card RAM Max Photo Amount Photo Resolution

GeForce GTX 1050Ti with

a VRAM of 4GB

16GB 1600

4864x3648

32GB 3200

48GB 4800

64GB 6400

128GB 12800

2. Set the reconstruction type to “3D Model”.

3. Select the desired resolution. High refers to the original resolution, Medium refers to 1/2 of the

original resolution (i.e. the length and width are both 1/2 of the original photo), and Low refers

to 1/3 of the original resolution (i.e. the length and width are both 1/4 of the original photo). For

example, if the original photo resolution is 6000x6000, the high resolution is the same, while the

medium resolution is 3000x3000, and the low resolution is 1500x1500.

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User Manual

4. Select mapping scenarios. Normal works for most scenarios, including oblique and nadir view.

Circle is suitable for scenarios where images are captured by ying around vertical structures or

assets such as a communications towers, power towers, or wind turbines. Electricity is suitable

for scenarios with power lines.

5. Enable or disable the options below to select the desired reconstruction results.

Aerotriangulation option: This option is enabled by default to generate the aerotriangulation

measurement result, and cannot be disabled. The format will be a Terra le by default. Users

can change the output to the XML format, i.e., Context Capture Blocks Exchange.

Point Cloud option: If enabled, a 3D point cloud will be generated. The default format for the

point cloud is pnts. Users can set to other formats. LAS refers to the ASPRS LASer format for the

3D point cloud le. S3MB refers to the s3mb format for the SuperMap LOD 3D point cloud le.

PLY or PCD refers to the ply or pcd format for the non-LOD 3D point cloud le respectively.

Model option: If enabled, a 3D model will be generated. The default format for the LOD model

is b3dm. Users can also output into other formats. OSGB refers to the osgb format for the LOD

model. OBJ refers to the obj format for non-LOD models. PLY refers to the ply format for non-

LOD models. S3MB refers to the SuperMap LOD models. I3S refers to the i3s format for LOD

models that can be viewed in the ArcGIS client server or web page.

6. Set the ROI, output coordinate system and manage GCPs if required. Refer to the section below

for details.

7. Click “Start Reconstruction,” a pop-up window will appear to ask if users want to copy the photos

to the mission folder. If a user chooses to save a copy, the added photos will be copied to the

current mission folder and they will be included in the mission le when exporting a mission.

If a user does not save a copy, the added photos will not be copied and will not be included

when exporting a mission. Then click “Continue” to start reconstruction. The progress bar at the

bottom will show the mapping progress. Click “Stop” to stop modeling, and the progress will be

saved. If a user selects to continue after stopping a modeling session, DJI Terra will track back

slightly from the saved progress and then continue modeling.

8. Multiple reconstruction missions can be started. Before the rst mission nishes, other missions

will be lined up and processed in order.

9. After modeling, users can translate and rotate the model, and zoom in or out to view it from

different angles.

There will be three icons on the right screen and the model can be viewed at different settings.

: Shows the orthographic projection of the 3D model. In this view, hold down the left mouse

button and drag to translate model.

/ : Displays the 3D model in top view or front view. In any of the two views, hold down the

left mouse button and drag to translate the model, scroll the mouse wheel or hold down the right

mouse button and drag to zoom in or out, and hold down the mouse wheel and drag to rotate.

10. Click “Quality Report” to view and save a report in html format. The report includes an overview

of the reconstruction result, RTK status, camera calibration information and process information.

Refer to the document How to Read a DJI Terra Quality Report on the ofcial DJI website for

details.

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User Manual

File Format and Storage Path of 3D Reconstruction Results

DJI Terra can output aerial triangulation results in the following formats: Terra and XML.

DJI Terra can output 3D point clouds in the following formats:

1. Non-LOD point cloud le in the las, ply, and pcd formats.

2. LOD cloud le in pnts and s3mb formats. Format conversion is not supported.

DJI Terra can output 3D models in the following formats:

1. Texture mesh le in ply and obj formats.

2. LOD model le in b3dm, osgb, i3s, and s3mb formats. Format conversion is not supported.

The default storage path of the 3D reconstruction les is as follows:

C:\Users\<computer name>\Documents\DJI\DJI Terra\<DJI account name>\<mission code>\

models\pc\0

In the reconstruction page, users can open the current mission folder using the keyboard shortcut

“Ctrl+Alt+F”.

NOTE: This cache directory can be changed in Settings.

If PC GS Pro has been used on your computer, after DJI Terra has been installed, the

cache directory will still be as follows:

C:\Users\<computer name>\Documents\DJI\Groundstation\Missions\<DJI account name>

The mission code is the number generated by the software automatically when a mission

is created. It cannot be changed by users.

Annotation and Measurement

Click on the right of Annotation and Measurement bar to enter the page. Users can add coordinates,

measure distance, area and volume based on a specied coordinate system. For example, when

using the photos captured by a Phantom 4 RTK aircraft in WGS84 coordinate system, the altitude

involved in Annotation and Measurement refers to the ellipsoidal height. If using other coordinate

systems, the altitude corresponds to the elevation in the coordinate system that the photos use.

The method to add coordinates, measure distance and area is similar to the one in 2D

reconstruction, but the data included is different. When measuring the volume, it is required to

select the base plane. The following is a description of the data of coordinate, distance, area and

volume in 3D reconstruction.

Coordinate: The three-dimensional coordinate of the added coordinate point, including longitude,

latitude and altitude. The altitude corresponds to the elevation in the coordinate system that the

photos use.

Distance: The horizontal distance is the length of the horizontal projection of the line segment

between the two added measurement points, the vertical distance is the height difference between

the two points, and the straight distance refers to the spatial distance between the two points, i.e.,

the length of the line segment between two points. If a polyline is added, the straight distance is the

sum of the straight distances for each segment.

Area: Refers to the projected area of the polygon area formed by the added measurement points

along the elevation direction.

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User Manual

Volume: When projecting the polygon area formed by the added measurement points along

the elevation direction, a polyhedron is produced. With reference to the specified base plane,

the volume refers to the cut and ll volume of the model. The portion above the base plane (the

direction in which the elevation is increased) is the cut, and the portion below the base plane (the

direction in which the elevation is reduced) is the ll. There are two options for the base plane, the

Mean Plane and the Lowest Point.

• Mean Plane: A plane (possibly an inclined plane) tted with multiple measurement points as the

reference plane.

• Lowest Point: Use the plane of the lowest elevation point among the measurement points as the base

plane.

The Annotation and Measurement of the 3D model also includes the function to display the camera

pose when adding coordinates.

1. Enable “Camera Pose” and the green patterns indicates the camera pose when the photo was

captured.

2. Click

to enter Coordinate Adding mode.

3. Click on the model to select a point. The camera pose display of the photos including the

selected point will turn yellow, and a photo preview from the camera's perspective will be

displayed at the bottom of the screen.

4. The yellow cross in the preview photo indicates the position of the point on the model in the

photo. Click the photo, and the corresponding camera pose display will turn blue. Double-click

the photo to view in a large size and zoom in or out.

ROI Reconstruction

During 2D or 3D reconstruction, users can select a region of interest (ROI) for reconstruction after

adding photos, which will save the time of reconstruction and improve efciency. Click

on the

right of the ROI Reconstruction bar to enter the page and dene the ROI. Follow the instructions

below. After configuration, return to the reconstruction page to start reconstruction, then the

reconstruction will be carried out in the dened ROI.

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User Manual

Aerial Triangulation

Aerial triangulation should be performed before dening the ROI.

1. Click “Aerotriangulation” on the lower right corner to start aerial triangulation and wait until it’s

completed.

2. Click “Aerotriangulation Report” to view the report and make sure that the data is correct.

Dene ROI

There are four methods to dene the ROI for reconstruction. The coordinate system used here is the

same as the one in Output Coordinate System settings.

1. Click “KML Import” to convert the points in the KML le into the edge points of the ROI.

2. Input the min and max latitude, longitude, and height or XYZ values of the ROI in the text boxes,

and then click “Apply” to dene the ROI.

3. In the “Reset Region” option, click “Auto” or “Max Region”, and DJI Terra will generate the

corresponding ROI automatically.

Auto: DJI Terra will calculate a proper cuboid region automatically according to the point cloud

distribution.

Max Region: The cuboid region covering the whole point cloud.

4. Click

on the top of the screen to enter editing mode. Click on the map to add the edge points

of the ROI, and then input the height in the height text box to dene the ROI.

Translate ROI

Click to enter translation mode, and then drag the dened ROI to translate it.

Edit ROI

Click to enter editing mode.

1. Click on the map to add edge points of the ROI.

2. Drag the edge point to adjust its location and the shape of the ROI.

3. Select the edge point, and then click

to delete it.

4. Click

to delete all the edge points.

5. Click

to exit from editing mode.

Other Information and Settings

1. When the ROI is a cuboid, its length, width, and height will appear on the top of the page.

2. Show Camera Pose: Show or hide the camera pose of the added photos.

3. Display Region: Show or hide the dened ROI.

Output Coordinate System Settings

When generating 2D or 3D reconstructions, users can set the output coordinate system after

importing images. The coordinates in the reconstruction result will be converted to the designated

coordinate system.

Click

on the right of Output Coordinate System Settings bar to enter the settings page. If the

images imported do not include GPS information, the output coordinate system will be automatically

set to “Any Coordinate System” dened by DJI Terra. If the images include GPS information, the

output coordinate system will be automatically set to “Known Coordinate System” and converted to

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User Manual

Marking View

Photo

Gallery

Aerial Triangulation View

GCP List

GCP Information

a projected coordinate system in WGS 84. Users can select other known coordinate systems and

set the altitude. Follow the instructions below.

1. Known Coordinate System Settings

There are two methods to set the known coordinate system, importing a PRJ le and searching

in DJI Terra.

Importing a PRJ le: Search and download the .prj le for the desired coordinate system on the

website https://spatialreference.org. Then click “Import PRJ” in DJI Terra to import.

Searching in DJI Terra: Click “Search”, input the coordinate system name or authorization code,

select the desired coordinate system in the searching results. Then click “Apply”.

2. Altitude Settings

DJI Terra supports Default (ellipsoid height), EGM96, EGM2008, NAVD88, NAVD88 (ftUS),

NAVD88 (ft), JGD2011 (vertical).

GCP Management

Ground Control Points (GCPs) are marked points on the ground with known coordinates

and are clearly visible in an image. GCPs can be obtained using photogrammetry

methods such as GPS-RTK or a total station. GCPs are used to optimize the result of aerial

triangulation. There are also check points that are used to check for the absolute accuracy

of aerial triangulation.

When generating 2D or 3D reconstructions, users can import GCPs after importing images to help

increase the robustness and accuracy of aerial triangulation, check the accuracy of the aerial

triangulation against actual measurements, and convert the aerial triangulation result into the one in

the GCP’s coordinate system. Note that the positioning and pose of the camera should be included

in the added images or be imported after images added.

Click

on the right of GCP Management bar to enter the page. The page includes GCP list,

GCP information, photo gallery, aerial triangulation view, and marking view. The marking view will

appear on the left of the aerial triangulation view after an image is selected in the photo gallery, as

shown below. Users can add GCPs, mark points, and conduct aerial triangulation calculation and

optimization.

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User Manual

Aerial Triangulation

In the GCP management page, DJI Terra will process the added images, and the camera

positioning and attitude information will be shown on the map when complete. Click

“Aerotriangulation” at the bottom of the screen to start aerial triangulation calculation. The result

will be shown on the screen when complete, including camera positioning and attitude and aerial

triangulation points.

GCP Coordinate System

Click on the left of GCP Coordinate System bar to set the GCP coordinate system by following the

same instructions as the ones for output coordinate system conguration.

Optimization

Import a GCP le and mark points on the images to optimize the aerial triangulation.

Importing GCP Files

1. Preparing GCP Files

The GCP data in the le should be in this order: point name, latitude/X/E, longitude/Y/N, height/Z/

U, horizontal accuracy, vertical accuracy. Accuracy data is optional. Each column is separated

with a space or a tab. The example is as shown below. Note that in the projected coordinate

system, X represents the East, and Y represents the North.

Name Latitude Longitude Height

1 22.0 113.0 1.0

2 22.5 113.5 2.0

a 23.0 114.0 3.0

b 23.5 114.5 4.0

2. Importing GCPs

Click

, and select the desired GCP le to import it. Users can also import GCPs with marked

points by clicking

. After importing, the GCPs will be shown in both the aerial triangulation

view and GCP list.

You can only import GCP les in the json format that are exported in DJI Terra when using

to import GCPs.

3. Editing GCPs

Click to select a GCP. It will turn blue in the aerial triangulation view and GCP list when selected.

The camera position of the images that contain the selected GCP will turn yellow. The blue cross

on the thumbnail in the photo gallery represents the GCP’s projected result on the image. When

“Only display photos with GCP” is enabled, only the images on which the current GCP can be

projected and images including marking points will be displayed.

Press and hold the Ctrl key on the keyboard and click the GCPs to select multiple GCPs. Click

to delete the selected GCPs.

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User Manual

Click to add a GCP. Set the GCP as a control point or a check point , and input its

horizontal accuracy, vertical accuracy, and coordinates in the coordinate system the GCPs are in.

Marking

1. Select a GCP, and click one of the images including the selected GCP in the photo gallery. The

marking view will display on the left of the aerial triangulation view. The blue cross in the marking

view represents the GCP’s projected result on the image.

2. In the marking view, hold the left button on the mouse to drag the image, scroll to zoom in and

out. Click on the image using the yellow cross to mark the GCP’s actual location in the image.

The marked point is displayed in the marking view and photo gallery with a green cross, and

there will be a check mark on the upper right corner of the image in the photo gallery, indicating

that this is an image with a marked point.

3. Delete marked points: Select the images with marked points in the photo gallery, and press the

Delete key on the keyboard or click

on the top of the marking view.

4. Export GCP le: Click

to export a json le including GCPs and marked points, which can be

applied to other missions including the same images with marked points.

5. For the same GCP, the blue cross location will be updated according to the marked point

location after each marking from the third image on. The reprojection error and 3D point error will

also be updated.

To ensure the robustness of the post aerial triangulation optimization, it is recommended to

mark at least four images for each GCP and make sure that the GCPs with marked points

are as evenly distributed as possible in the mapping area. The recommended number of

GCPs is no less than four (the type of the point should be set to GCP). Check points can be

set according to the demand of the mission.

Using Image POS Data in Calculation

If image POS data is imported, users can enable “Constrain with Image POS Data” on the bottom of

the page. The image POS data will be used for georeferencing the RMSE.

Optimization

1. After marking points, click “Optimize” at the bottom of the screen for aerial triangulation

optimization. The aerial triangulation display will be updated when complete.

2. Select one of the GCPs to view the reprojection error and 3D point error after aerial triangulation

optimization in the GCP information section. If the 3D point error is too large, adjust the marked

points and repeat optimization until the error meets your requirements.

Aerial triangulation optimization can be done repeatedly. Remember to click “Optimize”

to update the aerial triangulation result once you adjust the marked points, change the

coordinate system, and edit the GCPs. If optimization is not run after adjustment, when you

back to the reconstruction page, the reconstruction will be done using the previous aerial

triangulation result.

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User Manual

LiDAR Point Cloud Processing

Reconstruction Procedure

1. Similar with 2D and 3D reconstructions, users can create a new LiDAR Point Cloud Processing

mission by creating a new mission or importing a mission.

Refer to the size of the raw point cloud data corresponding to the following computer

congurations to make sure that there is an adequate amount of raw LiDAR point cloud data and

that the point cloud data can be processed smoothly.

Graphic Card RAM Max Size of Raw Point Cloud

GeForce GTX 1050Ti with 4GB of VRAM

16GB 4GB

32GB 8GB

64GB 16GB

128GB 32GB

2. Click

and select the folder with the corresponding date to add the LiDAR point cloud data to

DJI Terra. The folder must contain the les with the sufx CLC, CLI, CMI, IMU, LDR, RTB, RTK,

RTL, and RTS. Any JPEG les in the folder are not required to be imported.

3. Select the point cloud density: high density refers to the original sampling rate, which uses 100%

of the point cloud data for processing. The processing results will be of the highest quality but

will take the longest amount of time to process. Medium density uses 25% of the point cloud

data for processing. The processing results will be of medium quality and will take a medium

amount of time to process. Low density uses 6.25% of the point cloud data for processing. The

processing result will be of lower quality but will take the shortest amount of time to process.

4. Set the output coordinate system: same as 2D and 3D reconstructions. Users can set the output

coordinate system so that the results will be converted to the corresponding coordinate system.

Refer to “Output Coordinate System Settings” on p. 44 for more information.

5. Parameter Settings

Optimize Point Cloud Accuracy: if enabled, the software will optimize point cloud data collected

at different times during processing for higher overall consistency and accuracy. This is a

premium feature included in DJI Terra Pro and more advanced versions. Purchase and activate

a license before use. Refer to “More Functions” on p. 50 for more information on purchasing and

activating licenses.

Point Cloud Effective Distance: set the distance between the LiDAR sensor and point cloud data.

Only point cloud data within the effective distance will be used for processing. LiDAR point data

beyond the effective distance will be ltered out.

Users can set the point cloud effective distance to lter out data in the background

when reconstructing a target area that is at a close distance.

How to set the distance value: estimate the max straight line distance between the

LiDAR sensor and the corresponding target area. Set this distance as the point cloud

effective distance.

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User Manual

6. Select the reconstruction file formats. If point cloud is enabled, a 3D point cloud will be

generated. The default le format for the point cloud is pnts. The point cloud can be set to other

formats. LAS refers to the ASPRS LAS format for a 3D point cloud file. PLY refers to the ply

format for a non-LOD 3D point cloud le. PCD refers to the pcd format for a non-LOD 3D point

cloud le, which is used in Point Cloud Library and can be viewed using CloudCompare. S3MB

refers to the s3mb format for the SuperMap LOD 3D point cloud le.

7. Click “Start Processing.” The progress bar at the bottom will show the reconstruction progress.

Click “Stop” to stop processing and the progress will be saved. If processing is restarted after

stopping, DJI Terra will track back slightly from the saved progress before continuing.

8. Multiple processing missions can be started, but only one processing mission can be processed

at once. Any remaining processing missions will be queued.

9. After processing, users can translate and rotate the processing results and zoom in or out to

view it from different angles. The operations are the same as with 3D models. Select different

display styles at the bottom of the screen.

RGB: displays real color.

Reectance: displays corresponding color according to the reectance of objects with values

between 0 and 255. 0 to 150 corresponds to the reectance within the range of 0 to 100% in the

Lambertian reection model. 151 to 255 corresponds to the reectance of target objects with

retroection properties.

Height: displays the corresponding color according to the height of the point cloud.

Returns: display the corresponding color according to the number of returns when collecting

data.

10. Click “Quality Report” to view and save a report in html format. The report includes an overview

of the raw data information, software parameters, reconstruction file format, and point cloud

processing time. Refer to the document How to Read a DJI Terra Quality Report on the ofcial

DJI website for more information.

11. Click

on the right of Annotation and Measurement bar to add annotations and perform a

variety of measurements to the point cloud processing results. The operations are same as with

3D models. Refer to “Annotation and Measurement” on p. 42 for more information.

File Storage Path of LiDAR Point Cloud Results

The default storage path of the LiDAR point cloud results is shown below. The cache directory can

be changed in Settings.

C:\Users\<computer name>\Documents\DJI\DJI Terra\<DJI account name>\<mission

code>\<lidars>

On the processing page, users can open the current mission folder using the keyboard shortcut

“Ctrl+Alt+F”.

If PC GS Pro has been used on your computer, after DJI Terra has been installed, the

cache directory will still be as follows:

C:\Users\<computer name>\Documents\DJI\Groundstation\Missions\<DJI account name>

The mission code is the number generated by the software automatically when a mission

is created. It cannot be changed by users.

More Functions

KML les can be imported onto DJI Terra to add waypoints or edge points of a ight area. In a

Waypoints mission, 2D / 3D Mission Planning based on an existing or newly created reconstruction

is available. For Reconstruction missions, there are various functions available such as 2D Map

Reconstruction (urban scenes), Output Coordinate System Selection, ROI Reconstruction, Multi-

GPU Reconstruction GCP Management, 3D Model Reconstruction, and LiDAR Point Cloud

Accuracy Optimization. Users can also purchase the Cluster version to use multiple devices in the

local network for cluster reconstruction. These are premium features. Purchase a license according

to the features you require.

See the table below which provides an overview of DJI Terra's more advanced features and funcrions.

Features

Agriculture

(Online Version)

Pro

(Online and Ofine

Versions)

Electricity

(Online and Ofine

Versions)

Cluster

(Ofine

Version)

Real-time 2D Mapping √ √ √ √

Agricultural application √ √ √ √

2D Reconstruction (Field/Fruit Tree) √ √ √ √

2D Multispectrual Reconstruction √ √ √

KML le import √ √ √

2D Reconstruction (Urban) √ √ √

Output Coordinate System √ √ √

Image POS data import √ √ √

ROI Reconstruction √ √ √

3D Reconstruction (Normal/Circle) √ √ √

3D Mission planning √ √ √

Multi-GPU Reconstruction √ √ √

LiDAR Point Cloud Accuracy

Optimization

√ √ √

GCP √ √ √

3D Reconstruction (Power Lines) √ √

Detailed Inspection √ √

Cluster Reconstruction √

Purchase Licenses

Users can purchase online licenses for DJI Terra Pro or Electricity version on the product page on the

ofcial DJI website. DJI will send the activation code via an email once purchased successfully. See the

details below.

Launch DJI Terra >

> Activated License(s) > Buy New License(s). Users will be redirected to

the ofcial DJI website to get the details about the functions of different versions. Users can also

be redirected to the ofcial DJI website by clicking the corresponding button where Real-Time 2D

Mapping, Real-Time 3D Mapping, Reconstruction, Output Coordinate System, GCP Management,

Agriculture, KML File Import, or 2D/3D function is required.

To purchase DJI Terra Pro or Electricity, visit the DJI Terra product page at https://www.dji.com/

dji-terra . Input your information on the contact form, and then wait for a DJI authorized dealer to

respond to your request.

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User Manual

Pro version and Electricity version support ofine login. Users can contact an authorized DJI dealer

via the product page on the ofcial DJI website to purchase an ofine license. DJI will send the

exchange code via an email once purchased successfully.

Cluster version only supports offline login. Users can contact an authorized DJI dealer via the

product page on the ofcial DJI website to purchase an ofine license and choose from different

worker device quotas. DJI will send the exchange code via an email once purchased successfully.

Refer to the Preparation Before Using DJI Terra for more information on how to activate the ofine

license and bind a device.

Activate Online Licenses and Bind Devices

To use the licenses with the desired DJI accounts and on the desired computers, license activation

and device binding are required. Activate licenses in DJI Terra or via an activation link. Each license

can be bound to up to three computers. Contact DJI Support to unbind the license if needed.

1. Enter the activation page via the two methods below:

DJI Terra: Launch DJI Terra >

> Activated License(s) > Activate a New License. A window

prompt will appear.

Activation Link: Visit https://license.dji.com/en

2. Input the activation code you received and the desired DJI account that you want to use the

license with, then click “Activate.”

3. After successful activation, view the ID, expiry time, and device binding status of the license. If

activating the license via the link, re-enter the Activated License(s) page to view the information.

4. Click “Device Binding” and then click “Bind” to bind the license to the current computer used.

“Bound” will be displayed next to the license of the corresponding ID in Activated License(s).

Cluster Reconstruction

Environment Setup

Refer to Preparation Before Using DJI Terra for more information on required devices and how to

set up Cluster version.

Usage

Control device: the device running DJI Terra Cluster. In the control device, users can

congure cluster reconstruction settings, select worker devices, and view the status of

reconstruction missions.

Worker devices: the devices in the local network that can be assigned by the control

device to reconstruction missions.

Control Device Operations

Make sure you have imported the license, activated Cluster version, and logged in ofine.

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User Manual

Cluster Reconstruction Settings

Click

on the upper right corner on the home page of DJI Terra to enter the cluster reconstruction

settings.

Shared Directory

C:/Users/dji/Desktop/djiterra

How to configure a shared directory?

√

Set cluster reconstruction as default

Set standalone reconstruction as default

Automatically copy results to control device

Cancel OK

1. Shared Directory

Set the shared directory. It is recommended to set the directory to the network-attached storage

(NAS). Refer to Preparation Before Using DJI Terra for more information.

2. Reconstruction and Copy Selection

Set cluster reconstruction as default: When checked, the software will use cluster reconstruction

as default after starting reconstruction.

Set standalone reconstruction as default: When checked, the software will use standalone

reconstruction as default after starting reconstruction.

Automatically copy results to control device: When checked, the reconstruction results will be

copied from the NAS to the control device. When unchecked, the results will only be stored on

the NAS.

Cluster Reconstruction Devices

Local Network Worker Devices

No. Computer Name Status Algorithm Version Operation

1 DJI-COMPUTER Available 3.0

√

Apply Reset Shared Directory

After entering the page, the software will automatically search for the enabled worker devices in

the current local network and list the name, status, algorithm version, and corresponding operation

of the found devices. Click

to refresh the search results and status of worker devices. Refer to

“Worker Devices Operations” for more information on how to enable worker devices.

1. Computer Name: displays the name of the worker device.

2. Status: displays if the worker device is available or busy. Only available devices can be

selected.

DJI TERRA

User Manual

3. Algorithm Version: displays the algorithm version of the worker device. Blue indicates that it

is the same version as the control device, while red indicates that it is a different version from

the control device. Only devices with the same algorithm version as the control device can be

selected.

4. Operations

Apply: check the box to select the device as a worker device to use for cluster reconstruction.

Reset: click to reset the worker device to available if it is incorrectly displayed as busy.

Shared Directory: indicates whether the shared directory settings are the same between the

worker device and control device. Blue indicates the settings are the same while red indicates

the settings are different. A device can only be selected as a worker device if it has the same

shared directory as the control device.

Reconstruction Mission Management

Set cluster reconstruction as default, select worker devices, and start reconstruction missions.

Click

on the home page to enter the reconstruction mission management page.

Reconstruction Mission Management

No. Mission Name Type Status

dji001 3D Model-Cluster Reconstruction

√

Local Network Worker Devices

No. Computer Name Status Operation

dji001 Waiting for response

√

Apply Release

The upper section of the page displays the queue of reconstruction missions. Users can view the

name, reconstruction type, and status of each mission.

The lower section of the page lists the local network worker devices. The display is similar with

the one in the cluster reconstruction devices page in the cluster reconstruction settings. When the

status of the worker device is abnormal, click Release under the device operations to release the

worker device. A worker device cannot be used for the same reconstruction mission again once it is

released.

Worker Device Operations

The DJI Terra Engine will be installed automatically to the worker device when DJI Terra is installed.

Users can nd DJITerraEngine.exe in the Cluster folder in the installation directory or go to the DJI

Product folder in the Start menu.

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User Manual

Shared Directory

C:/Users/dji/Desktop/djiterra

Temporary Local Directory

C:/Users/worker/Desktop/temp

Automatically launch after powering on

Start

Stop

Log

American English

1. Shared Directory: set the shared directory. The setting must be same as the setting in the control

device.

2. Temporary Local Directory: used for temporary storage while the worker device is performing a

reconstruction. Select a local directory in the worker device as the temporary local directory and

make sure that there is enough disk space.

3. Start/Stop: to start or stop the worker device. Once started, a worker device can be searched for

and used by the control device in the local network.

4. Log: print the logs of the worker device.

5. Language Switch: click the language switch on the upper right corner to switch language.

6. Automatically launch after powering on: if enabled, the DJI Terra Engine will launch automatically

after the worker device is powered on.

Cluster Reconstruction Procedure

1. Make sure you have already congured the parameters related to cluster reconstruction and

selected the worker devices.

2. Start reconstruction following the normal procedure for reconstruction missions and make sure

to use cluster reconstruction.

3. View the mission progress rate and status of worker devices in reconstruction mission

management.

4. If automatically copying results to the control device is disabled and the control device is still

connected to the shared directory after the cluster reconstruction, users can view the reconstruction

results in DJI Terra and also in the les in the corresponding folders.

If automatically copying results to the control device is enabled, users can view the reconstruction

results in DJI Terra without being connected to the shared directory and also in the files in the

corresponding folders.

DJI TERRA

User Manual

View and Export Logs

DJI Terra will generate a log file when performing a mission. If there is a software error or the

software crashes during a mission, users can have access to the corresponding log file in the

storage path below according to the time the mission was performed. Then export it and send to

DJI Support for analysis.

C:\Users\<computer name>\AppData\Roaming\DJI Terra\log

Users can open the log storage directory using the keyboard shortcut "Ctrl+Alt+L" after launching

DJI Terra.

Software Shortcuts

In DJI Terra, users can perform some functions and operations using shortcuts. The table below

lists the shortcuts that can be used in different pages in DJI Terra.

Page Functions / Operations Shortcuts

Mission Library

Create mission Ctrl+N

Switch mission type when

creating a mission

Tab

Switch mission type Tab

Switch mission Up:

↑

, Down:

↓

Switch operation for mission Left:

←

,Right:

→

Delete mission Delete

Select all missions when

deleting or exporting multi

missions

Ctrl+A

Map Map Zoom In/Out Zoom In: +, Zoom Out: -

Mission Editing

Save the current mission Ctrl+S

Delete the selected waypoint Delete

Switch parameter Tab

Adjust parameter value More:

↑

, Less:

↓

Waypoints or Detailed

Inspection Mission Editing

Switch waypoint

Previous: Ctrl+

←

Next: Ctrl+

→

Detailed Inspection Mission

Editing

Adjust waypoint location

Reconstruction Open the current mission folder Ctrl+Alt+F

3D Model Map

Switch model display view

Orthographic projection: F1

Front view: F2

Top view: F3

Switch between

aerotriangulation, point cloud,

and model result

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User Manual

This content is subject to change.

Download the latest version from

http://www.dji.com/dji-terra

If you have any questions about this document, please contact

DJI by sending a message to [email protected].

Photo Management

Select the photos in series in

the same folder

Shift+click the rst and last

photo

Delete multi photos in the same

folder

Delete

GCP Management

Edit the name of the selected

GCP

Enter

Switch GCP Up:

↑

, Down:

↓

Switch parameter Tab

Annotation and Measurement

Switch object for measurement Tab

Expand or collapse

measurement results

Ctrl+Q

Measurement Result

Management

Select results in series

Shift+click the rst and last

measurement results

Select all results Ctrl+A

Flight Route Plan in Agricultural

Application

Delete the selected farmland

point or calibration point

Delete

Switch between farmland points

or calibration points

Tab

Save the current mission Ctrl+S

Show or hide recognition result F5

Modify fruit trees recognition

result

Ctrl+Left Mouse Button

Show or hide prescription map F6

Enable or disable obstacle

avoidance

Show or hide ight route F8

All Pages Open the log storage directory Ctrl+Alt+L

Dji TERRA Camera

Product's Documents

User Manual

Specifications

Dji TERRA Questions and Answers

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