DJI Terra User Manual v2.3 202101 en

DJI TERRA
User Manual
v2.3 2021.01
Content
Disclaimer 2
Warning 2
Introduction 2
Download and Launch 3
Connect the Remote Controller and Aircraft 4
Mission Type 4
Flight Route Missions 4
Reconstruction Missions 5
Interface Introduction 6
Main Screen 6
Flight Route Mission Editing View 8
Flight Route Missions 9

Create a Mission 9
Perform Mission 12
Parameter Setting Introduction 14
Reconstruction Missions 28
Importing Image POS Data 28
Using the PPK Result Files 29
2D Map Reconstruction 30
2D Multispectral Map Reconstruction 33
Agricultural Application 34
3D Model Reconstruction 38
ROI Reconstruction 41
Output Coordinate System Settings 42
GCP Management 43
More Functions 46
Purchase Licenses 46
Activate Online Licenses and Bind Devices 47
View and Export Logs 47
Software Shortcuts 47

© 2021 DJI All Rights Reserved. 1
Disclaimer
Read this disclaimer and the terms in DJI TERRATM (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 affiliated companies assume no
liability for damage(s) or injuries incurred directly or indirectly from using this product improperly.
DJITM is a trademark of SZ DJI TECHNOLOGY CO., LTD. (abbreviated as “DJI”) and its affiliated
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
with all rights reserved. No part of this product or manual shall be reproduced in any form without
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 flight area is safe before each flight.
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 sufficient 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 flight
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 firefighting. It can control a DJI aircraft* to fly along a planned 2D or 3D route and provides
functions such as 2D map reconstruction, 3D model reconstruction, field 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: Basic, Pro, and Electricity. To purchase DJI Terra, visit the DJI Online
Store or the official DJI website. After purchasing, activate licenses and bind devices using DJI
Terra. For more information, refer to “More Functions” on p. 46.
Basic version includes functions such as real-time 2D mapping, 2D map reconstruction (for field
and fruit tree scenes), 2D multispectral reconstruction, and agriculture applications.
Pro version includes all the functions from Basic version with additional functions such as importing
KML files, importing image POS data, 2D map reconstruction (for urban scenes), ROI reconstruction,
2 © 2021 DJI All Rights Reserved.

DJI TERRA User Manual
output coordinate system settings, multi-GPU reconstruction, 3D model reconstruction, 3D Mission

Planning, and GCP management.
Electricity version includes all the functions from Pro version with additional functions such as 3D
model reconstruction (for power lines scenes) and detailed inspection.
NOTE: The Basic 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.
2D Map Reconstruction / 3D Model Reconstruction

Hardware Real-time 2D Mapping
/ 3D Point Cloud
CPU i5 or later
GeForce GTX TITAN X, GeForce RTX 2080 Ti
GeForce GTX 1080 Ti, GeForce GTX 1080
GeForce GTX 1070 Ti, GeForce GTX 1070
NVIDIA graphics card is
GPU GeForce GTX 1060, GeForce GTX 1050 Ti
recommended
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
HDD 50GB Free (basic requirement) or SSD+50GB Free (better)
NOTE:
The requirements for 2D map reconstruction / 3D model reconstruction / 3D point cloud 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.
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 offline license was purchased, offline
login is required. Refer to the Guide for DJI Terra Offline Licenses for more information.
DJI devices must be activated before using DJI Terra.

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 first 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
Set a waypoint flight path, then define waypoint actions for each waypoint.
Mapping
DJI Terra automatically generates efficient flight paths after user has set their required
flight area and camera parameters. The aircraft will then follow this route throughout
its mission. Real-time 2D mapping or real-time 3D point cloud (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).

Oblique
This function automatically generates five flight paths after users have set their
required flight area and parameters. These include a single flight 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.
Corridor
DJI Terra automatically generates corridor flight area and several independent
flight paths after the user has set the corridor points, expansion distance, and
flight band cutting distance. After the mission is complete, users can import the
original images into DJI Terra for 2D map or 3D model reconstruction.
Detailed Inspection
DJI Terra automatically generates waypoints to make up the inspection flight path
after the user has imported models from 3D reconstruction results using DJI Terra
or third-party LAS point cloud files, added target points on the model, and set
shooting distance, flight route speed, and other parameters. After planning the
flight path, users can export a KML file 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.
Reconstruction Missions
2D Map
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.
2D Multispectral Map
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.
3D Model
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.

Interface Introduction
Main Screen
1 2 3 4 5 6 7 8 9
TERRA PHANTOM 4
12
'MZ4BGF 100%
18 Mission Library
10
New Waypoint Mission 11
12
Created on: 12/03/2019
Last update: 23/06/2019
13
14
S
15
256m
Home Distance Altitude Speed Time

New Mission 0000 0000 m 00.00 m/s 00.00
17 16
1. System Status Bar

: Indicates the aircraft flight 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. Settings
Click to enter the Settings menu.
: Flight Controller Settings — Includes RTH altitude, flight distance limit, altitude limit, etc.
: 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.

9. Account Information

: Log into/out of your account, activate license(s), check the unlocking license(s), version
number, read the privacy policy, and configure privacy data settings.
10. Search
: Input names to search on the map.
11. 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.
12. Show/Hide GEO Zones

: Click to show or hide the DJI GEO Zones on the map.
13. 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.
14. Map Mode

: Tap to switch bettwen Regular Map, Satellite Map, and Road Map.
15. Map Zoom
Click +/- to zoom in or out of the map.
16. 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.
17. 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 first 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 Point
Cloud is enabled. If it is disabled, by default the downloaded photo count is set to 0.
18. 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.
: Search — Click and input keywords in the text box to search a mission.
: Import — Click to import missions.
: 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. 28.
: Copy — Click to create a copy of this mission. The flight 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 files 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 file’s name is changed.
Flight Route Mission Editing View
1 Fly Safe
12
8BZQPJOUT 100%
S New Waypoint Mission

E
Route Distance Estimated Flight Route

1234m Time
12m34s
Waypoint Count Estimated Photo Count
90 100
%% /"
S
Route Settings Waypoint Settings
256m Coordinated Turn
Camera
1IBOUPN
Ratio

2
Finishing Action
)PWFS
Aircraft Heading
'PMMPX3PVUF
Capture Mode
5JNFE4IPU
10 m/s
Home Distance Altitude Speed Time Photo Count (Downloaded/Captured)

Start Pause
0000 m 0000 m 00.00 m/s 00.00 0
1. Back
Click to return to the main screen.
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 file. The data in the KML file will be converted to waypoints
or edge points and displayed on the map for planning. Refer to “Create a Mission” on p. 9 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 flight path in a Waypoints mission via “Import KML”. For KML files exported from Detailed

Inspection missions, users can also import the file 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 fine-tuning.
Waypoint / Edge Point Edit:
Longitude
114.201491394043
Latitude
纬titude
22.707180906966
Click the box to input values. Click the arrow keys on the right for fine 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 fly forward or backward along the flight 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 file 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 finished 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 files as the
model to use. After configuration, 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 flight paths after
the user has set their required flight area and parameters.
For Corridor missions, DJI Terra automatically creates a flight area extending from the center line
and generates flight 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 file. The data in the file will be converted to
points and displayed on the map. This is a premium function included in DJI Terra Pro
version and Electricity version. Please purchase a license and then activate it before use. For
more information related to purchase and activation, refer to “More Functions” on p. 46.
For Waypoints missions, users can plan flight 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.
The functions for importing 2D maps or 3D models, flight path planning based on a 2D map, and
flight path planning based on a 3D model (called “3D Mission Planning” in a Waypoints mission)
are included in the DJI Terra Pro version. Please purchase a license and then activate it before
use. For information related to purchase and activation, refer to “More Functions” on p. 46.
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 configure the
parameters. DJI Terra will generate its corresponding waypoint. All the waypoints make up the
flight 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.
S
: Switch start and endpoints — Click to swap the start and endpoints to reverse the flight
E
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 flight area should not be too close. Otherwise, it will fail to generate
flight path.
The above requirements are also applicable when importing a KML file to plan a flight
path.
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
flight 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 flight 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
specific views and to zoom in or out.
In “Waypoint Settings”, edit and configure each waypoint separately. Refer to “Parameter Setting
Introduction” on p. 14 for more details.
4. Parameter Settings

Set each item in the parameter list and click to save when complete. Refer to “Parameter
Setting Introduction” on p. 14 for more details.

Perform Mission
For a Detailed Inspection mission, if the Phantom 4 RTK aircraft is selected in the Mission Settings,
import the flight route KML file to a Waypoints mission in DJI Terra or import the file into Library in
DJI Pilot to perform the mission. If the Matrice 300 RTK aircraft is selected, to perform the mission,
the flight route KML file can only be imported into Library in DJI Pilot.
To perform the mission using KML files exported from Detailed Inspection missions, aircraft
firmware 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 flight preparation list
will appear.
2. Wait for the flight 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 flying when all items are green is
highly recommended.
3. Click “Start.” The aircraft will fly along the pre-set flight path to perform the mission.
4. In a Mapping mission, if Real-Time 2D Mapping or Real-Time 3D Point Cloud is enabled, the
real-time mapping result or 3D point cloud will display on the map during the mission as follows:
a. The aircraft flies to the starting point of the flight path and start shooting.
b. When photo count (shown in the flight 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 flight 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 flown 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 Point Cloud” is enabled.
Real-Time 2D Mapping or Real-Time 3D Point Cloud Enabled

Click the “Stop” button, and there will be a prompt indicating that real-time 2D mapping or 3D point
cloud or real-time 3D point cloud 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.
Cancel Mission: The aircraft will stop the mission. DJI Terra will not process the photos.
Real-Time 2D Mapping or Real-Time 3D Point Cloud 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 fly 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.
2. Smart Low-Battery Level: When there is only sufficient 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 finishing 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 Point Cloud 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. 28 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
Capture Mode
Capture Mode
Route Settings
Route Settings
Waypoint Settings
Waypoint Settings
Timed Shot Timed Shot
Coordinated Coordinated
Turn Turn Interval Interval 2.5 s 2.5 s
Camera Camera
Route Altitude
Route Altitude 100 m 100 m
Phantom 4 Phantom 4
Ratio Ratio
Route SpeedRoute Speed 4 m/s 4 m/s
4: 3 4: 3
Finishing Action
Finishing Action
Initial Speed Initial Speed 10 m/s 10 m/s
Hover Hover
Aircraft Heading
Aircraft Heading Gimbal PitchGimbal
Angle Pitch Angle -20° -20°
Follow RouteFollow Route
1. Coordinated Turn

If enabled, the aircraft will fly 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 fly to
the next waypoint.
2. Camera
DJI Terra can recognize the camera model of the aircraft. Unless otherwise specified, 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 final 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 flight path is suitable for landing when finishing action is
set to “Land” to avoid potential flight 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 fixed time interval as it flies 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.
8. Route Altitude

The relative altitude between the aircraft and the takeoff point during flight. 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 flight speed when flying along a waypoint flight path.
10. Initial Speed

Flight speed when not flying along the waypoint-determined flight path. This includes the flight
speed from the aircraft position to the starting point of the flight 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
Altitude Altitude 100 m 100 m

Route Settings Route Settings
Waypoint Settings
Waypoint Settings
Waypoint 01 Waypoint 01
Speed Speed 10 m/s 10 m/s
Capture Mode Capture Mode
Timed Shot Timed Shot

Gimbal Pitch Angle
Gimbal Pitch Angle -20° -20°
Turning Mode Turning Mode
Min Angle Min Angle Turn Radius Turn Radius 8.2 m 8.2 m
Interval Interval 2.5 s 2.5 s

Action Action 0 Action(s) 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 fixed time interval as it flies from the selected waypoint to
the next waypoint. The aircraft will not hover during capturing. Users can set the time interval.
2. Turning Mode
The aircraft rotation direction when flying 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 flight safety, when the altitude of the first
waypoint is lower than the takeoff point altitude, fly the aircraft to an obstacle-free environment
before starting the flight 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 flight speed set here when flying to the selected waypoint
and then contitues flying at this speed. The range can be set from 0.2 to 13 m/s.


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 flying 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°.
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 fly to the waypoint with
the defined Gimbal Pitch Angle then adjust it according to the Gimbal Pitch settings defined
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 flight path and oblique flight paths. During mission settings, click the numbers 1 to 5 in
the map view to preview each flight path. 1 refers to the nadir view flight path, and 2 to 5 refer to the
four oblique flight paths respectively.

Basic Settings
Basic Basic
Advanced Advanced
Camera Camera Basic Basic
Advanced Advanced
Camera Camera
Real-Time
Real-Time 2D Mapping2D Mapping Finishing Action
Finishing Action
Return to Home
Return to Home
Real-Time
Real-Time 3D 3D Point Cloud
Point Cloud
GSD GSD 2.74 cm/pixel
2.74 cm/pixel
Mapping Scenes
Mapping Scenes Mission Altitude
Mission Altitude 100 m 100 m
Field Field
Speed
Speed (Nadir View)(Nadir View) 10 m/s 10 m/s
Finishing Action
Finishing Action
Return to Home
Return to Home
Max. SpeedMax. Speed 13m/s
13m/s Set Set
GSD GSD 2.74 cm/pixel

2.74 cm/pixel
Speed (Oblique)
Speed (Oblique) 10 m/s 10 m/s
Mission Altitude
Mission Altitude 100 m 100 m

13m/s Set Set
Speed Speed 10 m/s 10 m/s Select FlightSelect

RouteFlight Route
Route 1 Route 1 2
Route Route 2
Route 3 Route 3 4
Route Route 4

13m/s Set Set Route 5 Route 5
Mapping Oblique
1. Real-Time 2D Mapping (for Mapping only)

This is a premium function. Please purchase a license and then activate it before use. For more
information, refer to “More Functions” on p. 46.
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.
2. Real-Time 3D Point Cloud

This is a premium function. Please purchase a license and then activate it before use. For more
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.
If disabled, there will not be any real-time results.
Real-time 3D point cloud 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 point
cloud cannot be enabled simultaneously.

3. Mapping Scenes (for Mapping only)

Choose mapping scenes such as field and urban according to application requirements. It is
recommended to choose field 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 Electricity versions. Please purchase a license and then activate it before use. For more
4. Finishing Action

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.
completion.
Make sure that the end point of the flight path is suitable for landing when finishing action is
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 flying
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 flight speed of the aircraft during mission. When flying out of the flight path such as flying
from the current position to the starting point when mission starts, or flying back after mission
completion, the flight speed will be 13 m/s, which cannot be customized.
For Oblique missions, “Speed (Nadir View)” refers to the speed at which the aircraft is flying
along the nadir view flight path. “Speed (Oblique)” refers to the speed at which the aircraft is
flying along the oblique flight paths.
8. Max Speed

DJI Terra will calculate a maximum flight speed at which images meeting mapping requirements
can be captured according to the altitude, camera model, and advanced settings. Click “Set” to
set the flight speed to this max speed.
9. Select Flight Route

Check the corresponding box to select the desired flight route. The unchecked flight route will
not be executed.
For Oblique missions, if required, users can adjust the location of the start point for each
flight route after planning the routes. Click the start point or end point to switch the two.

Advanced Settings
Basic Basic
Advanced Advanced
Camera Camera
Side OverlapSide
RatioOverlap Ratio 74% 74%
Forward Overlap
Forward
RatioOverlap Ratio 74% 74%
Basic Basic
Advanced Advanced
Camera Camera
Side OverlapSide
RatioOverlap Ratio 74% 74% Side OverlapSide
RatioOverlap
(Oblique)
Ratio (Oblique)66% 66%
Forward Overlap
Forward
RatioOverlap Ratio 66% 66% Forward Overlap
Forward
RatioOverlap
(Oblique)
Ratio (Oblique)
66% 66%
Course AngleCourse Angle 287º 287º Course AngleCourse Angle 287º 287º
Margin Margin -13 m -13 m Margin Margin -13 m -13 m
Mission Relative
Mission
Height
Relative Height 30 m 30 m Mission Relative
Mission
Height
Relative Height 30 m 30 m
Mapping 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 flight
path, and “Side Overlap Ratio (Oblique)” refers to the overlap ratio for the oblique flight 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%.
For Oblique missions, “Forward Overlap Ratio” refers to the overlap ratio for the nadir view flight
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
flight. 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 fluctuations. Increase overlap ratio accordingly for areas with more terrain fluctuations.
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
Basic Advanced
Basic Camera
Advanced Camera
Camera Camera
Phantom 4 RTK Phantom 4 RTK
Basic Advanced
Basic Camera
Advanced Camera
Ratio Ratio
Camera Camera
4:3 4:3
Phantom 4 RTK Phantom 4 RTK
White Balance White Balance

Ratio Ratio
Field Field
4:3 4:3
White Balance White Balance Exposure Mode Exposure Mode
Field Field S S
Exposure Mode Exposure Mode Exposure Scenes Exposure Scenes

Customize Customize
S S
Exposure Scenes Exposure Scenes Shutter Shutter 400 400

Customize Customize
Shutter Shutter 400 ISO

400 ISO 100 100
ISO ISO 100 Exposure

100 Compensation
Exposure Compensation
-0.3 -0.3
-0.3 -0.3
Undistortion Undistortion
Gimbal Pitch AngleGimbal Pitch Angle -50° -50°

Undistortion Undistortion
Mapping Oblique
1. Camera
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 flying along the oblique flight path. The range for
the gimbal pitch angle can be set from -85° to -40°.
Corridor Settings
Basic Advanced Camera Basic Advanced Camera
Route Preview GSD 2.74 cm/pixel
Mission Altitude 100 m

Include center line?
Adjust expansion distance Speed 10 m/s

Yes
at the same time?
Expansion Distance to Left 31 m Max. Speed 13m/s Set
Finishing Action
Expansion Distance to Right 31 m Return to Home
Select Flight Route

Flight Band Cutting Distance 2000 m
Route 1 Route 2
Basic Settings
1. Route Preview
When enabled, the flight 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.
2. Include center line

To set if the center line will be included the flight 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 flight area. Left or right refer to
the left or right side of the center line when the front direction is defined by the line from one of
the corridor points pointing to its previous point.
5. Flight Band Cutting Distance

DJI Terra will divide corridor flight areas with a long center line into multiple segments according
to this flight band cutting distance. Each segment has a sub mission with an independent flight
route. Users can check the corresponding box in the Select Flight Route setting at the bottom of
the screen to select the desired flight 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 flight 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 flying
altitude and camera model.
7. Mission Altitude

The relative altitude between the aircraft and the area being mapped.
8. Speed
The flight speed of the aircraft during mission. When flying out of the flight path such as flying
from the current position to the starting point when mission starts, or flying back after mission
completion, the flight speed will be 13 m/s, which cannot be customized.
9. Max Speed

DJI Terra will calculate a maximum flight speed at which images meeting mapping requirements
can be captured according to the altitude, camera model, and advanced settings. Click “Set” to
set the flight speed to this max speed.
10. Finishing Action

Hover: The aircraft will hover at the final 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.
completion.
Make sure that the end poit of the flight path is suitablefor landing when finishing action is
11. Select Flight Route

Check the corresponding box to select the desired flight route. The unchecked flight route will
not be executed.
Advanced Settings
Basic Advanced Camera
Collection Mode
Full Coverage
Side Overlap Ratio 74%
Forward Overlap Ratio 74%
Mission Relative Height 30 m

1. Collection Mode

The image capture area varies by modes, which also affects the generated flight route.
Full Coverage: An additional route will be added on both left and right edges of the corridor
flight area when generating the flight route.
High Efficiency: The generated flight route can only cover the corridor flight 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.
Camera Settings Camera

Phantom 4 RTK
Ratio
Camera
4:3
Phantom 4 RTK
White Balance
Ratio
Field
4:3
White Balance Exposure Mode
Field S
Exposure Mode Exposure Scenes

Customize
S
Exposure Scenes Shutter 400

Customize
Shutter 400 ISO 100
ISO 100 Exposure Compensation -0.3
Exposure Compensation -0.3 Undistortion
Gimbal Pitch Angle -50°

Undistortion
1. Camera
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.

The gimbal pitch angle at which the aircraft is flying along the oblique flight 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
flight route information and flight 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.
Route Info
Click to collapse the route information. Information based on the current parameter settings will
be displayed, including flight route distance, estimated flight 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
Route Info
Flight Route Settings
Aircraft Yaw
Set Waypoint Separately
Finishing Action
Return to Home
Photo Ratio
4:3
Shooting Distance 12 m
Zoom 104.5 mm
Flight Route Speed 8.3 m/s
Initial Speed 13 m/s

Unless otherwise specified, the flight route settings below will only be applied to the waypoints that
are added after the configuration.
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 flying between the two waypoints.
2. Finishing Action

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.
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 flight path is suitable for landing when finishing action is
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 flight speed when flying along a waypoint flight path. The range can be set from 0.2 to 13 m/s.
7. Initial Speed

Flight speed when not flying along the waypoint-determined flight path. This includes the flight
speed from the aircraft position to the starting point of the flight 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.

Waypoint 04
Shooting Distance 3m
Flight Route Speed 4 m/s
Click the arrow keys on the left

to adjust the waypoint location
Waypoint Action Add Actions

Take Photo
Camera Facing Target
Aircraft Yaw -4 º
Gimbal Pitch Angle -28 º
Zoom 31.7 mm
1. Arrow Keys

Click to adjust the waypoint location on upward, downward, left and right directions.
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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 flight speed when flying along a waypoint flight 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-specific 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 file from the Cloud PPK Service of the Phantom 4
RTK, this PPK file 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.
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 to
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 Define 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 file. Click on the upper right corner to add another POS
data file.
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.
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
file.
Define 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.
Define Data Column Total Rows: 25
Undefined Undefined Undefined Undefined Undefined Undefined Undefined
Name Latitude Longtitude Altitude Yaw Pitch Roll

123.103553535 31.75678992 23.13423423 -179.9633456 -89.476576546 0
123.103689989 31.75689223 23.36525445 -179.9663678 -89.637746546 0
123.103469989 31.75646378 23.26243534 -179.9645676 -89.987976789 0
123.103359979 31.75711232 23.56464565 -179.9879788 -89.768798546 0
123.103345346 31.75699889 23.67648356 -179.5789868 -89.786586465 0
123.103398979 31.75677782 23.13443545 -179.9885777 -89.989605456 0
123.103422424 31.75669682 23.89876454 -179.9898599 -89.786965764 0

123.100000009 111.10000008 23.10000008 -123.1000007 -1.1000000009 -12.10000008
123.103447722 31.75683357 23.36754364 -123.1000007 -1.1000000009 -12.10000008
123.103528574 31.75692240 23.98764533 -123.1000007 -1.1000000009 -12.10000008
Photo name, 123.100000009

latitude (X/E), longitude (Y/N),
111.10000008
and altitude
23.10000008
(Z/U)-1.1000000009
-123.1000007
are required. -12.10000008
You cannot select the same
123.100000009 definition23.10000008
111.10000008 for multiple-123.1000007
columns. -1.1000000009 -12.10000008
4. After setting the format and properties, click the preview button to view the configured 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 files from the Cloud PPK Service of the Phantom 4 RTK only.
1. Name the result file 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 file 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 file.
4. If users want to use the GPS positioning information included in the photos for reconstruction,
remove the PPK result file 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 file from the computer.
Click to select the imported mission and then click to enter Mission Editing mode.
Mission Library New 2D Map Mission
New Waypoint Mission

Created on: 12/03/2019 Add Photo
Last update: 23/06/2019
Type 2D Map
Mapping Scenes Urban
Resolution Medium
Annotation and Measurement
Agricultural Application
New Mission Start Reconstruction
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.

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 flight 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. 34.
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 first mission finishes, 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 for 2D Maps on the official 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 files 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.


Click on the right of Annotation and Measurement bar to enter the page. Users can add
coordinates, measure distance and area.
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.
Coordinate
Longitude 114.191106276392
Latitude 22.358588422040
Save
3. The coordinate list displays the added coordinates. Click to expand the information to view
the longitude and latitude and change the name.
Distance
4. Make sure that there is no coordinate in editing

Horizontal Distancestatus. Click “Manage,” and select coordinates
2199.28m
(the outer box of the coordinate will turn blue when selected) to export or delete them.
Cancel Save
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.
Coordinate
The selected point is red, while the unselected
Area
point is gray. Click on top to delete the selected
point. Click to delete all the points in this measurement.
Longitude 114.191106276392
Click the right mouse button to end
Area
Latitude 5667.84m2
22.358588422040
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” Saveto exit editing. A distance measurement is
Save
in editing status when the measurement is not ended or saved. To exit editing status, end the
measurement and save.
Distance
Horizontal Distance 2199.28m
Cancel Save

Longitude 114.191106276392
Latitude 22.358588422040
Save
3. The process to view and manage distance measurements is the same as the one used for
coordinates.
Distance
Area
Horizontal Distance 2199.28m
1. Click to enter area measurement mode.
2. As with distance measurement, the procedure
Cancel to Save
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.
Area
Area 5667.84m2
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 reflectance 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. 34.
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 reflectance. Click on the right of
Radiometric Correction bar to enter the page. After configuration, 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 reflectance factor in the text box for each band.

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 notifications 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 file is the RGB 2D orthographic map. The result_XXX.tif file is the 2D orthographic map
for the spectral band corresponding to “XXX” in the file 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 fields or
fruit trees on the map.

Field
Result Display
Result Correction
Task Area Planning
Farmland Boundary Points

1 6
Area
221597.72
Generate Route
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 fields.
4. Click “Generate Route.” DJI Terra will automatically generate a route for field operations. Users
can enable or disable route display and obstacle avoidance, and configure 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
Spraying Type
Continuous Spraying
Flight Route Plan Type
Distance Interval (Auto)
Display Result
Modify Result
Task Area Planning
Generate 3D Flight Route

1. Select Spraying Type. When using an Agras aircraft to perform the flight mission generated by
DJI Terra, the aircraft will spray according to the selected type.
Continuous Spraying refers to spraying when flying 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 flying 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.
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 flight 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 configure
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 field. This function fits the
needs of most large orchards.
Continuous Spraying - Tree Crown Center (Auto)

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.

Continuous Spraying - Semi-automated

Click on the map to add waypoints along the fruit trees. The flight 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 final flight route. This is suitable for orchards with trees distribution following some kind
of pattern and where continuous spraying is required.
Continuous Spraying - Manual

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 flight route is required.
Spot Spraying - Tree Crown Center (Auto)

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 “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 final flight 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
Display Result
Modify Result
Prescription Map
Parameter Configuration
Average 4.00 L (kg) / Ha
Estimated Total 131.87 L (kg)
Good Growth 3.00 L (kg) / Ha
Poor Growth 5.00 L (kg) / Ha
Apply
Task Area Editing
Generate Route

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 fields.
4. Select a planned field and set the material amount for average, good, and poor growth in
Parameter Configuration. 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 field 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 specific amount.
6. Click “Generate Flight Route.” DJI Terra will automatically generate a route for field operations.
Users can enable or disable obstacle avoidance and configure 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 configurations.
Graphic Card RAM Max Photo Amount Photo Resolution

16GB 1600
32GB 3200
GeForce GTX 1050Ti with
48GB 4800 4864x3648
a VRAM of 4GB
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.

4. Select mapping scenarios. Normal works for most scenarios, including oblique and nadir view.
Circle is suitable for scenarios where images are captured by flying 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 file 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 file. S3MB refers to the s3mb format for the SuperMap LOD 3D point cloud file.
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 file 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 first mission finishes, 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 for 3D Models on the official DJI
website for details.

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 file in the las format.
2. LOD cloud file in pnts and s3mb formats. Format conversion is not supported.
DJI Terra can output 3D models in the following formats:

1. Texture mesh file in ply and obj formats.
2. LOD model file in b3dm, osgb, i3s, and s3mb formats. Format conversion is not supported.
The default storage path of the 3D reconstruction files 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.

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 specified 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.

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 fill 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 fill. There are two options for the base plane, the
Mean Plane and the Lowest Point.
• Mean Plane: A plane (possibly an inclined plane) fitted 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 efficiency. Click on the
right of the ROI Reconstruction bar to enter the page and define 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 defined ROI.

Aerial Triangulation
Aerial triangulation should be performed before defining 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.
Define ROI
There are four methods to define 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 file 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 define 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 define the ROI.
Translate ROI
Click to enter translation mode, and then drag the defined 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 defined 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” defined by DJI Terra. If the images include GPS information, the
output coordinate system will be automatically set to “Known Coordinate System” and converted to

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 file and searching
in DJI Terra.
Importing a PRJ file: Search and download the .prj file 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).
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.
Marking View Aerial Triangulation View
GCP List
GCP Information
Photo
Gallery

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 configuration.
Optimization
Import a GCP file and mark points on the images to optimize the aerial triangulation.
Importing GCP Files

1. Preparing GCP Files
The GCP data in the file 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 file 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 files 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.

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 file: Click to export a json file 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.

More Functions
KML files can be imported onto DJI Terra to add waypoints or edge points of a flight 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, and 3D Model 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.
Pro Electricity
Basic
Features (Online and Offline (Online and Offline
(Online Version)
Versions) Versions)
Real-time 2D Mapping √ √ √
Agricultural application √ √ √
2D Reconstruction (Field/Fruit Tree) √ √ √
2D Multispectrual Reconstruction √ √
KML file import √ √
2D Reconstruction (Urban) √ √
Output Coordinate System √ √
Image POS data import √ √
ROI Reconstruction √ √
3D Reconstruction (Normal/Circle) √ √
3D Mission planning √ √
Multi-GPU Reconstruction √ √
GCP √ √
3D Reconstruction (Power Lines) √
Detailed Inspection √
Purchase Licenses
Users can purchase online licenses for DJI Terra Pro or Electricity version on the product page on the
official 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 official DJI website to get the details about the functions of different versions. Users can
also be redirected to the official DJI website by clicking the corresponding button where Real-
Time 2D Mapping, Real-Time 3D Point Cloud, 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.
Pro version and Electricity version support offline login. Users can contact an authorized DJI dealer
via the product page on the official DJI website to purchase an offline license. DJI will send the
exchange code via an email once purchased successfully. Refer to the Guide for DJI Terra Offline
Licenses for more information on how to activate the offline 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).
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

Create mission Ctrl+N
Switch mission type when
Tab
creating a mission
Switch mission type Tab
Switch mission Up: ↑ , Down: ↓
Mission Library
Switch operation for mission Left: ← ,Right: →
Delete mission Delete
Select all missions when
deleting or exporting multi Ctrl+A
missions
Map Map Zoom In/Out Zoom In: +, Zoom Out: -

Save the current mission Ctrl+S

Delete the selected waypoint Delete
Mission Editing
Switch parameter Tab
Adjust parameter value More: ↑ , Less: ↓
Waypoints or Detailed Previous: Ctrl+ ←
Switch waypoint
Inspection Mission Editing Next: Ctrl+ →
Detailed Inspection Mission

Adjust waypoint location
Editing
Reconstruction Open the current mission folder Ctrl+Alt+F

Orthographic projection: F1
Switch model display view Front view: F2
Top view: F3
3D Model Map
Switch between
aerotriangulation, point cloud, F4
and model result
Select the photos in series in Shift+click the first and last
the same folder photo
Photo Management
Delete multi photos in the same
Delete
folder
Edit the name of the selected
Enter
GCP
GCP Management
Switch GCP Up: ↑ , Down: ↓
Switch parameter Tab
Switch object for measurement Tab
Annotation and Measurement Expand or collapse
Ctrl+Q
measurement results
Shift+click the first and last
Measurement Result Select results in series
measurement results
Management
Select all results Ctrl+A
Delete the selected farmland
Delete
point or calibration point
Switch between farmland points
Tab
or calibration points
Save the current mission Ctrl+S
Flight Route Plan in Agricultural Show or hide recognition result F5
Application Modify fruit trees recognition
Ctrl+Left Mouse Button
result
Show or hide prescription map F6
Enable or disable obstacle
F7
avoidance
Show or hide flight route F8
All Pages Open the log storage directory Ctrl+Alt+L

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 DocSupport@dji.com.
Copyright © 2021 DJI All Rights Reserved.

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DJI TERRA

Download and Launch 3

Connect the Remote Controller and Aircraft 4

Flight Route Missions 9

2 © 2021 DJI All Rights Reserved.

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

Download and Launch

2D Map Reconstruction / 3D Model Reconstruction

DJI devices must be activated before using DJI Terra.

Using Other Devices

4 © 2021 DJI All Rights Reserved.

Home Distance Altitude Speed Time

1. System Status Bar

7. Aircraft Battery Level

6 © 2021 DJI All Rights Reserved.

9. Account Information

12. Show/Hide GEO Zones

14. Map Mode

16. Map View

17. Flight Telemetry

18. Mission Library

Flight Route Mission Editing View

S New Waypoint Mission

Route Distance Estimated Flight Route

256m Coordinated Turn

Home Distance Altitude Speed Time Photo Count (Downloaded/Captured)

8 © 2021 DJI All Rights Reserved.

Flight Route Missions

2. Mission Settings

3. Plan Flight Path

4. Edit Points

Other operations can also be performed via the buttons below:

4. Parameter Settings

For other missions, follow the descriptions below.

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

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

12 © 2021 DJI All Rights Reserved.

1. Coordinated Turn

4. Finishing Action

14 © 2021 DJI All Rights Reserved.

5. Aircraft Heading

6. Capture Mode

8. Route Altitude

9. Route Speed

10. Initial Speed

11. Gimbal Pitch Angle

Altitude Altitude 100 m 100 m

Timed Shot Timed Shot

Turning Mode Turning Mode

Interval Interval 2.5 s 2.5 s

16 © 2021 DJI All Rights Reserved.

6. Gimbal Pitch Angle

Mapping / Oblique Settings

GSD GSD 2.74 cm/pixel

Max. SpeedMax. Speed 13m/s

Speed Speed 10 m/s 10 m/s Select FlightSelect

Max. SpeedMax. Speed 13m/s