I was doing some nap of the earth flying on a Litchi Mission. When out of nowhere a tree jumped in front of the drone. When it hit the tree it hung there for just a few seconds. I started to put the controller down, thinking I needed to drive over and pick up the pieces, until when I saw movement on the screen. It fell free, tried to right itself, bounced on the ground and then recovered and went into a hover. I was very surprised it didn't drift back into the tree. Suddenly I realized I had control again. The Litchi mission must have cancelled. I immediately gained altitude and made a beeline for home about 3/4s of a mile away.
So lessons learned; 1) no more low level flights, especially if there are people nearby. 2) check, recheck, and check again the data and inputs you use to create a Litchi mission. I know why it hit the tree and the bad math I used to plan the route. One important note, when you do curved turns in Litchi it is coplanar with the three points that define the curve. So not only does it "cut the corner" horizontally, it does so on a tilted plane as well. In other words if the apex of the curve is the high point it will not reach the intended height, and then trees will jump in front of you.
So lessons learned; 1) no more low level flights, especially if there are people nearby. 2) check, recheck, and check again the data and inputs you use to create a Litchi mission. I know why it hit the tree and the bad math I used to plan the route. One important note, when you do curved turns in Litchi it is coplanar with the three points that define the curve. So not only does it "cut the corner" horizontally, it does so on a tilted plane as well. In other words if the apex of the curve is the high point it will not reach the intended height, and then trees will jump in front of you.