package com.dji.sample.patches.xml.mode.share.action.utils;
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import com.dji.sample.patches.xml.mode.Folder;
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import com.dji.sample.patches.xml.mode.WaylineCoordinateSysParam;
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import com.dji.sample.patches.xml.mode.share.GlobalWaypointHeadingParam;
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/**
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* @PROJECT_NAME: drone
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* @DESCRIPTION: 设置模板信息
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* @USER: aix
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* @DATE: 2024/3/29 10:25
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*/
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public class FolderUtils {
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public static Folder setFloder() {
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Folder folder = new Folder();
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folder.setPayloadParam(PayloadParamUtils.setPayloadParam());
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folder.setWaylineCoordinateSysParam(new WaylineCoordinateSysParam());
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folder.setTemplateType("waypoint");//航点模式
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folder.setTemplateId("0");
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WaylineCoordinateSysParam wcs = new WaylineCoordinateSysParam();
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wcs.setCoordinateMode("WGS84");
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wcs.setHeightMode("relativeToStartPoint");
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folder.setWaylineCoordinateSysParam(wcs);
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folder.setAutoFlightSpeed(10D);//全局航线飞行速度
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folder.setGlobalHeight(100D); //全局航线高度（相对起飞点高度）
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folder.setCaliFlightEnable(0);// 是否开启标定飞行
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folder.setGimbalPitchMode("manual");//云台俯仰角控制模式manual：手动控制。飞行器从一个航点飞向下一个航点的过程中，支持用户手动控制云台的俯仰角度。若无用户控制，则保持飞离航点时的云台俯仰角度。 usePointSetting：依照每个航点设置。飞行器从一个航点飞向下一个航点的过程中，云台俯仰角均匀过渡至下一个航点的俯仰角。
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//
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GlobalWaypointHeadingParam gwhp = new GlobalWaypointHeadingParam();
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gwhp.setWaypointHeadingMode("followWayline");
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gwhp.setWaypointHeadingAngle(0);
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gwhp.setWaypointPoiPoint("0.000000,0.000000,0.000000");
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gwhp.setWaypointHeadingPathMode("followBadArc");
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gwhp.setWaypointHeadingPoiIndex("0");
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folder.setGlobalWaypointHeadingParam(gwhp);
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folder.setGlobalWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature");
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folder.setGlobalUseStraightLine(1);
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return folder;
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}
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public static Folder setFloder(String templateType, double autoFlightSpeed) {
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Folder folder = new Folder();
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folder.setPayloadParam(PayloadParamUtils.setPayloadParam());
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folder.setWaylineCoordinateSysParam(new WaylineCoordinateSysParam());
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folder.setTemplateType(templateType);//航点模式
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folder.setTemplateId("0");
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folder.setAutoFlightSpeed(autoFlightSpeed);//全局航线飞行速度
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folder.setGlobalHeight(100D); //全局航线高度（相对起飞点高度）
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folder.setCaliFlightEnable(0);// 是否开启标定飞行
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folder.setGimbalPitchMode("manual");//云台俯仰角控制模式manual：手动控制。飞行器从一个航点飞向下一个航点的过程中，支持用户手动控制云台的俯仰角度。若无用户控制，则保持飞离航点时的云台俯仰角度。 usePointSetting：依照每个航点设置。飞行器从一个航点飞向下一个航点的过程中，云台俯仰角均匀过渡至下一个航点的俯仰角。
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//
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GlobalWaypointHeadingParam gwhp = new GlobalWaypointHeadingParam();
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gwhp.setWaypointHeadingMode("followWayline");
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gwhp.setWaypointHeadingAngle(0);
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gwhp.setWaypointPoiPoint("0.000000,0.000000,0.000000");
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gwhp.setWaypointHeadingPathMode("followBadArc");
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gwhp.setWaypointHeadingPoiIndex("0");
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folder.setGlobalWaypointHeadingParam(gwhp);
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folder.setGlobalWaypointTurnMode("coordinateTurn");
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folder.setGlobalUseStraightLine(10);
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return folder;
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}
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}
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