package com.dji.sample.patches.xml.mode.share.action.utils;
|
|
import com.dji.sample.patches.xml.mode.MissionConfig;
|
import com.dji.sample.patches.xml.mode.share.DroneInfo;
|
import com.dji.sample.patches.xml.mode.share.PayloadInfo;
|
|
/**
|
* @PROJECT_NAME: drone
|
* @DESCRIPTION: 设置任务信息
|
* @USER: aix
|
* @DATE: 2024/3/29 11:10
|
*/
|
public class MissionConfigUtils {
|
|
public static MissionConfig setMissionConfig(String xyz) {
|
MissionConfig mc = MissionConfig.builder()
|
.flyToWaylineMode("safely")//安全模式
|
.finishAction("goHome")
|
.exitOnRCLost("executeLostAction")//退出航线，执行失控动作
|
.executeRCLostAction("goBack")
|
.takeOffSecurityHeight(20D)//安全起飞高度
|
.globalTransitionalSpeed(10D)
|
.globalRTHHeight(100D)
|
.takeOffRefPoint(xyz)
|
.takeOffRefPointAGLHeight(0D)
|
.droneInfo(new DroneInfo())
|
.payloadInfo(new PayloadInfo())
|
.build();
|
|
return mc;
|
}
|
|
public static MissionConfig setMissionConfigByPolygon(String xyz,double speed,DroneInfo droneInfo,PayloadInfo payloadInfo) {
|
|
MissionConfig mc = MissionConfig.builder()
|
.flyToWaylineMode("safely")//安全模式
|
.finishAction("goHome")
|
.exitOnRCLost("goContinue")//继续执行航线
|
.executeRCLostAction("goBack")
|
.takeOffSecurityHeight(20D)//安全起飞高度
|
.globalTransitionalSpeed(speed)
|
.globalRTHHeight(100D)
|
.takeOffRefPoint(xyz)
|
.takeOffRefPointAGLHeight(0D)
|
.droneInfo(droneInfo)
|
.payloadInfo(payloadInfo)
|
.build();
|
|
return mc;
|
}
|
|
}
|
