Merge remote-tracking branch 'origin/ht-dev' into ht-dev

rain

2024-07-26 56cf48282b9fa39637fdcad9b445d2a2f81a61d9

Merge remote-tracking branch 'origin/ht-dev' into ht-dev

 src/main/java/com/dji/sample/patches/xml/mode/Folder.java

@@ -23,6 +23,7 @@

    private Double autoFlightSpeed;
    private Double globalHeight;
    private String executeHeightMode;
    private Integer caliFlightEnable;
    private String gimbalPitchMode;


 src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/FolderUtils.java

@@ -46,10 +46,10 @@

    public static Folder setFloder(String templateType, double autoFlightSpeed) {
        Folder folder = new Folder();
        folder.setPayloadParam(PayloadParamUtils.setPayloadParam());
        folder.setWaylineCoordinateSysParam(new WaylineCoordinateSysParam());
        folder.setPayloadParam(PayloadParamUtils.setPayloadParam("visable"));
        folder.setTemplateType(templateType);//航点模式
        folder.setTemplateId("0");
        folder.setExecuteHeightMode("WGS84");

        folder.setAutoFlightSpeed(autoFlightSpeed);//全局航线飞行速度
        folder.setGlobalHeight(100D); //全局航线高度（相对起飞点高度）
@@ -66,7 +66,7 @@

        folder.setGlobalWaypointHeadingParam(gwhp);
        folder.setGlobalWaypointTurnMode("coordinateTurn");
        folder.setGlobalUseStraightLine(10);
        folder.setGlobalUseStraightLine(1);

        return folder;
    }

 src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PayloadParamUtils.java

@@ -24,4 +24,18 @@
        return pp;
    }

    public static PayloadParam setPayloadParam(String imageFormat) {
        PayloadParam pp = PayloadParam.builder()
                .focusMode("firstPoint")
                .meteringMode("average")
                .returnMode("singleReturnFirst")
                .samplingRate("240000")
                .scanningMode("repetitive")
                .payloadPositionIndex(0)
//                .imageFormat("wide,ir")
                .imageFormat(imageFormat)
                .build();
        return pp;
    }

}

 src/main/resources/template/waylines-polygon.xml

@@ -21,7 +21,7 @@
    </wpml:missionConfig>
    <Folder>
      <wpml:templateId>${folder.templateId!''}</wpml:templateId>
      <wpml:executeHeightMode>${folder.waylineCoordinateSysParam.heightMode!''}</wpml:executeHeightMode>
      <wpml:executeHeightMode>${folder.executeHeightMode!''}</wpml:executeHeightMode>
      <wpml:waylineId>0</wpml:waylineId>
      <wpml:autoFlightSpeed>${folder.autoFlightSpeed!''}</wpml:autoFlightSpeed>
      <wpml:startActionGroup>