src/main/java/com/dji/sample/patches/xml/mode/CameraActionEnum.java
@@ -20,7 +20,9 @@ GIMBAL_EVENLY_ROTATE("gimbalEvenlyRotate"),//航段间均匀转动云台pitch角 ACCURATE_SHOOT("accurateShoot"),//精准复拍动作（已暂停维护，建议使用ORIENTED_SHOOT） ORIENTED_SHOOT("orientedShoot"),//精准复拍动作 PANO_SHOT("panoShot");//全景拍照动作（仅支持M30/M30T） PANO_SHOT("panoShot"),//全景拍照动作（仅支持M30/M30T） START_TIME_LAPSE("startTimeLapse");//面状航线需要使用的默认事件 private final String description;
@@ -38,4 +38,7 @@ private PayloadParam payloadParam; private String distance;//长度 private String duration;//时间 } src/main/java/com/dji/sample/patches/xml/mode/Placemark.java
@@ -21,6 +21,7 @@ private String index; private Double ellipsoidHeight; private Double height; private Double executeHeight; private String waypointSpeed; private WaypointHeadingParam waypointHeadingParam; private WaypointTurnParam waypointTurnParam; src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java
@@ -1,6 +1,7 @@ package com.dji.sample.patches.xml.mode; import com.dji.sample.patches.model.entity.LotInfo; import com.dji.sample.patches.utils.DistanceCalculator; import com.dji.sample.patches.utils.GeoToolsUtil; import com.dji.sample.patches.utils.PointPO; import com.dji.sample.patches.xml.mode.share.*; @@ -165,18 +166,118 @@ //航点 List<Coordinate> pointList = PlaneCourseUtils.createWaylinePoints(param); List<Placemark> placemarkList = new ArrayList<>(); //计算距离 Coordinate droneC = param.getCoordinate();//机场经纬度 int pointListIndex = 0; double distanceOne = 0.0; //第一个点到机场得距离 double distance = 0.0; Coordinate pointTmp = null; for (Coordinate c:pointList) { //计算距离 if (pointListIndex == 0) { distanceOne = DistanceCalculator.calculateDistance(droneC.y,droneC.x,c.y,c.x) * 1000; distance += distanceOne; pointTmp = c; } else { double distanceTmp = DistanceCalculator.calculateDistance(pointTmp.y,pointTmp.x,c.y,c.x) * 1000; distance += distanceTmp; pointTmp = c; } pointListIndex += 1; Placemark placemark = new Placemark(); placemark.setCoordinates(c.x + "," + c.y); placemark.setEllipsoidHeight(param.getHeight()); placemark.setHeight(param.getHeight()); placemark.setExecuteHeight(param.getHeight() + param.getDroneHeight()); //执行高度 = 机场高度 + 飞行高度 placemark.setWaypointSpeed(param.getAutoFlightSpeed() + ""); placemark.setUseStraightLine(1); //事件暂时不考虑添加 // WaypointTurnParam waypointTurnParam = new WaypointTurnParam(); waypointTurnParam.setWaypointTurnMode("coordinateTurn"); waypointTurnParam.setWaypointTurnDampingDist("0.2"); //添加事件 第一个和结尾需要添加事件 if (pointListIndex == 1) { //第一个航点事件 waypointTurnParam.setWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature"); waypointTurnParam.setWaypointTurnDampingDist("0"); // 增加事件组 ActionGroup actionGroup = new ActionGroup(); actionGroup.setActionGroupId(0); actionGroup.setActionGroupStartIndex(pointListIndex - 1);//动作组开始生效的航点 actionGroup.setActionGroupEndIndex(pointList.size() - 1);//动作组结束生效的航点 actionGroup.setActionGroupMode("sequence"); ActionTrigger at = new ActionTrigger(); at.setActionTriggerType("betweenAdjacentPoints"); actionGroup.setActionTrigger(at); // 开始增加事件 List<ActionMode> list = new ArrayList<>(); ActionMode actionMode = new ActionMode(); actionMode.setActionId(0); actionMode.setActionActuatorFunc("gimbalAngleLock"); ActionMode actionMode2 = new ActionMode(); actionMode2.setActionId(1); actionMode2.setActionActuatorFunc(CameraActionEnum.GIMBAL_ROTATE.getDescription());//旋转云台 actionMode2.setActionActuatorFuncParam(ActionUtils.setGimbalRotateByPlane()); ActionMode actionMode3 = new ActionMode(); actionMode3.setActionId(2); actionMode3.setActionActuatorFunc("startTimeLapse"); actionMode3.setActionActuatorFuncParam(ActionUtils.setStartTimeLapseByPlane()); list.add(actionMode); list.add(actionMode2); list.add(actionMode3); actionGroup.setActions(list); placemark.setActionGroup(actionGroup); } else if(pointListIndex == pointList.size()) { // 结尾需要添加事件 waypointTurnParam.setWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature"); waypointTurnParam.setWaypointTurnDampingDist("0"); // 增加事件组 ActionGroup actionGroup = new ActionGroup(); actionGroup.setActionGroupId(1); actionGroup.setActionGroupStartIndex(pointListIndex - 1);//动作组开始生效的航点 actionGroup.setActionGroupEndIndex(pointList.size()-1);//动作组结束生效的航点 actionGroup.setActionGroupMode("sequence"); ActionTrigger at = new ActionTrigger(); at.setActionTriggerType("reachPoint"); actionGroup.setActionTrigger(at); // 开始增加事件 List<ActionMode> list = new ArrayList<>(); ActionMode actionMode = new ActionMode(); actionMode.setActionId(0); actionMode.setActionActuatorFunc("stopTimeLapse"); actionMode.setActionActuatorFuncParam(ActionUtils.setStopTimeLapseByPlane()); ActionMode actionMode2 = new ActionMode(); actionMode2.setActionId(1); actionMode2.setActionActuatorFunc("gimbalAngleUnlock"); list.add(actionMode); list.add(actionMode2); actionGroup.setActions(list); placemark.setActionGroup(actionGroup); } placemark.setWaypointTurnParam(waypointTurnParam); placemarkList.add(placemark); } //距离和时间 folder.setDistance((distance - distanceOne) + ""); folder.setDuration((distance / param.getAutoFlightSpeed()) + "");//时间 = 长度 / 速度 folder.setPlacemarkList(placemarkList); @@ -205,6 +306,7 @@ param.setSideRatio(0.8); param.setFocal(10*6.9999943); param.setFrame(100); param.setDroneHeight(14.731968792284789); List<double[]> polygon = new ArrayList<>(); double[] a = {116.028037250229,25.8948290570725}; double[] a2 = {116.031565260299,25.8950672687002}; src/main/java/com/dji/sample/patches/xml/mode/share/action/param/ActionActuatorFuncParam.java
@@ -47,6 +47,8 @@ return new OrientedShootParam(); case PANO_SHOT: return new PanoShotParam(); case START_TIME_LAPSE: return new StartTimeLapseParam(); default: throw new IllegalStateException("Unexpected value: " + type); } src/main/java/com/dji/sample/patches/xml/mode/share/action/param/StartTimeLapseParam.java
New file @@ -0,0 +1,17 @@ package com.dji.sample.patches.xml.mode.share.action.param; import lombok.Data; /** * @Author AIX * @Date 2024/7/30 10:33 * @Version 1.0 */ @Data public class StartTimeLapseParam extends ActionActuatorFuncParam{ private String useGlobalPayloadLensIndex; private String payloadLensIndex; private String minShootInterval; } src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/ActionUtils.java
@@ -73,4 +73,37 @@ return rotateYawParam; } /** * 面状航线旋转云台 * @return */ public static GimbalRotateParam setGimbalRotateByPlane() { GimbalRotateParam gimbalRotateParam = new GimbalRotateParam(); gimbalRotateParam.setGimbalHeadingYawBase("aircraft"); gimbalRotateParam.setGimbalRotateMode("absoluteAngle"); gimbalRotateParam.setGimbalPitchRotateEnable(1); gimbalRotateParam.setGimbalPitchRotateAngle(-90D); gimbalRotateParam.setGimbalRollRotateEnable(0); gimbalRotateParam.setGimbalRollRotateAngle(0D); gimbalRotateParam.setGimbalYawRotateEnable(0); gimbalRotateParam.setGimbalYawRotateAngle(0D); gimbalRotateParam.setGimbalRotateTimeEnable(10); gimbalRotateParam.setGimbalRotateTime(0D); return gimbalRotateParam; } public static StartTimeLapseParam setStartTimeLapseByPlane() { StartTimeLapseParam startTimeLapseParam = new StartTimeLapseParam(); startTimeLapseParam.setUseGlobalPayloadLensIndex("0"); startTimeLapseParam.setPayloadLensIndex("visable"); startTimeLapseParam.setMinShootInterval("5.27466630935669"); return startTimeLapseParam; } public static StartTimeLapseParam setStopTimeLapseByPlane() { StartTimeLapseParam startTimeLapseParam = new StartTimeLapseParam(); startTimeLapseParam.setPayloadLensIndex("visable"); return startTimeLapseParam; } } src/main/java/com/dji/sample/wayline/plane/param/CreateWaylineParam.java
@@ -20,6 +20,8 @@ private List<double[]> polygon;//面 @NotNull(message = "高度不能为空") private double height;//高度 @NotNull(message = "机场高度不能为空") private double droneHeight;//机场高度 @NotNull(message = "画幅不能为空") private double frame;//画幅 @NotNull(message = "焦距不能为空") src/main/resources/template/waylines-polygon.xml
@@ -23,6 +23,8 @@ <wpml:templateId>${folder.templateId!''}</wpml:templateId> <wpml:executeHeightMode>${folder.executeHeightMode!''}</wpml:executeHeightMode> <wpml:waylineId>0</wpml:waylineId> <wpml:distance>${folder.distance!''}</wpml:distance> <wpml:duration>${folder.duration!''}</wpml:duration> <wpml:autoFlightSpeed>${folder.autoFlightSpeed!''}</wpml:autoFlightSpeed> <wpml:startActionGroup> <wpml:action> @@ -89,7 +91,7 @@ </Point> <wpml:index>${placemarkIndex!''}</wpml:index> <#assign placemarkIndex = placemarkIndex + 1> <wpml:executeHeight>${placemark.height!''}</wpml:executeHeight> <wpml:executeHeight>${placemark.executeHeight!''}</wpml:executeHeight> <wpml:waypointSpeed>${placemark.waypointSpeed!''}</wpml:waypointSpeed> <wpml:waypointHeadingParam> <wpml:waypointHeadingMode>${folder.globalWaypointHeadingParam.waypointHeadingMode!''}</wpml:waypointHeadingMode> @@ -100,10 +102,75 @@ <wpml:waypointHeadingPoiIndex>${folder.globalWaypointHeadingParam.waypointHeadingPoiIndex!''}</wpml:waypointHeadingPoiIndex> </wpml:waypointHeadingParam> <wpml:waypointTurnParam> <wpml:waypointTurnMode>${folder.globalWaypointTurnMode!''}</wpml:waypointTurnMode> <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist> <wpml:waypointTurnMode>${placemark.waypointTurnParam.waypointTurnMode!''}</wpml:waypointTurnMode> <wpml:waypointTurnDampingDist>${placemark.waypointTurnParam.waypointTurnDampingDist!''}</wpml:waypointTurnDampingDist> </wpml:waypointTurnParam> <wpml:useStraightLine>${folder.globalUseStraightLine!''}</wpml:useStraightLine> <#if placemark.actionGroup??> <wpml:actionGroup> <wpml:actionGroupId>${placemark.actionGroup.actionGroupId!''}</wpml:actionGroupId> <wpml:actionGroupStartIndex>${placemark.actionGroup.actionGroupStartIndex!''}</wpml:actionGroupStartIndex> <wpml:actionGroupEndIndex>${placemark.actionGroup.actionGroupEndIndex!''}</wpml:actionGroupEndIndex> <wpml:actionGroupMode>${placemark.actionGroup.actionGroupMode!''}</wpml:actionGroupMode> <wpml:actionTrigger> <wpml:actionTriggerType>${placemark.actionGroup.actionTrigger.actionTriggerType!''}</wpml:actionTriggerType> </wpml:actionTrigger> <#if placemark.actionGroup.actions??> <#assign idx = 0> <#list placemark.actionGroup.actions as action> <wpml:action> <wpml:actionId>${idx!''}</wpml:actionId> <wpml:actionActuatorFunc>${action.actionActuatorFunc!''}</wpml:actionActuatorFunc> <#if action.actionActuatorFuncParam??> <wpml:actionActuatorFuncParam> <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex> <#if action.actionActuatorFuncParam.gimbalHeadingYawBase??> <wpml:gimbalHeadingYawBase>${action.actionActuatorFuncParam.gimbalHeadingYawBase!''}</wpml:gimbalHeadingYawBase> </#if> <#if action.actionActuatorFuncParam.gimbalRotateMode??> <wpml:gimbalRotateMode>${action.actionActuatorFuncParam.gimbalRotateMode!''}</wpml:gimbalRotateMode> </#if> <#if action.actionActuatorFuncParam.gimbalPitchRotateEnable??> <wpml:gimbalPitchRotateEnable>${action.actionActuatorFuncParam.gimbalPitchRotateEnable!''}</wpml:gimbalPitchRotateEnable> </#if> <#if action.actionActuatorFuncParam.gimbalPitchRotateAngle??> <wpml:gimbalPitchRotateAngle>${action.actionActuatorFuncParam.gimbalPitchRotateAngle!''}</wpml:gimbalPitchRotateAngle> </#if> <#if action.actionActuatorFuncParam.gimbalRollRotateEnable??> <wpml:gimbalRollRotateEnable>${action.actionActuatorFuncParam.gimbalRollRotateEnable!''}</wpml:gimbalRollRotateEnable> </#if> <#if action.actionActuatorFuncParam.gimbalRollRotateAngle??> <wpml:gimbalRollRotateAngle>${action.actionActuatorFuncParam.gimbalRollRotateAngle!''}</wpml:gimbalRollRotateAngle> </#if> <#if action.actionActuatorFuncParam.gimbalYawRotateEnable??> <wpml:gimbalYawRotateEnable>${action.actionActuatorFuncParam.gimbalYawRotateEnable!''}</wpml:gimbalYawRotateEnable> </#if> <#if action.actionActuatorFuncParam.gimbalYawRotateAngle??> <wpml:gimbalYawRotateAngle>${action.actionActuatorFuncParam.gimbalYawRotateAngle!''}</wpml:gimbalYawRotateAngle> </#if> <#if action.actionActuatorFuncParam.gimbalRotateTimeEnable??> <wpml:gimbalRotateTimeEnable>${action.actionActuatorFuncParam.gimbalRotateTimeEnable!''}</wpml:gimbalRotateTimeEnable> </#if> <#if action.actionActuatorFuncParam.gimbalRotateTime??> <wpml:gimbalRotateTime>${action.actionActuatorFuncParam.gimbalRotateTime!''}</wpml:gimbalRotateTime> </#if> <#if action.actionActuatorFuncParam.useGlobalPayloadLensIndex??> <wpml:useGlobalPayloadLensIndex>${action.actionActuatorFuncParam.useGlobalPayloadLensIndex!''}</wpml:useGlobalPayloadLensIndex> </#if> <#if action.actionActuatorFuncParam.payloadLensIndex??> <wpml:payloadLensIndex>${action.actionActuatorFuncParam.payloadLensIndex!''}</wpml:payloadLensIndex> </#if> <#if action.actionActuatorFuncParam.minShootInterval??> <wpml:minShootInterval>${action.actionActuatorFuncParam.minShootInterval!''}</wpml:minShootInterval> </#if> </wpml:actionActuatorFuncParam> </#if> </wpml:action> <#assign idx = idx + 1> </#list> </#if> </wpml:actionGroup> </#if> <wpml:waypointGimbalHeadingParam> <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle> <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
