src/main/java/com/dji/sample/patches/xml/mode/Folder.java
@@ -31,7 +31,9 @@ private String globalWaypointTurnMode; private Integer globalUseStraightLine; private List<Placemark> placemarkList = new ArrayList<>(); private List<Placemark> placemarkList = new ArrayList<>();//航点模板元素 private PlacemarkByPolygon placemarkByPolygon;//建图航拍模板元素 private PayloadParam payloadParam;
New file @@ -0,0 +1,41 @@ package com.dji.sample.patches.xml.mode; import lombok.Builder; import lombok.Data; /** * @Author AIX * @Date 2024/7/20 11:51 * @Version 1.0 * 重叠率参数 */ @Data public class Overlap { /** * 可见光航向重叠率 */ private Integer orthoCameraOverlapH = 80; /** * 可见光旁向重叠率 */ private Integer orthoCameraOverlapW = 80; /** * 可见光航向重叠率 */ private Integer inclinedCameraOverlapH = 80; /** * 可见光旁向重叠率 */ private Integer inclinedCameraOverlapW = 70; public Overlap() {} public Overlap(Integer orthoCameraOverlapH, Integer orthoCameraOverlapW, Integer inclinedCameraOverlapH, Integer inclinedCameraOverlapW) { this.orthoCameraOverlapH = orthoCameraOverlapH; this.orthoCameraOverlapW = orthoCameraOverlapW; this.inclinedCameraOverlapH = inclinedCameraOverlapH; this.inclinedCameraOverlapW = inclinedCameraOverlapW; } } src/main/java/com/dji/sample/patches/xml/mode/PlacemarkByPolygon.java
New file @@ -0,0 +1,84 @@ package com.dji.sample.patches.xml.mode; import lombok.Data; import org.locationtech.jts.geom.Coordinate; import java.util.List; /** * @Author AIX * @Date 2024/7/20 11:19 * @Version 1.0 */ @Data public class PlacemarkByPolygon { /** * 是否开启标定飞行 * * 注：仅适用于M300 RTK与M350 RTK机型 * 0：不开启 * 1：开启，航线中自动进行惯导标定，保证模型精度。航线收尾会进行三次加减速飞行，航线拐弯处自动外扩进行加减速飞行。航线过长会均匀插入加减速飞行，每次标定后飞行时间不会超过100s。 */ private Integer caliFlightEnable = 0; /** * 是否开启高程优化 * 0：不开启 * 1：开启，飞行器会在航线执行完毕后，飞向测区中心采集一组倾斜照片，优化高程精度。 */ private Integer elevationOptimizeEnable = 1; /** * 是否开启智能摆拍 * 0：不开启 * 1：开启，飞行器在单次建图航拍任务过程中，可通过云台摆动完成正射与倾斜照片拍摄。 */ private Integer smartObliqueEnable = 0; /** * 是否开启斜立面 * 0：不开启 * 1：开启 */ private Integer facadeWaylineEnable = 0; private Integer isLookAtSceneSet = 0; /** * 拍照模式 * time：等时间拍照 * distance：等间隔拍照 * * 注：建议使用“time”等时间拍照。 * 在template.kml文件中定义“拍照模式”、“重叠率”和“飞行速度”，计算后得出间隔时间或间隔距离距离写入waylines.wpml中。 */ private String shootType = "time"; /** * 航线方向 */ private Integer direction; /** * 测区外扩距离 */ private Integer margin = 0; /** * 重叠率参数 */ private Overlap overlap; /** * 测区多边形 */ private List<String> polygons; /** * 全局航线高度（椭球高） * * 注：如果 wpml:height 选用相对起飞点高度，则 wpml:ellipsoidHeight 和 wpml:height 相同； * 如果 wpml:height 选用 EGM96 海拔高度或 AGL 相对地面高度，则 wpml:wpml:ellipsoidHeight 由 wpml:height 做相应转换得到。 */ private double ellipsoidHeight; /** * 全局航线高度（EGM96海拔高/相对起飞点高度/AGL相对地面高度） * * 注：该元素与 wpml:ellipsoidHeight 配合使用，二者是同一位置不同高程参考平面的表达。 */ private double height; } src/main/java/com/dji/sample/patches/xml/mode/WaylineCoordinateSysParam.java
@@ -1,5 +1,6 @@ package com.dji.sample.patches.xml.mode; import lombok.Builder; import lombok.Data; /** @@ -11,7 +12,46 @@ @Data public class WaylineCoordinateSysParam { /** * 经纬度坐标系WGS84：当前固定使用 * WGS84坐标系 */ private String coordinateMode = "WGS84"; private String heightMode = "relativeToStartPoint"; /** * 航点高程参考平面 * EGM96：使用海拔高编辑 * relativeToStartPoint：使用相对点的高度进行编辑 * aboveGroundLevel：使用地形数据，AGL下编辑(仅支持司空2平台) * realTimeFollowSurface: 使用实时仿地模式（仅用于建图航拍模版），仅支持M3E/M3T/M3M机型 */ private String heightMode = "EGM96"; /** * 飞行器离被摄面高度（相对地面高） * * 注：仅适用于模板类型mapping2d，mapping3d，mappingStrip */ private String globalShootHeight;//自定义 /** * 是否开启仿地飞行 0：不开启1：开启 * * 注：仅适用于模板类型mapping2d，mapping3d，mappingStrip */ private String surfaceFollowModeEnable = "1"; private String isRealtimeSurfaceFollow = "0"; /** * 仿地飞行离地高度（相对地面高） * * 注：仅适用于模板类型mapping2d，mapping3d，mappingStrip */ private String surfaceRelativeHeight; public WaylineCoordinateSysParam() {} public WaylineCoordinateSysParam(String heightMode,String globalShootHeight,String surfaceRelativeHeight) { this.heightMode = heightMode; this.globalShootHeight = globalShootHeight; this.surfaceRelativeHeight = surfaceRelativeHeight; } } src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java
@@ -3,11 +3,11 @@ import com.dji.sample.patches.model.entity.LotInfo; import com.dji.sample.patches.utils.GeoToolsUtil; import com.dji.sample.patches.utils.PointPO; import com.dji.sample.patches.xml.mode.share.ActionGroup; import com.dji.sample.patches.xml.mode.share.ActionMode; import com.dji.sample.patches.xml.mode.share.ActionTrigger; import com.dji.sample.patches.xml.mode.share.*; import com.dji.sample.patches.xml.mode.share.action.utils.*; import com.dji.sample.patches.xml.utils.CreateWaylineFileUtils; import com.dji.sample.wayline.plane.PlaneCourseUtils; import com.dji.sample.wayline.plane.param.CreateWaylineParam; import freemarker.template.Configuration; import freemarker.template.Template; import lombok.Builder; @@ -43,6 +43,7 @@ /** * 初始化模板对象 * * @param coordinates * @param lotInfos * @return @@ -53,16 +54,16 @@ List<Placemark> placemarkList = new ArrayList<>(); int i = 0; for (PointPO pointPO:coordinates) { for (PointPO pointPO : coordinates) { if (i != 0) {//去除第一个航点 Coordinate c = pointPO.getCoordinate(); Placemark placemark = PlacemarkUtils.setPlacemark(c.x + "," + c.y); // 增加事件组 ActionGroup actionGroup = new ActionGroup(); actionGroup.setActionGroupId(i-1);//动作组id从0开始单调连续递增。 actionGroup.setActionGroupStartIndex(i-1);//动作组开始生效的航点 actionGroup.setActionGroupEndIndex(i-1);//动作组结束生效的航点 actionGroup.setActionGroupId(i - 1);//动作组id从0开始单调连续递增。 actionGroup.setActionGroupStartIndex(i - 1);//动作组开始生效的航点 actionGroup.setActionGroupEndIndex(i - 1);//动作组结束生效的航点 actionGroup.setActionGroupMode("sequence"); ActionTrigger at = new ActionTrigger(); at.setActionTriggerType("reachPoint"); @@ -85,7 +86,7 @@ actionMode2.setActionId(1); actionMode2.setActionActuatorFunc(CameraActionEnum.GIMBAL_ROTATE.getDescription());//旋转云台 //设置转动角度 double bearing = GeoToolsUtil.bearing(pointPO.getCoordinate().y,pointPO.getCoordinate().x,pointPO.getCentro().y,pointPO.getCentro().x); double bearing = GeoToolsUtil.bearing(pointPO.getCoordinate().y, pointPO.getCoordinate().x, pointPO.getCentro().y, pointPO.getCentro().x); // System.out.println("角度：" + bearing); actionMode2.setActionActuatorFuncParam(ActionUtils.setGimbalRotate(bearing)); @@ -105,7 +106,7 @@ placemarkList.add(placemark); } i = i+1; i = i + 1; } folder.setPlacemarkList(placemarkList); @@ -121,34 +122,148 @@ return xtm; } /** * 面状航线 * * @return */ public static XMLTemplateModel initPolygon(CreateWaylineParam param) { Folder folder = FolderUtils.setFloder(param.getTemplateType(), param.getAutoFlightSpeed()); //坐标系参数 WaylineCoordinateSysParam wcs = new WaylineCoordinateSysParam("EGM96", String.valueOf(param.getHeight()), String.valueOf(param.getHeight())); folder.setWaylineCoordinateSysParam(wcs); //建图航拍模板元素 PlacemarkByPolygon placemarkByPolygon = new PlacemarkByPolygon(); placemarkByPolygon.setDirection(param.getBearing()); // 重叠率参数 Overlap overlap = new Overlap((int) (param.getCourseRatio()* 100), (int) (param.getSideRatio()* 100), (int) (param.getCourseRatio()* 100), (int) (param.getSideRatio()* 100)); placemarkByPolygon.setOverlap(overlap); //测区多边形 String polygons = ""; List<String> polygonStrList = new ArrayList<>(); for (double [] polygon:param.getPolygon()){ polygons = polygon[0] + "," + polygon[1] + ",0"; polygonStrList.add(polygons); } placemarkByPolygon.setPolygons(polygonStrList); //全局航线高度 placemarkByPolygon.setEllipsoidHeight(param.getHeight()); placemarkByPolygon.setHeight(param.getHeight()); folder.setPlacemarkByPolygon(placemarkByPolygon); //航点 List<Coordinate> pointList = PlaneCourseUtils.createWaylinePoints(param); List<Placemark> placemarkList = new ArrayList<>(); for (Coordinate c:pointList) { Placemark placemark = new Placemark(); placemark.setCoordinates(c.x + "," + c.y); placemark.setEllipsoidHeight(param.getHeight()); placemark.setHeight(param.getHeight()); placemark.setWaypointSpeed(param.getAutoFlightSpeed() + ""); placemark.setUseStraightLine(1); //事件暂时不考虑添加 placemarkList.add(placemark); } folder.setPlacemarkList(placemarkList); XMLTemplateModel xtm = XMLTemplateModel.builder() .author("Aix") .createTime(String.valueOf(System.currentTimeMillis())) .updateTime(String.valueOf(System.currentTimeMillis())) .missionConfig(MissionConfigUtils.setMissionConfigByPolygon(param.getCoordinate().y + "," + param.getCoordinate().x + ",0", param.getAutoFlightSpeed(), param.getDroneInfo(), param.getPayloadInfo())) .folder(folder) .build(); return xtm; } //新建面状航线测试 public static void main(String[] args) { //测试 List<LotInfo> list = new ArrayList<>(); list.add(LotInfo.builder().dkbh("dkbh01").dkfw("POLYGON((115.866465564947 28.6344502965542, 115.86425430209 28.6357383285408, 115.864551734716 28.633120921433, 115.866977149064 28.6338435339976, 115.866465564947 28.6344502965542))").build()); list.add(LotInfo.builder().dkbh("dkbh02").dkfw("POLYGON((115.864006690605 28.6202713913694, 115.86002109342 28.6162025130492, 115.866374254306 28.6142037658042, 115.865912044006 28.6172001020759, 115.864006690605 28.6202713913694))").build()); list.add(LotInfo.builder().dkbh("dkbh03").dkfw("POLYGON((115.839366933455 28.6161999317332, 115.841288489469 28.6160843601496, 115.840931570318 28.6181544912247, 115.838147600941 28.618654178036, 115.839366933455 28.6161999317332))").build()); // list.add(LotInfo.builder().dkbh("dkbh04").dkfw("POLYGON((115.857499052697 28.6784702230642, 115.859109158101 28.6762273976226, 115.863677723232 28.6766081113836, 115.862154868188 28.6790827508297, 115.857499052697 28.6784702230642))").build()); // list.add(LotInfo.builder().dkbh("dkbh05").dkfw("POLYGON((115.834974056705 28.6659171428962, 115.833760531592 28.6634960413229, 115.832422084777 28.6624550271329, 115.829745191145 28.6631986086972, 115.831232354274 28.6608191476914, 115.833314382654 28.6603729987527, 115.835545127347 28.6618601618814, 115.837032290475 28.6639421902615, 115.834974056705 28.6659171428962))").build()); // list.add(LotInfo.builder().dkbh("dkbh06").dkfw("POLYGON((115.885622116006 28.5766308429787, 115.883936664461 28.5771582901683, 115.883365593819 28.5752547213636, 115.883555950699 28.5740174016407, 115.88365112914 28.5724945465969, 115.885364341064 28.5721138328361, 115.886696839227 28.5725897250371, 115.887458266749 28.5736366878797, 115.886792017668 28.5753498998039, 115.885622116006 28.5766308429787))").build()); // list.add(LotInfo.builder().dkbh("dkbh07").dkfw("POLYGON((115.857644341395 28.5750890964568, 115.857572957565 28.5729475815515, 115.858429563527 28.5728761977213, 115.859072017998 28.5738041875136, 115.859072017998 28.5748035611361, 115.857644341395 28.5750890964568))").build()); // list.add(LotInfo.builder().dkbh("dkbh08").dkfw("POLYGON((115.912181587649 28.6231542087745, 115.912181587649 28.6215123806805, 115.915893546818 28.6212268453598, 115.916036314478 28.6231542087745, 115.912181587649 28.6231542087745))").build()); // list.add(LotInfo.builder().dkbh("dkbh09").dkfw("POLYGON((115.842039042965 28.6314426646115, 115.840992080122 28.631252307731, 115.842324578286 28.6305860586493, 115.843181184248 28.6305860586493, 115.84403779021 28.6304908802091, 115.84394261177 28.6317281999322, 115.842039042965 28.6314426646115))").build()); // list.add(LotInfo.builder().dkbh("dkbh10").dkfw("POLYGON((115.807011889796 28.623935465138, 115.805869748513 28.6224126100944, 115.810247956764 28.6220318963334, 115.809581707682 28.623935465138, 115.807011889796 28.623935465138))").build()); // 机场经纬度 double airportLat = 28.624514734; // 机场纬度 double airportLon = 115.856725497; // 机场经度 // 解析图斑生成航点，按顺序返回 List<PointPO> coordinates = GeoToolsUtil.getRoutePointOrder(list, airportLat, airportLon); // 初始化模板对象 CreateWaylineParam param = new CreateWaylineParam(); param.setBearing(90); param.setCoordinate(new Coordinate(116.020940643,25.8917266)); param.setHeight(372.3); param.setCourseRatio(0.8); param.setSideRatio(0.8); param.setFocal(10*6.9999943); param.setFrame(100); List<double[]> polygon = new ArrayList<>(); double[] a = {116.028037250229,25.8948290570725}; double[] a2 = {116.031565260299,25.8950672687002}; double[] a3 = {116.032112214864,25.8901339309971}; double[] a4 = {116.028726270654,25.8895106128711}; polygon.add(a); polygon.add(a2); polygon.add(a3); polygon.add(a4); param.setPolygon(polygon); param.setTemplateType("mapping2d"); param.setAutoFlightSpeed(15); DroneInfo info = new DroneInfo(); info.setDroneEnumValue("91"); info.setDroneSubEnumValue("0"); param.setDroneInfo(info); PayloadInfo payloadInfo = new PayloadInfo(); payloadInfo.setPayloadEnumValue("80"); payloadInfo.setPayloadPositionIndex("0"); payloadInfo.setPayloadSubEnumValue("0"); param.setPayloadInfo(payloadInfo); // 初始化模板对象 XMLTemplateModel xmlModel = XMLTemplateModel.init(coordinates, list); XMLTemplateModel xmlModel = XMLTemplateModel.initPolygon(param); //生成航线文件 CreateWaylineFileUtils.createWaylineFile(xmlModel,"src\\main\\resources\\template\\template.xml","src\\main\\resources\\template\\wpmz\\template.xml","src\\main\\resources\\template\\waylines.xml","src\\main\\resources\\template\\wpmz\\waylines.xml"); CreateWaylineFileUtils.createWaylineFileByPolygon(xmlModel, "src\\main\\resources\\template\\template-polygon.xml", "src\\main\\resources\\template\\wpmz2\\template.xml"); CreateWaylineFileUtils.createWaylineFileByPolygon(xmlModel, "src\\main\\resources\\template\\waylines-polygon.xml", "src\\main\\resources\\template\\wpmz2\\waylines.xml"); } //新建点航线测试 // public static void main(String[] args) { // // //测试 // List<LotInfo> list = new ArrayList<>(); // list.add(LotInfo.builder().dkbh("dkbh01").dkfw("POLYGON((115.866465564947 28.6344502965542, 115.86425430209 28.6357383285408, 115.864551734716 28.633120921433, 115.866977149064 28.6338435339976, 115.866465564947 28.6344502965542))").build()); // list.add(LotInfo.builder().dkbh("dkbh02").dkfw("POLYGON((115.864006690605 28.6202713913694, 115.86002109342 28.6162025130492, 115.866374254306 28.6142037658042, 115.865912044006 28.6172001020759, 115.864006690605 28.6202713913694))").build()); // list.add(LotInfo.builder().dkbh("dkbh03").dkfw("POLYGON((115.839366933455 28.6161999317332, 115.841288489469 28.6160843601496, 115.840931570318 28.6181544912247, 115.838147600941 28.618654178036, 115.839366933455 28.6161999317332))").build()); //// list.add(LotInfo.builder().dkbh("dkbh04").dkfw("POLYGON((115.857499052697 28.6784702230642, 115.859109158101 28.6762273976226, 115.863677723232 28.6766081113836, 115.862154868188 28.6790827508297, 115.857499052697 28.6784702230642))").build()); //// list.add(LotInfo.builder().dkbh("dkbh05").dkfw("POLYGON((115.834974056705 28.6659171428962, 115.833760531592 28.6634960413229, 115.832422084777 28.6624550271329, 115.829745191145 28.6631986086972, 115.831232354274 28.6608191476914, 115.833314382654 28.6603729987527, 115.835545127347 28.6618601618814, 115.837032290475 28.6639421902615, 115.834974056705 28.6659171428962))").build()); //// list.add(LotInfo.builder().dkbh("dkbh06").dkfw("POLYGON((115.885622116006 28.5766308429787, 115.883936664461 28.5771582901683, 115.883365593819 28.5752547213636, 115.883555950699 28.5740174016407, 115.88365112914 28.5724945465969, 115.885364341064 28.5721138328361, 115.886696839227 28.5725897250371, 115.887458266749 28.5736366878797, 115.886792017668 28.5753498998039, 115.885622116006 28.5766308429787))").build()); //// list.add(LotInfo.builder().dkbh("dkbh07").dkfw("POLYGON((115.857644341395 28.5750890964568, 115.857572957565 28.5729475815515, 115.858429563527 28.5728761977213, 115.859072017998 28.5738041875136, 115.859072017998 28.5748035611361, 115.857644341395 28.5750890964568))").build()); //// list.add(LotInfo.builder().dkbh("dkbh08").dkfw("POLYGON((115.912181587649 28.6231542087745, 115.912181587649 28.6215123806805, 115.915893546818 28.6212268453598, 115.916036314478 28.6231542087745, 115.912181587649 28.6231542087745))").build()); //// list.add(LotInfo.builder().dkbh("dkbh09").dkfw("POLYGON((115.842039042965 28.6314426646115, 115.840992080122 28.631252307731, 115.842324578286 28.6305860586493, 115.843181184248 28.6305860586493, 115.84403779021 28.6304908802091, 115.84394261177 28.6317281999322, 115.842039042965 28.6314426646115))").build()); //// list.add(LotInfo.builder().dkbh("dkbh10").dkfw("POLYGON((115.807011889796 28.623935465138, 115.805869748513 28.6224126100944, 115.810247956764 28.6220318963334, 115.809581707682 28.623935465138, 115.807011889796 28.623935465138))").build()); // // // 机场经纬度 // double airportLat = 28.624514734; // 机场纬度 // double airportLon = 115.856725497; // 机场经度 // // 解析图斑生成航点，按顺序返回 // List<PointPO> coordinates = GeoToolsUtil.getRoutePointOrder(list, airportLat, airportLon); // // // 初始化模板对象 // XMLTemplateModel xmlModel = XMLTemplateModel.init(coordinates, list); // // //生成航线文件 // CreateWaylineFileUtils.createWaylineFile(xmlModel, "src\\main\\resources\\template\\template.xml", "src\\main\\resources\\template\\wpmz\\template.xml", "src\\main\\resources\\template\\waylines.xml", "src\\main\\resources\\template\\wpmz\\waylines.xml"); // // // } } src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/FolderUtils.java
@@ -44,4 +44,31 @@ return folder; } public static Folder setFloder(String templateType, double autoFlightSpeed) { Folder folder = new Folder(); folder.setPayloadParam(PayloadParamUtils.setPayloadParam()); folder.setWaylineCoordinateSysParam(new WaylineCoordinateSysParam()); folder.setTemplateType(templateType);//航点模式 folder.setTemplateId("0"); 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） folder.setCaliFlightEnable(0);// 是否开启标定飞行 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。 // GlobalWaypointHeadingParam gwhp = new GlobalWaypointHeadingParam(); gwhp.setWaypointHeadingMode("followWayline"); gwhp.setWaypointHeadingAngle(0); gwhp.setWaypointPoiPoint("0.000000,0.000000,0.000000"); gwhp.setWaypointHeadingPathMode("followBadArc"); gwhp.setWaypointHeadingPoiIndex("0"); folder.setGlobalWaypointHeadingParam(gwhp); folder.setGlobalWaypointTurnMode("coordinateTurn"); folder.setGlobalUseStraightLine(10); return folder; } } src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/MissionConfigUtils.java
@@ -30,4 +30,23 @@ 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; } } src/main/java/com/dji/sample/patches/xml/utils/CreateWaylineFileUtils.java
@@ -30,6 +30,10 @@ xml2XmlDoc(xmlModel, waylineFilePath, targetWaylineFilePath); } public static void createWaylineFileByPolygon(XMLTemplateModel xmlModel,String templeFilePath,String targetTempleFilePath) { xml2XmlDoc(xmlModel, templeFilePath, targetTempleFilePath); } /** * 将xml模板转换为newxml * src/main/java/com/dji/sample/wayline/plane/param/CreateWaylineParam.java
@@ -1,6 +1,9 @@ package com.dji.sample.wayline.plane.param; import com.dji.sample.patches.xml.mode.share.DroneInfo; import com.dji.sample.patches.xml.mode.share.PayloadInfo; import lombok.Data; import org.locationtech.jts.geom.Coordinate; import javax.validation.constraints.NotNull; import java.util.List; @@ -26,6 +29,36 @@ @NotNull(message = "旁向重叠率不能为空") private double sideRatio;//旁向重叠率 @NotNull(message = "航线角度不能为空") private double bearing;//航线角度 private int bearing;//航线角度 /** * 全局航线飞行速度 1-15 */ @NotNull(message = "全局航线飞行速度不能为空") private double autoFlightSpeed; /** * 模板类型 * waypoint：航点飞行 * mapping2d：建图航拍 * mapping3d：倾斜摄影 * mappingStrip：航带飞行 */ @NotNull(message = "模板类型不能为空") private String templateType; /** * 机场位置 */ @NotNull(message = "机场位置不能为空") private Coordinate coordinate; /** * 飞行器机型信息 */ private DroneInfo droneInfo; /** *负载机型信息 */ private PayloadInfo payloadInfo; } src/main/resources/template/template-polygon.xml
New file @@ -0,0 +1,79 @@ <?xml version="1.0" encoding="UTF-8"?> <kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.5"> <Document> <wpml:author>${author!''}</wpml:author> <wpml:createTime>${createTime!''}</wpml:createTime> <wpml:updateTime>${updateTime!''}</wpml:updateTime> <wpml:missionConfig> <wpml:flyToWaylineMode>${missionConfig.flyToWaylineMode!''}</wpml:flyToWaylineMode> <wpml:finishAction>${missionConfig.finishAction!''}</wpml:finishAction> <wpml:exitOnRCLost>${missionConfig.exitOnRCLost!''}</wpml:exitOnRCLost> <wpml:executeRCLostAction>${missionConfig.executeRCLostAction!''}</wpml:executeRCLostAction> <wpml:takeOffSecurityHeight>${missionConfig.takeOffSecurityHeight!''}</wpml:takeOffSecurityHeight> <wpml:takeOffRefPoint>${missionConfig.takeOffRefPoint!''}</wpml:takeOffRefPoint> <wpml:takeOffRefPointAGLHeight>${missionConfig.takeOffRefPointAGLHeight!''}</wpml:takeOffRefPointAGLHeight> <wpml:globalTransitionalSpeed>${missionConfig.globalTransitionalSpeed!''}</wpml:globalTransitionalSpeed> <wpml:globalRTHHeight>${missionConfig.globalRTHHeight!''}</wpml:globalRTHHeight> <wpml:droneInfo> <wpml:droneEnumValue>${missionConfig.droneInfo.droneEnumValue!''}</wpml:droneEnumValue> <wpml:droneSubEnumValue>${missionConfig.droneInfo.droneSubEnumValue!''}</wpml:droneSubEnumValue> </wpml:droneInfo> <wpml:payloadInfo> <wpml:payloadEnumValue>${missionConfig.payloadInfo.payloadEnumValue!''}</wpml:payloadEnumValue> <wpml:payloadSubEnumValue>${missionConfig.payloadInfo.payloadSubEnumValue!''}</wpml:payloadSubEnumValue> <wpml:payloadPositionIndex>${missionConfig.payloadInfo.payloadPositionIndex!''}</wpml:payloadPositionIndex> </wpml:payloadInfo> </wpml:missionConfig> <Folder> <wpml:templateType>${folder.templateType!''}</wpml:templateType> <wpml:templateId>${folder.templateId!''}</wpml:templateId> <wpml:waylineCoordinateSysParam> <wpml:coordinateMode>${folder.waylineCoordinateSysParam.coordinateMode!''}</wpml:coordinateMode> <wpml:heightMode>${folder.waylineCoordinateSysParam.heightMode!''}</wpml:heightMode> <wpml:globalShootHeight>${folder.waylineCoordinateSysParam.globalShootHeight!''}</wpml:globalShootHeight> <wpml:surfaceFollowModeEnable>${folder.waylineCoordinateSysParam.surfaceFollowModeEnable!''}</wpml:surfaceFollowModeEnable> <wpml:isRealtimeSurfaceFollow>${folder.waylineCoordinateSysParam.isRealtimeSurfaceFollow!''}</wpml:isRealtimeSurfaceFollow> <wpml:surfaceRelativeHeight>${folder.waylineCoordinateSysParam.surfaceRelativeHeight!''}</wpml:surfaceRelativeHeight> </wpml:waylineCoordinateSysParam> <wpml:autoFlightSpeed>${folder.autoFlightSpeed!''}</wpml:autoFlightSpeed> <Placemark> <wpml:caliFlightEnable>${folder.placemarkByPolygon.caliFlightEnable!''}</wpml:caliFlightEnable> <wpml:elevationOptimizeEnable>${folder.placemarkByPolygon.elevationOptimizeEnable!''}</wpml:elevationOptimizeEnable> <wpml:smartObliqueEnable>${folder.placemarkByPolygon.smartObliqueEnable!''}</wpml:smartObliqueEnable> <wpml:facadeWaylineEnable>${folder.placemarkByPolygon.facadeWaylineEnable!''}</wpml:facadeWaylineEnable> <wpml:isLookAtSceneSet>${folder.placemarkByPolygon.isLookAtSceneSet!''}</wpml:isLookAtSceneSet> <wpml:shootType>${folder.placemarkByPolygon.shootType!''}</wpml:shootType> <wpml:direction>${folder.placemarkByPolygon.direction!''}</wpml:direction> <wpml:margin>${folder.placemarkByPolygon.margin!''}</wpml:margin> <wpml:overlap> <wpml:orthoCameraOverlapH>${folder.placemarkByPolygon.overlap.orthoCameraOverlapH!''}</wpml:orthoCameraOverlapH> <wpml:orthoCameraOverlapW>${folder.placemarkByPolygon.overlap.orthoCameraOverlapW!''}</wpml:orthoCameraOverlapW> <wpml:inclinedCameraOverlapH>${folder.placemarkByPolygon.overlap.inclinedCameraOverlapH!''}</wpml:inclinedCameraOverlapH> <wpml:inclinedCameraOverlapW>${folder.placemarkByPolygon.overlap.inclinedCameraOverlapW!''}</wpml:inclinedCameraOverlapW> </wpml:overlap> <Polygon> <outerBoundaryIs> <LinearRing> <coordinates> <#list folder.placemarkByPolygon.polygons as polygon> ${polygon} </#list> </coordinates> </LinearRing> </outerBoundaryIs> </Polygon> <wpml:ellipsoidHeight>${folder.placemarkByPolygon.ellipsoidHeight!''}</wpml:ellipsoidHeight> <wpml:height>${folder.placemarkByPolygon.height!''}</wpml:height> </Placemark> <wpml:payloadParam> <wpml:payloadPositionIndex>${folder.payloadParam.payloadPositionIndex!''}</wpml:payloadPositionIndex> <wpml:focusMode>${folder.payloadParam.focusMode!''}</wpml:focusMode> <wpml:meteringMode>${folder.payloadParam.meteringMode!''}</wpml:meteringMode> <wpml:returnMode>${folder.payloadParam.returnMode!''}</wpml:returnMode> <wpml:samplingRate>${folder.payloadParam.samplingRate!''}</wpml:samplingRate> <wpml:scanningMode>${folder.payloadParam.scanningMode!''}</wpml:scanningMode> <wpml:imageFormat>${folder.payloadParam.imageFormat!''}</wpml:imageFormat> </wpml:payloadParam> </Folder> </Document> </kml> src/main/resources/template/waylines-polygon.xml
New file @@ -0,0 +1,118 @@ <?xml version="1.0" encoding="UTF-8"?> <kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.5"> <Document> <wpml:missionConfig> <wpml:flyToWaylineMode>${missionConfig.flyToWaylineMode!''}</wpml:flyToWaylineMode> <wpml:finishAction>${missionConfig.finishAction!''}</wpml:finishAction> <wpml:exitOnRCLost>${missionConfig.exitOnRCLost!''}</wpml:exitOnRCLost> <wpml:executeRCLostAction>${missionConfig.executeRCLostAction!''}</wpml:executeRCLostAction> <wpml:takeOffSecurityHeight>${missionConfig.takeOffSecurityHeight!''}</wpml:takeOffSecurityHeight> <wpml:globalTransitionalSpeed>${missionConfig.globalTransitionalSpeed!''}</wpml:globalTransitionalSpeed> <wpml:globalRTHHeight>${missionConfig.globalRTHHeight!''}</wpml:globalRTHHeight> <wpml:droneInfo> <wpml:droneEnumValue>${missionConfig.droneInfo.droneEnumValue!''}</wpml:droneEnumValue> <wpml:droneSubEnumValue>${missionConfig.droneInfo.droneSubEnumValue!''}</wpml:droneSubEnumValue> </wpml:droneInfo> <wpml:payloadInfo> <wpml:payloadEnumValue>${missionConfig.payloadInfo.payloadEnumValue!''}</wpml:payloadEnumValue> <wpml:payloadSubEnumValue>${missionConfig.payloadInfo.payloadSubEnumValue!''}</wpml:payloadSubEnumValue> <wpml:payloadPositionIndex>${missionConfig.payloadInfo.payloadPositionIndex!''}</wpml:payloadPositionIndex> </wpml:payloadInfo> </wpml:missionConfig> <Folder> <wpml:templateId>${folder.templateId!''}</wpml:templateId> <wpml:executeHeightMode>${folder.waylineCoordinateSysParam.heightMode!''}</wpml:executeHeightMode> <wpml:waylineId>0</wpml:waylineId> <wpml:autoFlightSpeed>${folder.autoFlightSpeed!''}</wpml:autoFlightSpeed> <wpml:startActionGroup> <wpml:action> <wpml:actionId>0</wpml:actionId> <wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc> <wpml:actionActuatorFuncParam> <wpml:gimbalHeadingYawBase>aircraft</wpml:gimbalHeadingYawBase> <wpml:gimbalRotateMode>absoluteAngle</wpml:gimbalRotateMode> <wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable> <wpml:gimbalPitchRotateAngle>-90</wpml:gimbalPitchRotateAngle> <wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable> <wpml:gimbalRollRotateAngle>0</wpml:gimbalRollRotateAngle> <wpml:gimbalYawRotateEnable>1</wpml:gimbalYawRotateEnable> <wpml:gimbalYawRotateAngle>0</wpml:gimbalYawRotateAngle> <wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable> <wpml:gimbalRotateTime>10</wpml:gimbalRotateTime> <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex> </wpml:actionActuatorFuncParam> </wpml:action> <wpml:action> <wpml:actionId>1</wpml:actionId> <wpml:actionActuatorFunc>hover</wpml:actionActuatorFunc> <wpml:actionActuatorFuncParam> <wpml:hoverTime>0.5</wpml:hoverTime> </wpml:actionActuatorFuncParam> </wpml:action> <wpml:action> <wpml:actionId>2</wpml:actionId> <wpml:actionActuatorFunc>setFocusType</wpml:actionActuatorFunc> <wpml:actionActuatorFuncParam> <wpml:cameraFocusType>manual</wpml:cameraFocusType> <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex> </wpml:actionActuatorFuncParam> </wpml:action> <wpml:action> <wpml:actionId>3</wpml:actionId> <wpml:actionActuatorFunc>focus</wpml:actionActuatorFunc> <wpml:actionActuatorFuncParam> <wpml:focusX>0</wpml:focusX> <wpml:focusY>0</wpml:focusY> <wpml:focusRegionWidth>0</wpml:focusRegionWidth> <wpml:focusRegionHeight>0</wpml:focusRegionHeight> <wpml:isPointFocus>0</wpml:isPointFocus> <wpml:isInfiniteFocus>1</wpml:isInfiniteFocus> <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex> </wpml:actionActuatorFuncParam> </wpml:action> <wpml:action> <wpml:actionId>4</wpml:actionId> <wpml:actionActuatorFunc>hover</wpml:actionActuatorFunc> <wpml:actionActuatorFuncParam> <wpml:hoverTime>1</wpml:hoverTime> </wpml:actionActuatorFuncParam> </wpml:action> </wpml:startActionGroup> <#if folder.placemarkList??> <#assign placemarkIndex = 0> <#list folder.placemarkList as placemark> <Placemark> <Point> <coordinates> ${placemark.coordinates!''} </coordinates> </Point> <wpml:index>${placemarkIndex!''}</wpml:index> <#assign placemarkIndex = placemarkIndex + 1> <wpml:executeHeight>${placemark.height!''}</wpml:executeHeight> <wpml:waypointSpeed>${placemark.waypointSpeed!''}</wpml:waypointSpeed> <wpml:waypointHeadingParam> <wpml:waypointHeadingMode>${folder.globalWaypointHeadingParam.waypointHeadingMode!''}</wpml:waypointHeadingMode> <wpml:waypointHeadingAngle>${folder.globalWaypointHeadingParam.waypointHeadingAngle!''}</wpml:waypointHeadingAngle> <wpml:waypointPoiPoint>${folder.globalWaypointHeadingParam.waypointPoiPoint!''}</wpml:waypointPoiPoint> <wpml:waypointHeadingAngleEnable>1</wpml:waypointHeadingAngleEnable> <wpml:waypointHeadingPathMode>${folder.globalWaypointHeadingParam.waypointHeadingPathMode!''}</wpml:waypointHeadingPathMode> <wpml:waypointHeadingPoiIndex>${folder.globalWaypointHeadingParam.waypointHeadingPoiIndex!''}</wpml:waypointHeadingPoiIndex> </wpml:waypointHeadingParam> <wpml:waypointTurnParam> <wpml:waypointTurnMode>${folder.globalWaypointTurnMode!''}</wpml:waypointTurnMode> <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist> </wpml:waypointTurnParam> <wpml:useStraightLine>${folder.globalUseStraightLine!''}</wpml:useStraightLine> <wpml:waypointGimbalHeadingParam> <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle> <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle> </wpml:waypointGimbalHeadingParam> <wpml:isRisky>0</wpml:isRisky> <wpml:waypointWorkType>0</wpml:waypointWorkType> </Placemark> </#list> </#if> </Folder> </Document> </kml>
