航线规划修改

xieb

2024-04-13 f98b25a34d04c2acb9bf93e6cbd4e72fa2d81ba0

航线规划修改

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

@@ -58,9 +58,9 @@

                // 增加事件组
                ActionGroup actionGroup = new ActionGroup();
                actionGroup.setActionGroupId(i);//动作组id从0开始单调连续递增。
                actionGroup.setActionGroupStartIndex(i);//动作组开始生效的航点
                actionGroup.setActionGroupEndIndex(i);//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");

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

@@ -12,6 +12,11 @@

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

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

@@ -22,6 +22,7 @@
        placemark.setUseGlobalTurnParam(1);
        placemark.setGimbalPitchAngle(0D);
        placemark.setWaypointSpeed("10");
        placemark.setUseStraightLine(1);

        return placemark;
    }

 src/main/resources/template/template.xml

@@ -1,11 +1,9 @@
<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.3">
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.5">
  <Document>
    <!-- 步骤1:实现文件创建信息 -->
    <wpml:author>${author!''}</wpml:author>
    <wpml:createTime>${createTime!''}</wpml:createTime>
    <wpml:updateTime>${updateTime!''}</wpml:updateTime>
    <!-- 步骤2:设置任务配置 -->
    <wpml:missionConfig>
      <wpml:flyToWaylineMode>${missionConfig.flyToWaylineMode!''}</wpml:flyToWaylineMode>
      <wpml:finishAction>${missionConfig.finishAction!''}</wpml:finishAction>
@@ -17,18 +15,15 @@
      <wpml:globalTransitionalSpeed>${missionConfig.globalTransitionalSpeed!''}</wpml:globalTransitionalSpeed>
      <wpml:globalRTHHeight>${missionConfig.globalRTHHeight!''}</wpml:globalRTHHeight>
      <wpml:droneInfo>
        <!-- 用M30申报无人机型号 -->
        <wpml:droneEnumValue>${missionConfig.droneInfo.droneEnumValue!''}</wpml:droneEnumValue>
        <wpml:droneSubEnumValue>${missionConfig.droneInfo.droneSubEnumValue!''}</wpml:droneSubEnumValue>
      </wpml:droneInfo>
      <wpml:payloadInfo>
        <!-- 用M30声明有效载荷模型 -->
        <wpml:payloadEnumValue>${missionConfig.payloadInfo.payloadEnumValue!''}</wpml:payloadEnumValue>
        <wpml:payloadSubEnumValue>${missionConfig.payloadInfo.payloadSubEnumValue!''}</wpml:payloadSubEnumValue>
        <wpml:payloadPositionIndex>${missionConfig.payloadInfo.payloadPositionIndex!''}</wpml:payloadPositionIndex>
      </wpml:payloadInfo>
    </wpml:missionConfig>
    <!-- 步骤3:设置路径点模板文件夹 -->
    <Folder>
      <wpml:templateType>${folder.templateType!''}</wpml:templateType>
      <wpml:templateId>${folder.templateId!''}</wpml:templateId>
@@ -54,7 +49,6 @@
      <#list folder.placemarkList as placemark>
        <Placemark>
          <Point>
            <!-- 经度和纬度 -->
            <coordinates>
              ${placemark.coordinates!''}
            </coordinates>
@@ -80,7 +74,6 @@
          <wpml:useGlobalHeadingParam>${placemark.useGlobalHeadingParam!''}</wpml:useGlobalHeadingParam>
          <wpml:useGlobalTurnParam>${placemark.useGlobalTurnParam!''}</wpml:useGlobalTurnParam>
          <wpml:useStraightLine>${placemark.useStraightLine!''}</wpml:useStraightLine>
          <!-- 宣布航路点1#的行动组 -->
          <#if placemark.actionGroup??>
          <wpml:actionGroup>
            <wpml:actionGroupId>${placemark.actionGroup.actionGroupId!''}</wpml:actionGroupId>
@@ -93,7 +86,6 @@
            <#if placemark.actionGroup.actions??>
            <#assign idx = 0>
            <#list placemark.actionGroup.actions as action>
            <!-- 动作 -->
              <wpml:action>
                <wpml:actionId>${idx!''}</wpml:actionId>
                <wpml:actionActuatorFunc>${action.actionActuatorFunc!''}</wpml:actionActuatorFunc>
@@ -163,10 +155,10 @@
            </#if>
          </wpml:actionGroup>
          </#if>
          <wpml:isRisky>0</wpml:isRisky>
        </Placemark>
      </#list>
      </#if>
      <!-- 负载设置 -->
      <wpml:payloadParam>
        <wpml:payloadPositionIndex>${folder.payloadParam.payloadPositionIndex!''}</wpml:payloadPositionIndex>
        <wpml:focusMode>${folder.payloadParam.focusMode!''}</wpml:focusMode>

 src/main/resources/template/waylines.xml

@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.3">
<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>