修改DB成果展示入库失败，增加TbfjEntity表的字段，无对应字段默认0.

rain

2024-04-18 98c8e73c57f8f76e5720a066f155ebfff2a7cc5f

修改DB成果展示入库失败，增加TbfjEntity表的字段，无对应字段默认0.

 src/main/java/com/dji/sample/patches/controller/PatchesController.java

@@ -135,9 +135,4 @@
        }
        return ResponseResult.success(infoMap);
    }
    @PostMapping("/test")
    public void test(){
        List<LotInfo> list=getPatchesService.listLotinfo();
        tbDkjbxxService.insert(list);
    }
}

 src/main/java/com/dji/sample/territory/controller/TbFjController.java

@@ -1,4 +1,5 @@
package com.dji.sample.territory.controller;

import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.media.model.MediaFileEntity;
import com.dji.sample.patches.model.entity.LotInfo;
@@ -10,6 +11,7 @@
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;

import java.io.IOException;
import java.util.List;

@@ -26,14 +28,16 @@
    @PostMapping("/insertDb")
    public ResponseResult insertDb(String dkbh, String workspaceId) throws IOException {
        List<MediaFileEntity> list = getPatches.listPohto(dkbh, workspaceId);
        if(list.size()==0){
            return ResponseResult.error("未找到该照片、视频信息");}
        if (list.size() == 0) {
            return ResponseResult.error("未找到该照片、视频信息");
        }
        LotInfo lotInfo = getPatches.getLotinfo(dkbh, workspaceId);
        if(lotInfo==null){
            return ResponseResult.error("未找到该图斑信息");}
        TbFjEntity entity=tbFJService.insertData(list, lotInfo);
        if (entity!=null){
            return ResponseResult.success("上传成功");
        if (lotInfo == null) {
            return ResponseResult.error("未找到该图斑信息");
        }
        int num = tbFJService.insertData(list, lotInfo);
        if (num != 0) {
            return ResponseResult.success("上传成功，上传了" + num + "个文件");
        }
        return ResponseResult.error("上传失败");
    }

 src/main/java/com/dji/sample/territory/model/entity/TbFjEntity.java

@@ -41,4 +41,17 @@
    private int fjlx;

    private Double psfyj;

    private int psjd;

    private int pshgj;

    private String fjhxz;

    private String zsdm;

    private String psry;

    private String jym;

}

 src/main/java/com/dji/sample/territory/service/ITbDkjbxxService.java

@@ -18,12 +18,15 @@
 * @DATE: 2024/4/10 11:19
 */
public interface ITbDkjbxxService extends IService<TbDkjbxxEntity> {
    /**
     * 上传DB文件并覆盖之前DB文件，自动读取数据到本地数据库
     * @param file
     * @return
     */
    ResponseResult<String> uploadFile(MultipartFile file);
    MultipartFile listFile( String workspaceId,String waylineName, double airportLat, double airportLon) throws IOException;
//    /**
//     * 上传DB文件并覆盖之前DB文件，自动读取数据到本地数据库
//     *
//     * @param file
//     * @return
//     */
//    ResponseResult<String> uploadFile(MultipartFile file);


    MultipartFile listFile(String workspaceId, String waylineName, double airportLat, double airportLon) throws IOException;

}

 src/main/java/com/dji/sample/territory/service/ITbFJService.java

@@ -10,10 +10,11 @@
public interface ITbFJService {
    /**
     * 按照地块编号所对应的信息和音视频文件存入sqlite数据库
     *
     * @param mediaFile
     * @param lotInfo
     * @return
     * @throws IOException
     */
    TbFjEntity insertData(List<MediaFileEntity> mediaFile, LotInfo lotInfo) throws IOException;
    int insertData(List<MediaFileEntity> mediaFile, LotInfo lotInfo) throws IOException;
}

 src/main/java/com/dji/sample/territory/service/impl/TbDkjbxxServiceImpl.java

@@ -75,24 +75,45 @@
        }
    }


    /**
     * 根据给定的工作空间ID、航线名称、机场纬度和经度，生成并返回一个包含航线文件的MultipartFile对象。
     *
     * @param workspaceId 工作空间ID，用于查询相关数据。
     * @param waylineName 航线名称，用于命名生成的文件。
     * @param airportLat  机场纬度，用于地理坐标转换和航迹点排序。
     * @param airportLon  机场经度，用于地理坐标转换和航迹点排序。
     * @return MultipartFile 对象，包含压缩后的航迹文件。
     * @throws IOException 如果文件操作失败，则抛出IOException。
     */
    public MultipartFile listFile(String workspaceId, String waylineName, double airportLat, double airportLon) throws IOException {
        List<TbDkjbxxEntity> list = mapper.selectList(null);
        List<LotInfo> info = dbConvertToEntity(list);
        Coordinate[] coordinates = GeoToolsUtil.getRoutePointOrder(info, airportLat, airportLon);
        // 创建XML模板模型
        XMLTemplateModel xmlModel = XMLTemplateModel.init(coordinates, info);
        CreateWaylineFileUtils.createWaylineFile(xmlModel, patchesConfigPojo.getTemplate(), patchesConfigPojo.getTargetTemplate(), patchesConfigPojo.getWaylines(), patchesConfigPojo.getTargetWaylines());
        // 压缩文件夹中的内容
        // 压缩文件夹中的内容到KMZ文件
        String destKMZFile = patchesConfigPojo.getDestKMZFile() + waylineName + ".kmz"; // 输出的KMZ文件路径
        zipFolder(patchesConfigPojo.getSourceDir(), destKMZFile);
        // 将压缩文件转换为MultipartFile对象
        MultipartFile multipartFile = convert(new File(destKMZFile));
        return multipartFile;
    }

    /**
     * 将TbDkjbxxEntity类型的列表转换为LotInfo类型的列表。
     *
     * @param list TbDkjbxxEntity类型的列表，表示数据库中的实体列表。
     * @return List<LotInfo>类型的列表，表示转换后的业务实体列表。
     */
    private List<LotInfo> dbConvertToEntity(List<TbDkjbxxEntity> list) {
        List<LotInfo> infos =new ArrayList<>();
        List<LotInfo> infos = new ArrayList<>();
        for (TbDkjbxxEntity file : list) {
            // 使用Builder模式构建LotInfo对象
            LotInfo.LotInfoBuilder builder = LotInfo.builder();
            if (file != null) {
                // 从TbDkjbxxEntity实体中提取信息，构建LotInfo对象
                builder.bsm(file.getBsm())
                        .bz(file.getBz())
                        .dkmj(file.getDkmj())
@@ -108,20 +129,10 @@
                        .kzxx(file.getKzxx())
                        .dklx(file.getDklx())
                        .build();
                // 将构建好的LotInfo对象添加到infos列表中
                infos.add(builder.build());
            }
        }
        return infos;
    }
    public void insert(List<LotInfo> list) {
        for (LotInfo lotInfo : list) {
            TbDkjbxxEntity entity = new TbDkjbxxEntity();
            entity.setBsm(lotInfo.getBsm());
            entity.setDkbh(lotInfo.getDkbh());
            entity.setXzb(lotInfo.getXzb());
            entity.setYzb(lotInfo.getYzb());
            entity.setDkfw(lotInfo.getDkfw());
            mapper.insert(entity);
        }
    }
}

 src/main/java/com/dji/sample/territory/service/impl/TbFjServiceImpl.java

@@ -15,6 +15,7 @@
import java.io.*;
import java.net.HttpURLConnection;
import java.net.URL;
import java.util.ArrayList;
import java.util.List;
import java.util.UUID;

@@ -32,18 +33,18 @@
     * @return
     * @throws IOException
     */
    public TbFjEntity insertData(List<MediaFileEntity> mediaFile, LotInfo lotInfo) throws IOException {
        TbFjEntity tbFj = new TbFjEntity();
    public int insertData(List<MediaFileEntity> mediaFile, LotInfo lotInfo) throws IOException {
        int count = 0;
        List<TbFjEntity> list = new ArrayList<>();
        TbFjEntity tbFj;
        for (int i = 0; i < mediaFile.size(); i++) {
            MediaFileEntity file = mediaFile.get(i);
            tbFj = dbConvertToEntity(file, lotInfo);
            try {
                mapper.insert(tbFj);
            } catch (Exception e) {
                e.printStackTrace();
            }
            list.add(tbFj);
            mapper.insert(tbFj);
            count++;
        }
        return tbFj;
        return count;
    }

    /**
@@ -63,30 +64,44 @@
        JSONObject shootPosition = jsonObject.getJSONObject("shootPosition");
        Double lat = shootPosition.getDouble("lat");
        Double lng = shootPosition.getDouble("lng");
        int psjd = 0;
        String fjhxz = "0";
        int pshgj = 0;
        String jym = "0";
        String psry = "0";
        String zsdm = "0";
        String dklx = "0";
        String xzqdm = "0";
        Long pssj = mediaFile.getCreateTime();
        String bsm= UUID.randomUUID().toString();
        String fjmc= mediaFile.getFileName();
        String bsm = UUID.randomUUID().toString();
        String fjmc = mediaFile.getFileName();
        String key = mediaFile.getObjectKey();
        String head = "http://dev.jxpskj.com:9000/cloud-bucket";
        String url = head + key;
        byte[] FJ = downloadFileAsBytes(url);
        TbFjEntity.TbFjEntityBuilder builder = TbFjEntity.builder();
        if (lotInfo != null){
        builder.bsm(bsm)
                .dkbsm(lotInfo.getDkbh())
                .xzqdm(lotInfo.getXzqdm())
                .dklx(lotInfo.getDklx())
                .xdgd(relativeAltitude)
                .jdgd(absoluteAltitude)
                .Latitude(lat)
                .longitude(lng)
                .fj(FJ)
                .fjmc(fjmc)
                .fjlx(1)
                .psfyj(gimbalYawDegree)
                .pssj(String.valueOf(pssj))
                .build();}
        else {
        if (lotInfo != null) {
            builder.bsm(bsm)
                    .dkbsm(lotInfo.getDkbh())
                    .xzqdm(xzqdm)
                    .dklx(dklx)
                    .xdgd(relativeAltitude)
                    .jdgd(absoluteAltitude)
                    .Latitude(lat)
                    .longitude(lng)
                    .fj(FJ)
                    .fjmc(fjmc)
                    .fjlx(1)
                    .psfyj(gimbalYawDegree)
                    .pssj(String.valueOf(pssj))
                    .psjd(psjd)
                    .fjhxz(fjhxz)
                    .pshgj(pshgj)
                    .zsdm(zsdm)
                    .psry(psry)
                    .jym(jym)
                    .build();
        } else {
            throw new IllegalArgumentException("未匹配到相关地块");
        }
        return builder.build();

 src/main/resources/template/wpmz/waylines.wpml

@@ -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>safely</wpml:flyToWaylineMode>
@@ -32,7 +32,65 @@
          </Point>
          <wpml:index>0</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
            <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
            <wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
            <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
          </wpml:waypointHeadingParam>
          <wpml:waypointTurnParam>
            <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
            <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
          </wpml:waypointTurnParam>
          <wpml:useStraightLine>1</wpml:useStraightLine>
          <wpml:actionGroup>
            <wpml:actionGroupId>0</wpml:actionGroupId>
            <wpml:actionGroupStartIndex>0</wpml:actionGroupStartIndex>
            <wpml:actionGroupEndIndex>0</wpml:actionGroupEndIndex>
            <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
            <wpml:actionTrigger>
              <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
            </wpml:actionTrigger>
            <wpml:action>
              <wpml:actionId>0</wpml:actionId>
              <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
                <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
                <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
              </wpml:actionActuatorFuncParam>
            </wpml:action>
            <wpml:action>
              <wpml:actionId>1</wpml:actionId>
              <wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:gimbalHeadingYawBase>north</wpml:gimbalHeadingYawBase>
                <wpml:gimbalRotateMode>absoluteAngle</wpml:gimbalRotateMode>
                <wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable>
                <wpml:gimbalPitchRotateAngle>-83</wpml:gimbalPitchRotateAngle>
                <wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>
                <wpml:gimbalRollRotateAngle>0</wpml:gimbalRollRotateAngle>
                <wpml:gimbalYawRotateEnable>0</wpml:gimbalYawRotateEnable>
                <wpml:gimbalYawRotateAngle>0</wpml:gimbalYawRotateAngle>
                <wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable>
                <wpml:gimbalRotateTime>0</wpml:gimbalRotateTime>
              </wpml:actionActuatorFuncParam>
            </wpml:action>
          </wpml:actionGroup>
        </Placemark>
        <Placemark>
          <Point>
            <coordinates>
              115.8576,28.5729
            </coordinates>
          </Point>
          <wpml:index>1</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -85,12 +143,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8576,28.5729
              115.8591,28.5729
            </coordinates>
          </Point>
          <wpml:index>1</wpml:index>
          <wpml:index>2</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -143,12 +201,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8591,28.5729
              115.8591,28.5751
            </coordinates>
          </Point>
          <wpml:index>2</wpml:index>
          <wpml:index>3</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -201,12 +259,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8591,28.5751
              115.8834,28.5772
            </coordinates>
          </Point>
          <wpml:index>3</wpml:index>
          <wpml:index>4</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -232,7 +290,7 @@
              <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
                <wpml:fileSuffix>航点dkbh1</wpml:fileSuffix>
                <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
                <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
              </wpml:actionActuatorFuncParam>
@@ -259,12 +317,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8834,28.5772
              115.8834,28.5721
            </coordinates>
          </Point>
          <wpml:index>4</wpml:index>
          <wpml:index>5</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -317,12 +375,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8834,28.5721
              115.8875,28.5721
            </coordinates>
          </Point>
          <wpml:index>5</wpml:index>
          <wpml:index>6</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -375,12 +433,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8875,28.5721
              115.8875,28.5772
            </coordinates>
          </Point>
          <wpml:index>6</wpml:index>
          <wpml:index>7</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -433,12 +491,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8875,28.5772
              115.86,28.6203
            </coordinates>
          </Point>
          <wpml:index>7</wpml:index>
          <wpml:index>8</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -464,7 +522,7 @@
              <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:fileSuffix>航点dkbh1</wpml:fileSuffix>
                <wpml:fileSuffix>航点dkbh2</wpml:fileSuffix>
                <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
                <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
              </wpml:actionActuatorFuncParam>
@@ -491,12 +549,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.86,28.6203
              115.86,28.6142
            </coordinates>
          </Point>
          <wpml:index>8</wpml:index>
          <wpml:index>9</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -549,12 +607,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.86,28.6142
              115.8664,28.6142
            </coordinates>
          </Point>
          <wpml:index>9</wpml:index>
          <wpml:index>10</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -607,12 +665,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8664,28.6142
              115.8664,28.6203
            </coordinates>
          </Point>
          <wpml:index>10</wpml:index>
          <wpml:index>11</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -665,12 +723,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8664,28.6203
              115.8643,28.6357
            </coordinates>
          </Point>
          <wpml:index>11</wpml:index>
          <wpml:index>12</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -696,7 +754,7 @@
              <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:fileSuffix>航点dkbh2</wpml:fileSuffix>
                <wpml:fileSuffix>航点dkbh3</wpml:fileSuffix>
                <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
                <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
              </wpml:actionActuatorFuncParam>
@@ -723,12 +781,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8643,28.6357
              115.8643,28.6331
            </coordinates>
          </Point>
          <wpml:index>12</wpml:index>
          <wpml:index>13</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -781,12 +839,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8643,28.6331
              115.867,28.6331
            </coordinates>
          </Point>
          <wpml:index>13</wpml:index>
          <wpml:index>14</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -839,12 +897,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.867,28.6331
              115.867,28.6357
            </coordinates>
          </Point>
          <wpml:index>14</wpml:index>
          <wpml:index>15</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -897,12 +955,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.867,28.6357
              115.841,28.6317
            </coordinates>
          </Point>
          <wpml:index>15</wpml:index>
          <wpml:index>16</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -928,7 +986,7 @@
              <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:fileSuffix>航点dkbh3</wpml:fileSuffix>
                <wpml:fileSuffix>航点dkbh4</wpml:fileSuffix>
                <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
                <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
              </wpml:actionActuatorFuncParam>
@@ -955,12 +1013,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.841,28.6317
              115.841,28.6305
            </coordinates>
          </Point>
          <wpml:index>16</wpml:index>
          <wpml:index>17</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1013,12 +1071,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.841,28.6305
              115.844,28.6305
            </coordinates>
          </Point>
          <wpml:index>17</wpml:index>
          <wpml:index>18</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1071,12 +1129,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.844,28.6305
              115.844,28.6317
            </coordinates>
          </Point>
          <wpml:index>18</wpml:index>
          <wpml:index>19</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1129,12 +1187,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.844,28.6317
              115.8381,28.6187
            </coordinates>
          </Point>
          <wpml:index>19</wpml:index>
          <wpml:index>20</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1160,7 +1218,7 @@
              <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:fileSuffix>航点dkbh4</wpml:fileSuffix>
                <wpml:fileSuffix>航点dkbh5</wpml:fileSuffix>
                <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
                <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
              </wpml:actionActuatorFuncParam>
@@ -1187,12 +1245,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8381,28.6187
              115.8381,28.6161
            </coordinates>
          </Point>
          <wpml:index>20</wpml:index>
          <wpml:index>21</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1245,12 +1303,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8381,28.6161
              115.8413,28.6161
            </coordinates>
          </Point>
          <wpml:index>21</wpml:index>
          <wpml:index>22</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1303,12 +1361,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8413,28.6161
              115.8413,28.6187
            </coordinates>
          </Point>
          <wpml:index>22</wpml:index>
          <wpml:index>23</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1361,12 +1419,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8413,28.6187
              115.8059,28.6239
            </coordinates>
          </Point>
          <wpml:index>23</wpml:index>
          <wpml:index>24</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1392,7 +1450,7 @@
              <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:fileSuffix>航点dkbh5</wpml:fileSuffix>
                <wpml:fileSuffix>航点dkbh6</wpml:fileSuffix>
                <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
                <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
              </wpml:actionActuatorFuncParam>
@@ -1419,12 +1477,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8059,28.6239
              115.8059,28.622
            </coordinates>
          </Point>
          <wpml:index>24</wpml:index>
          <wpml:index>25</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1477,12 +1535,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8059,28.622
              115.8102,28.622
            </coordinates>
          </Point>
          <wpml:index>25</wpml:index>
          <wpml:index>26</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1535,12 +1593,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8102,28.622
              115.8102,28.6239
            </coordinates>
          </Point>
          <wpml:index>26</wpml:index>
          <wpml:index>27</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1593,12 +1651,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8102,28.6239
              115.8297,28.6659
            </coordinates>
          </Point>
          <wpml:index>27</wpml:index>
          <wpml:index>28</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1624,7 +1682,7 @@
              <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:fileSuffix>航点dkbh6</wpml:fileSuffix>
                <wpml:fileSuffix>航点dkbh7</wpml:fileSuffix>
                <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
                <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
              </wpml:actionActuatorFuncParam>
@@ -1651,12 +1709,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8297,28.6659
              115.8297,28.6604
            </coordinates>
          </Point>
          <wpml:index>28</wpml:index>
          <wpml:index>29</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1709,12 +1767,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8297,28.6604
              115.837,28.6604
            </coordinates>
          </Point>
          <wpml:index>29</wpml:index>
          <wpml:index>30</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1767,12 +1825,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.837,28.6604
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            </coordinates>
          </Point>
          <wpml:index>30</wpml:index>
          <wpml:index>31</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1825,12 +1883,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.837,28.6659
              115.8575,28.6791
            </coordinates>
          </Point>
          <wpml:index>31</wpml:index>
          <wpml:index>32</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1856,7 +1914,7 @@
              <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:fileSuffix>航点dkbh7</wpml:fileSuffix>
                <wpml:fileSuffix>航点dkbh8</wpml:fileSuffix>
                <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
                <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
              </wpml:actionActuatorFuncParam>
@@ -1883,12 +1941,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8575,28.6791
              115.8575,28.6762
            </coordinates>
          </Point>
          <wpml:index>32</wpml:index>
          <wpml:index>33</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1941,12 +1999,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8575,28.6762
              115.8637,28.6762
            </coordinates>
          </Point>
          <wpml:index>33</wpml:index>
          <wpml:index>34</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -1999,12 +2057,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8637,28.6762
              115.8637,28.6791
            </coordinates>
          </Point>
          <wpml:index>34</wpml:index>
          <wpml:index>35</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -2057,12 +2115,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.8637,28.6791
              115.9122,28.6232
            </coordinates>
          </Point>
          <wpml:index>35</wpml:index>
          <wpml:index>36</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -2088,7 +2146,7 @@
              <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:fileSuffix>航点dkbh8</wpml:fileSuffix>
                <wpml:fileSuffix>航点dkbh9</wpml:fileSuffix>
                <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
                <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
              </wpml:actionActuatorFuncParam>
@@ -2115,12 +2173,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.9122,28.6232
              115.9122,28.6212
            </coordinates>
          </Point>
          <wpml:index>36</wpml:index>
          <wpml:index>37</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -2173,12 +2231,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.9122,28.6212
              115.916,28.6212
            </coordinates>
          </Point>
          <wpml:index>37</wpml:index>
          <wpml:index>38</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -2231,12 +2289,12 @@
        <Placemark>
          <Point>
            <coordinates>
              115.916,28.6212
              115.916,28.6232
            </coordinates>
          </Point>
          <wpml:index>38</wpml:index>
          <wpml:index>39</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointSpeed>10</wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
@@ -2253,64 +2311,6 @@
            <wpml:actionGroupId>39</wpml:actionGroupId>
            <wpml:actionGroupStartIndex>39</wpml:actionGroupStartIndex>
            <wpml:actionGroupEndIndex>39</wpml:actionGroupEndIndex>
            <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
            <wpml:actionTrigger>
              <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
            </wpml:actionTrigger>
            <wpml:action>
              <wpml:actionId>0</wpml:actionId>
              <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:fileSuffix>航点dkbh9</wpml:fileSuffix>
                <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
                <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
              </wpml:actionActuatorFuncParam>
            </wpml:action>
            <wpml:action>
              <wpml:actionId>1</wpml:actionId>
              <wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>
              <wpml:actionActuatorFuncParam>
              <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
                <wpml:gimbalHeadingYawBase>north</wpml:gimbalHeadingYawBase>
                <wpml:gimbalRotateMode>absoluteAngle</wpml:gimbalRotateMode>
                <wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable>
                <wpml:gimbalPitchRotateAngle>-83</wpml:gimbalPitchRotateAngle>
                <wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>
                <wpml:gimbalRollRotateAngle>0</wpml:gimbalRollRotateAngle>
                <wpml:gimbalYawRotateEnable>0</wpml:gimbalYawRotateEnable>
                <wpml:gimbalYawRotateAngle>0</wpml:gimbalYawRotateAngle>
                <wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable>
                <wpml:gimbalRotateTime>0</wpml:gimbalRotateTime>
              </wpml:actionActuatorFuncParam>
            </wpml:action>
          </wpml:actionGroup>
        </Placemark>
        <Placemark>
          <Point>
            <coordinates>
              115.916,28.6232
            </coordinates>
          </Point>
          <wpml:index>39</wpml:index>
          <wpml:executeHeight>100</wpml:executeHeight>
          <wpml:waypointSpeed></wpml:waypointSpeed>
          <wpml:waypointHeadingParam>
            <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
            <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
            <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
            <wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
            <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
          </wpml:waypointHeadingParam>
          <wpml:waypointTurnParam>
            <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
            <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
          </wpml:waypointTurnParam>
          <wpml:useStraightLine>1</wpml:useStraightLine>
          <wpml:actionGroup>
            <wpml:actionGroupId>40</wpml:actionGroupId>
            <wpml:actionGroupStartIndex>40</wpml:actionGroupStartIndex>
            <wpml:actionGroupEndIndex>40</wpml:actionGroupEndIndex>
            <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
            <wpml:actionTrigger>
              <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>