From 125de0818505c4ff40495f55c6c4d27f6e79846f Mon Sep 17 00:00:00 2001
From: aix <vip_xiaobin810@163.com>
Date: Tue, 09 Jul 2024 11:36:20 +0800
Subject: [PATCH] 航线生成飞行器偏移
---
src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java | 16 +++++++++++++---
src/main/resources/template/template.xml | 6 ++++++
src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/ActionUtils.java | 12 ++++++++----
src/main/resources/template/waylines.xml | 6 ++++++
4 files changed, 33 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java b/src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java
index d9a075a..6f2b986 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java
@@ -69,6 +69,8 @@
actionGroup.setActionTrigger(at);
// 开始增加事件
List<ActionMode> list = new ArrayList<>();
+
+ //拍照事件
ActionMode actionMode = new ActionMode();
actionMode.setActionId(1);
actionMode.setActionActuatorFunc(CameraActionEnum.TAKE_PHOTO.getDescription());//拍照事件
@@ -78,15 +80,23 @@
actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto(lotInfos.get(pointPO.getIndex()).getDkbh() + "~" + lotInfos.get(pointPO.getIndex()).getTaskId()));
// actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto("测试"));
+ //云台旋转事件
ActionMode actionMode2 = new ActionMode();
actionMode2.setActionId(0);
actionMode2.setActionActuatorFunc(CameraActionEnum.GIMBAL_ROTATE.getDescription());//旋转云台
-
//设置转动角度
- double bearing = GeoToolsUtil.bearing(pointPO.getCoordinate().x,pointPO.getCoordinate().y,pointPO.getCentro().x,pointPO.getCentro().y);
+ 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));
- list.add(actionMode2);//添加云台旋转
+ // 飞行器偏航事件
+ ActionMode actionModeFxqph = new ActionMode();
+ actionModeFxqph.setActionId(0);
+ actionModeFxqph.setActionActuatorFunc(CameraActionEnum.ROTATE_YAW.getDescription());//飞行器偏航
+ actionModeFxqph.setActionActuatorFuncParam(ActionUtils.setRotateYaw(bearing));
+
+// list.add(actionMode2);//添加云台旋转
+ list.add(actionModeFxqph);//添加飞行器偏航
list.add(actionMode);//添加拍照
actionGroup.setActions(list);
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/ActionUtils.java b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/ActionUtils.java
index ee3241e..92d2c12 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/ActionUtils.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/ActionUtils.java
@@ -1,9 +1,6 @@
package com.dji.sample.patches.xml.mode.share.action.utils;
-import com.dji.sample.patches.xml.mode.share.action.param.GimbalRotateParam;
-import com.dji.sample.patches.xml.mode.share.action.param.StartRecordParam;
-import com.dji.sample.patches.xml.mode.share.action.param.StopRecordParam;
-import com.dji.sample.patches.xml.mode.share.action.param.TakePhotoParam;
+import com.dji.sample.patches.xml.mode.share.action.param.*;
/**
* @PROJECT_NAME: drone
@@ -69,4 +66,11 @@
return gimbalRotateParam;
}
+ public static RotateYawParam setRotateYaw(double bearing) {
+ RotateYawParam rotateYawParam = new RotateYawParam();
+ rotateYawParam.setAircraftHeading(bearing);
+ rotateYawParam.setAircraftPathMode("clockwise");
+ return rotateYawParam;
+ }
+
}
diff --git a/src/main/resources/template/template.xml b/src/main/resources/template/template.xml
index f220453..ba51d90 100644
--- a/src/main/resources/template/template.xml
+++ b/src/main/resources/template/template.xml
@@ -148,6 +148,12 @@
<#if action.actionActuatorFuncParam.gimbalRotateTime??>
<wpml:gimbalRotateTime>${action.actionActuatorFuncParam.gimbalRotateTime!''}</wpml:gimbalRotateTime>
</#if>
+ <#if action.actionActuatorFuncParam.aircraftHeading??>
+ <wpml:aircraftHeading>${action.actionActuatorFuncParam.aircraftHeading!''}</wpml:aircraftHeading>
+ </#if>
+ <#if action.actionActuatorFuncParam.aircraftPathMode??>
+ <wpml:aircraftPathMode>${action.actionActuatorFuncParam.aircraftPathMode!''}</wpml:aircraftPathMode>
+ </#if>
</wpml:actionActuatorFuncParam>
</wpml:action>
<#assign idx = idx + 1>
diff --git a/src/main/resources/template/waylines.xml b/src/main/resources/template/waylines.xml
index bbd6dc3..eda1888 100644
--- a/src/main/resources/template/waylines.xml
+++ b/src/main/resources/template/waylines.xml
@@ -122,6 +122,12 @@
<#if action.actionActuatorFuncParam.gimbalRotateTime??>
<wpml:gimbalRotateTime>${action.actionActuatorFuncParam.gimbalRotateTime!''}</wpml:gimbalRotateTime>
</#if>
+ <#if action.actionActuatorFuncParam.aircraftHeading??>
+ <wpml:aircraftHeading>${action.actionActuatorFuncParam.aircraftHeading!''}</wpml:aircraftHeading>
+ </#if>
+ <#if action.actionActuatorFuncParam.aircraftPathMode??>
+ <wpml:aircraftPathMode>${action.actionActuatorFuncParam.aircraftPathMode!''}</wpml:aircraftPathMode>
+ </#if>
</wpml:actionActuatorFuncParam>
</wpml:action>
<#assign idx = idx + 1>
--
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