From 8b14209e043b037f8e7a5a18138fdf2140885bdb Mon Sep 17 00:00:00 2001
From: aix <vip_xiaobin810@163.com>
Date: Tue, 23 Jul 2024 19:14:27 +0800
Subject: [PATCH] 航测功能
---
src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/FolderUtils.java | 27 +++++++++++++++++++++++++++
1 files changed, 27 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/FolderUtils.java b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/FolderUtils.java
index 9a6d58a..a56b09f 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/FolderUtils.java
+++ b/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;
+ }
+
}
--
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