From b5f294729bca484a4ce726f4d2a1c096166bc9f2 Mon Sep 17 00:00:00 2001
From: xieb <vip_xiaobin810@163.com>
Date: Mon, 01 Apr 2024 16:27:38 +0800
Subject: [PATCH] 生成航线文件
---
src/main/java/com/dji/sample/patches/xml/controller/XMLController.java | 4 ++--
src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java | 2 +-
/dev/null | 14 --------------
src/main/resources/template/wpmz/waylines.wpml | 0
src/main/java/com/dji/sample/patches/xml/mode/MissionConfig.java | 2 +-
src/main/resources/template/wpmz/template.kml | 8 ++++----
src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/MissionConfigUtils.java | 4 +++-
7 files changed, 11 insertions(+), 23 deletions(-)
diff --git a/src/main/java/com/dji/sample/patches/xml/controller/XMLController.java b/src/main/java/com/dji/sample/patches/xml/controller/XMLController.java
index 9c6d883..e7dfa20 100644
--- a/src/main/java/com/dji/sample/patches/xml/controller/XMLController.java
+++ b/src/main/java/com/dji/sample/patches/xml/controller/XMLController.java
@@ -51,8 +51,8 @@
- xml2XmlDoc(xmlModel, "src\\main\\resources\\template\\template.xml", "src\\main\\resources\\template\\newtemplate.xml");
- xml2XmlDoc(xmlModel, "src\\main\\resources\\template\\waylines.xml", "src\\main\\resources\\template\\newwaylines.xml");
+ xml2XmlDoc(xmlModel, "src\\main\\resources\\template\\template.xml", "src\\main\\resources\\template\\wpmz\\template.kml");
+ xml2XmlDoc(xmlModel, "src\\main\\resources\\template\\waylines.xml", "src\\main\\resources\\template\\wpmz\\waylines.wpml");
}
/**
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/MissionConfig.java b/src/main/java/com/dji/sample/patches/xml/mode/MissionConfig.java
index 8668a29..7490154 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/MissionConfig.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/MissionConfig.java
@@ -41,7 +41,7 @@
/**
* 参考起飞点海拔高度
*/
- private String takeOffRefPointAGLHeight = "0";
+ private Double takeOffRefPointAGLHeight = 0D;
/**
* 全局航线过渡速度
*/
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 5024f60..fdb8b23 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
@@ -88,7 +88,7 @@
.author("Aix")
.createTime(String.valueOf(System.currentTimeMillis()))
.updateTime(String.valueOf(System.currentTimeMillis()))
- .missionConfig(MissionConfigUtils.setMissionConfig())
+ .missionConfig(MissionConfigUtils.setMissionConfig(coordinates[0].y + "," + coordinates[0].x + ",0"))
.folder(folder)
.build();
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/MissionConfigUtils.java b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/MissionConfigUtils.java
index d925e2a..114c9b6 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/MissionConfigUtils.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/MissionConfigUtils.java
@@ -12,7 +12,7 @@
*/
public class MissionConfigUtils {
- public static MissionConfig setMissionConfig() {
+ public static MissionConfig setMissionConfig(String xyz) {
MissionConfig mc = MissionConfig.builder()
.flyToWaylineMode("safely")//安全模式
.finishAction("goHome")
@@ -21,6 +21,8 @@
.takeOffSecurityHeight(20D)//安全起飞高度
.globalTransitionalSpeed(10D)
.globalRTHHeight(100D)
+ .takeOffRefPoint(xyz)
+ .takeOffRefPointAGLHeight(0D)
.droneInfo(new DroneInfo())
.payloadInfo(new PayloadInfo())
.build();
diff --git a/src/main/resources/template/template.kml b/src/main/resources/template/template.kml
deleted file mode 100644
index b18a950..0000000
--- a/src/main/resources/template/template.kml
+++ /dev/null
@@ -1,868 +0,0 @@
-<?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">
- <Document>
- <!-- 步骤1:实现文件创建信息 -->
- <wpml:author>Aix</wpml:author>
- <wpml:createTime>1711701361124</wpml:createTime>
- <wpml:updateTime>1711701361124</wpml:updateTime>
- <!-- 步骤2:设置任务配置 -->
- <wpml:missionConfig>
- <wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
- <wpml:finishAction>goHome</wpml:finishAction>
- <wpml:exitOnRCLost>executeLostAction</wpml:exitOnRCLost>
- <wpml:executeRCLostAction>goBack</wpml:executeRCLostAction>
- <wpml:takeOffSecurityHeight>20</wpml:takeOffSecurityHeight>
- <wpml:takeOffRefPoint></wpml:takeOffRefPoint>
- <wpml:takeOffRefPointAGLHeight></wpml:takeOffRefPointAGLHeight>
- <wpml:globalTransitionalSpeed></wpml:globalTransitionalSpeed>
- <wpml:globalRTHHeight></wpml:globalRTHHeight>
- <wpml:droneInfo>
- <!-- 用M30申报无人机型号 -->
- <wpml:droneEnumValue>67</wpml:droneEnumValue>
- <wpml:droneSubEnumValue>1</wpml:droneSubEnumValue>
- </wpml:droneInfo>
- <wpml:payloadInfo>
- <!-- 用M30声明有效载荷模型 -->
- <wpml:payloadEnumValue>53</wpml:payloadEnumValue>
- <wpml:payloadSubEnumValue>0</wpml:payloadSubEnumValue>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- </wpml:payloadInfo>
- </wpml:missionConfig>
- <!-- 步骤3:设置路径点模板文件夹 -->
- <Folder>
- <wpml:templateType>waypoint</wpml:templateType>
- <wpml:templateId>0</wpml:templateId>
- <wpml:waylineCoordinateSysParam>
- <wpml:coordinateMode></wpml:coordinateMode>
- <wpml:heightMode></wpml:heightMode>
- </wpml:waylineCoordinateSysParam>
- <wpml:autoFlightSpeed>10</wpml:autoFlightSpeed>
- <wpml:globalHeight>100</wpml:globalHeight>
- <wpml:caliFlightEnable>0</wpml:caliFlightEnable>
- <wpml:gimbalPitchMode>manual</wpml:gimbalPitchMode>
- <wpml:globalWaypointHeadingParam>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:globalWaypointHeadingParam>
- <wpml:globalWaypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:globalWaypointTurnMode>
- <wpml:globalUseStraightLine>1</wpml:globalUseStraightLine>
- <Placemark>
- <Point>
- <!-- 经度和纬度 -->
- <coordinates>
- 115.86002109342,28.6202713913694
- </coordinates>
- </Point>
- <wpml:index>0</wpml:index>
- <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
- <wpml:height>100</wpml:height>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:waypointHeadingParam>
- <wpml:waypointTurnParam>
- <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
- <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
- </wpml:waypointTurnParam>
- <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
- <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
- <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
- <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
- <wpml:useStraightLine></wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
- <wpml:actionGroup>
- <wpml:actionGroupId>1</wpml:actionGroupId>
- <wpml:actionGroupStartIndex>1</wpml:actionGroupStartIndex>
- <wpml:actionGroupEndIndex>1</wpml:actionGroupEndIndex>
- <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
- <wpml:actionTrigger>
- <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
- </wpml:actionTrigger>
- <!-- 动作 -->
- <wpml:action>
- <wpml:actionId>0</wpml:actionId>
- <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
- <wpml:actionActuatorFuncParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh01</wpml:fileSuffix>
- <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
- <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
- </wpml:actionActuatorFuncParam>
- </wpml:action>
- <!-- 动作 -->
- <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>
- <!-- 经度和纬度 -->
- <coordinates>
- 115.86002109342,28.6142037658042
- </coordinates>
- </Point>
- <wpml:index>1</wpml:index>
- <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
- <wpml:height>100</wpml:height>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:waypointHeadingParam>
- <wpml:waypointTurnParam>
- <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
- <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
- </wpml:waypointTurnParam>
- <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
- <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
- <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
- <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
- <wpml:useStraightLine></wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
- <wpml:actionGroup>
- <wpml:actionGroupId>2</wpml:actionGroupId>
- <wpml:actionGroupStartIndex>2</wpml:actionGroupStartIndex>
- <wpml:actionGroupEndIndex>2</wpml:actionGroupEndIndex>
- <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
- <wpml:actionTrigger>
- <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
- </wpml:actionTrigger>
- <!-- 动作 -->
- <wpml:action>
- <wpml:actionId>0</wpml:actionId>
- <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
- <wpml:actionActuatorFuncParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh01</wpml:fileSuffix>
- <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
- <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
- </wpml:actionActuatorFuncParam>
- </wpml:action>
- <!-- 动作 -->
- <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>
- <!-- 经度和纬度 -->
- <coordinates>
- 115.866374254306,28.6142037658042
- </coordinates>
- </Point>
- <wpml:index>2</wpml:index>
- <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
- <wpml:height>100</wpml:height>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:waypointHeadingParam>
- <wpml:waypointTurnParam>
- <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
- <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
- </wpml:waypointTurnParam>
- <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
- <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
- <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
- <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
- <wpml:useStraightLine></wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
- <wpml:actionGroup>
- <wpml:actionGroupId>3</wpml:actionGroupId>
- <wpml:actionGroupStartIndex>3</wpml:actionGroupStartIndex>
- <wpml:actionGroupEndIndex>3</wpml:actionGroupEndIndex>
- <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
- <wpml:actionTrigger>
- <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
- </wpml:actionTrigger>
- <!-- 动作 -->
- <wpml:action>
- <wpml:actionId>0</wpml:actionId>
- <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
- <wpml:actionActuatorFuncParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh01</wpml:fileSuffix>
- <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
- <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
- </wpml:actionActuatorFuncParam>
- </wpml:action>
- <!-- 动作 -->
- <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>
- <!-- 经度和纬度 -->
- <coordinates>
- 115.866374254306,28.6202713913694
- </coordinates>
- </Point>
- <wpml:index>3</wpml:index>
- <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
- <wpml:height>100</wpml:height>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:waypointHeadingParam>
- <wpml:waypointTurnParam>
- <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
- <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
- </wpml:waypointTurnParam>
- <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
- <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
- <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
- <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
- <wpml:useStraightLine></wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
- <wpml:actionGroup>
- <wpml:actionGroupId>4</wpml:actionGroupId>
- <wpml:actionGroupStartIndex>4</wpml:actionGroupStartIndex>
- <wpml:actionGroupEndIndex>4</wpml:actionGroupEndIndex>
- <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
- <wpml:actionTrigger>
- <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
- </wpml:actionTrigger>
- <!-- 动作 -->
- <wpml:action>
- <wpml:actionId>0</wpml:actionId>
- <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
- <wpml:actionActuatorFuncParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh01</wpml:fileSuffix>
- <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
- <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
- </wpml:actionActuatorFuncParam>
- </wpml:action>
- <!-- 动作 -->
- <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>
- <!-- 经度和纬度 -->
- <coordinates>
- 115.86425430209,28.6357383285408
- </coordinates>
- </Point>
- <wpml:index>4</wpml:index>
- <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
- <wpml:height>100</wpml:height>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:waypointHeadingParam>
- <wpml:waypointTurnParam>
- <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
- <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
- </wpml:waypointTurnParam>
- <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
- <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
- <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
- <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
- <wpml:useStraightLine></wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
- <wpml:actionGroup>
- <wpml:actionGroupId>5</wpml:actionGroupId>
- <wpml:actionGroupStartIndex>5</wpml:actionGroupStartIndex>
- <wpml:actionGroupEndIndex>5</wpml:actionGroupEndIndex>
- <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
- <wpml:actionTrigger>
- <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
- </wpml:actionTrigger>
- <!-- 动作 -->
- <wpml:action>
- <wpml:actionId>0</wpml:actionId>
- <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
- <wpml:actionActuatorFuncParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh02</wpml:fileSuffix>
- <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
- <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
- </wpml:actionActuatorFuncParam>
- </wpml:action>
- <!-- 动作 -->
- <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>
- <!-- 经度和纬度 -->
- <coordinates>
- 115.86425430209,28.633120921433
- </coordinates>
- </Point>
- <wpml:index>5</wpml:index>
- <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
- <wpml:height>100</wpml:height>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:waypointHeadingParam>
- <wpml:waypointTurnParam>
- <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
- <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
- </wpml:waypointTurnParam>
- <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
- <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
- <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
- <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
- <wpml:useStraightLine></wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
- <wpml:actionGroup>
- <wpml:actionGroupId>6</wpml:actionGroupId>
- <wpml:actionGroupStartIndex>6</wpml:actionGroupStartIndex>
- <wpml:actionGroupEndIndex>6</wpml:actionGroupEndIndex>
- <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
- <wpml:actionTrigger>
- <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
- </wpml:actionTrigger>
- <!-- 动作 -->
- <wpml:action>
- <wpml:actionId>0</wpml:actionId>
- <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
- <wpml:actionActuatorFuncParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh02</wpml:fileSuffix>
- <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
- <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
- </wpml:actionActuatorFuncParam>
- </wpml:action>
- <!-- 动作 -->
- <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>
- <!-- 经度和纬度 -->
- <coordinates>
- 115.866977149064,28.633120921433
- </coordinates>
- </Point>
- <wpml:index>6</wpml:index>
- <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
- <wpml:height>100</wpml:height>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:waypointHeadingParam>
- <wpml:waypointTurnParam>
- <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
- <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
- </wpml:waypointTurnParam>
- <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
- <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
- <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
- <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
- <wpml:useStraightLine></wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
- <wpml:actionGroup>
- <wpml:actionGroupId>7</wpml:actionGroupId>
- <wpml:actionGroupStartIndex>7</wpml:actionGroupStartIndex>
- <wpml:actionGroupEndIndex>7</wpml:actionGroupEndIndex>
- <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
- <wpml:actionTrigger>
- <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
- </wpml:actionTrigger>
- <!-- 动作 -->
- <wpml:action>
- <wpml:actionId>0</wpml:actionId>
- <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
- <wpml:actionActuatorFuncParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh02</wpml:fileSuffix>
- <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
- <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
- </wpml:actionActuatorFuncParam>
- </wpml:action>
- <!-- 动作 -->
- <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>
- <!-- 经度和纬度 -->
- <coordinates>
- 115.866977149064,28.6357383285408
- </coordinates>
- </Point>
- <wpml:index>7</wpml:index>
- <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
- <wpml:height>100</wpml:height>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:waypointHeadingParam>
- <wpml:waypointTurnParam>
- <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
- <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
- </wpml:waypointTurnParam>
- <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
- <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
- <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
- <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
- <wpml:useStraightLine></wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
- <wpml:actionGroup>
- <wpml:actionGroupId>8</wpml:actionGroupId>
- <wpml:actionGroupStartIndex>8</wpml:actionGroupStartIndex>
- <wpml:actionGroupEndIndex>8</wpml:actionGroupEndIndex>
- <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
- <wpml:actionTrigger>
- <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
- </wpml:actionTrigger>
- <!-- 动作 -->
- <wpml:action>
- <wpml:actionId>0</wpml:actionId>
- <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
- <wpml:actionActuatorFuncParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh02</wpml:fileSuffix>
- <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
- <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
- </wpml:actionActuatorFuncParam>
- </wpml:action>
- <!-- 动作 -->
- <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>
- <!-- 经度和纬度 -->
- <coordinates>
- 115.838147600941,28.618654178036
- </coordinates>
- </Point>
- <wpml:index>8</wpml:index>
- <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
- <wpml:height>100</wpml:height>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:waypointHeadingParam>
- <wpml:waypointTurnParam>
- <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
- <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
- </wpml:waypointTurnParam>
- <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
- <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
- <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
- <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
- <wpml:useStraightLine></wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
- <wpml:actionGroup>
- <wpml:actionGroupId>9</wpml:actionGroupId>
- <wpml:actionGroupStartIndex>9</wpml:actionGroupStartIndex>
- <wpml:actionGroupEndIndex>9</wpml:actionGroupEndIndex>
- <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
- <wpml:actionTrigger>
- <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
- </wpml:actionTrigger>
- <!-- 动作 -->
- <wpml:action>
- <wpml:actionId>0</wpml:actionId>
- <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
- <wpml:actionActuatorFuncParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh03</wpml:fileSuffix>
- <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
- <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
- </wpml:actionActuatorFuncParam>
- </wpml:action>
- <!-- 动作 -->
- <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>
- <!-- 经度和纬度 -->
- <coordinates>
- 115.838147600941,28.6160843601496
- </coordinates>
- </Point>
- <wpml:index>9</wpml:index>
- <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
- <wpml:height>100</wpml:height>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:waypointHeadingParam>
- <wpml:waypointTurnParam>
- <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
- <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
- </wpml:waypointTurnParam>
- <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
- <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
- <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
- <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
- <wpml:useStraightLine></wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
- <wpml:actionGroup>
- <wpml:actionGroupId>10</wpml:actionGroupId>
- <wpml:actionGroupStartIndex>10</wpml:actionGroupStartIndex>
- <wpml:actionGroupEndIndex>10</wpml:actionGroupEndIndex>
- <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
- <wpml:actionTrigger>
- <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
- </wpml:actionTrigger>
- <!-- 动作 -->
- <wpml:action>
- <wpml:actionId>0</wpml:actionId>
- <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
- <wpml:actionActuatorFuncParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh03</wpml:fileSuffix>
- <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
- <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
- </wpml:actionActuatorFuncParam>
- </wpml:action>
- <!-- 动作 -->
- <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>
- <!-- 经度和纬度 -->
- <coordinates>
- 115.841288489469,28.6160843601496
- </coordinates>
- </Point>
- <wpml:index>10</wpml:index>
- <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
- <wpml:height>100</wpml:height>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:waypointHeadingParam>
- <wpml:waypointTurnParam>
- <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
- <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
- </wpml:waypointTurnParam>
- <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
- <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
- <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
- <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
- <wpml:useStraightLine></wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
- <wpml:actionGroup>
- <wpml:actionGroupId>11</wpml:actionGroupId>
- <wpml:actionGroupStartIndex>11</wpml:actionGroupStartIndex>
- <wpml:actionGroupEndIndex>11</wpml:actionGroupEndIndex>
- <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
- <wpml:actionTrigger>
- <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
- </wpml:actionTrigger>
- <!-- 动作 -->
- <wpml:action>
- <wpml:actionId>0</wpml:actionId>
- <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
- <wpml:actionActuatorFuncParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh03</wpml:fileSuffix>
- <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
- <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
- </wpml:actionActuatorFuncParam>
- </wpml:action>
- <!-- 动作 -->
- <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>
- <!-- 经度和纬度 -->
- <coordinates>
- 115.841288489469,28.618654178036
- </coordinates>
- </Point>
- <wpml:index>11</wpml:index>
- <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
- <wpml:height>100</wpml:height>
- <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></wpml:waypointHeadingPoiIndex>
- </wpml:waypointHeadingParam>
- <wpml:waypointTurnParam>
- <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
- <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
- </wpml:waypointTurnParam>
- <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
- <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
- <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
- <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
- <wpml:useStraightLine></wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
- <wpml:actionGroup>
- <wpml:actionGroupId>12</wpml:actionGroupId>
- <wpml:actionGroupStartIndex>12</wpml:actionGroupStartIndex>
- <wpml:actionGroupEndIndex>12</wpml:actionGroupEndIndex>
- <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
- <wpml:actionTrigger>
- <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
- </wpml:actionTrigger>
- <!-- 动作 -->
- <wpml:action>
- <wpml:actionId>0</wpml:actionId>
- <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
- <wpml:actionActuatorFuncParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh03</wpml:fileSuffix>
- <wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
- <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
- </wpml:actionActuatorFuncParam>
- </wpml:action>
- <!-- 动作 -->
- <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>
- <!-- 负载设置 -->
- <wpml:payloadParam>
- <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:focusMode></wpml:focusMode>
- <wpml:meteringMode></wpml:meteringMode>
- <wpml:returnMode></wpml:returnMode>
- <wpml:samplingRate></wpml:samplingRate>
- <wpml:scanningMode></wpml:scanningMode>
- <wpml:imageFormat>wide,ir</wpml:imageFormat>
- </wpml:payloadParam>
- </Folder>
- </Document>
-</kml>
diff --git a/src/main/resources/template/newtemplate.xml b/src/main/resources/template/wpmz/template.kml
similarity index 98%
rename from src/main/resources/template/newtemplate.xml
rename to src/main/resources/template/wpmz/template.kml
index bd2209a..29209fd 100644
--- a/src/main/resources/template/newtemplate.xml
+++ b/src/main/resources/template/wpmz/template.kml
@@ -3,8 +3,8 @@
<Document>
<!-- 步骤1:实现文件创建信息 -->
<wpml:author>Aix</wpml:author>
- <wpml:createTime>1711938126849</wpml:createTime>
- <wpml:updateTime>1711938126849</wpml:updateTime>
+ <wpml:createTime>1711960016175</wpml:createTime>
+ <wpml:updateTime>1711960016175</wpml:updateTime>
<!-- 步骤2:设置任务配置 -->
<wpml:missionConfig>
<wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
@@ -12,8 +12,8 @@
<wpml:exitOnRCLost>executeLostAction</wpml:exitOnRCLost>
<wpml:executeRCLostAction>goBack</wpml:executeRCLostAction>
<wpml:takeOffSecurityHeight>20</wpml:takeOffSecurityHeight>
- <wpml:takeOffRefPoint></wpml:takeOffRefPoint>
- <wpml:takeOffRefPointAGLHeight></wpml:takeOffRefPointAGLHeight>
+ <wpml:takeOffRefPoint>28.624514734,115.856725497,0</wpml:takeOffRefPoint>
+ <wpml:takeOffRefPointAGLHeight>0</wpml:takeOffRefPointAGLHeight>
<wpml:globalTransitionalSpeed>10</wpml:globalTransitionalSpeed>
<wpml:globalRTHHeight>100</wpml:globalRTHHeight>
<wpml:droneInfo>
diff --git a/src/main/resources/template/newwaylines.xml b/src/main/resources/template/wpmz/waylines.wpml
similarity index 100%
rename from src/main/resources/template/newwaylines.xml
rename to src/main/resources/template/wpmz/waylines.wpml
diff --git a/src/main/resources/template2/newTemplate.xml b/src/main/resources/template2/newTemplate.xml
deleted file mode 100644
index afea1e4..0000000
--- a/src/main/resources/template2/newTemplate.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<INFO>这就是一个简单的模板</INFO>
-<Profile>
-<ID>9e55fa00152a4f5bab88c6215664d03c</ID>
-<Name>张三三</Name>
-
-<Demo>
- <Subject>subject0</Subject>
- <Score>60</Score>
-</Demo>
-<Demo>
- <Subject>subject1</Subject>
- <Score>61</Score>
-</Demo>
-<Demo>
- <Subject>subject2</Subject>
- <Score>62</Score>
-</Demo>
-<Demo>
- <Subject>subject3</Subject>
- <Score>63</Score>
-</Demo>
-<Demo>
- <Subject>subject4</Subject>
- <Score>64</Score>
-</Demo>
-<Demo>
- <Subject>subject5</Subject>
- <Score>65</Score>
-</Demo>
-<Demo>
- <Subject>subject6</Subject>
- <Score>66</Score>
-</Demo>
-<Demo>
- <Subject>subject7</Subject>
- <Score>67</Score>
-</Demo>
-<Demo>
- <Subject>subject8</Subject>
- <Score>68</Score>
-</Demo>
-<Demo>
- <Subject>subject9</Subject>
- <Score>69</Score>
-</Demo>
-
-</Profile>
diff --git a/src/main/resources/template2/template.xml b/src/main/resources/template2/template.xml
deleted file mode 100644
index c5c51ea..0000000
--- a/src/main/resources/template2/template.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<INFO>这就是一个简单的模板</INFO>
-<Profile>
-<ID>${id!''}</ID>
-<Name>${name!''}</Name>
-
-<#list demoList as list>
-<Demo>
- <Subject>${list.subject}</Subject>
- <Score>${list.score}</Score>
-</Demo>
-</#list>
-
-</Profile>
--
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