From de821f0a99e234ce8e336b1775e90169e875cdd5 Mon Sep 17 00:00:00 2001
From: rain <167982779@qq.com>
Date: Tue, 09 Apr 2024 09:44:38 +0800
Subject: [PATCH] 图斑生成kmz航线文件，入库并返回前端，优化图斑模块
---
src/main/java/com/dji/sample/patches/service/ShpToDataSourceService.java | 5
src/main/java/com/dji/sample/patches/utils/MultipartFileTOFileUtil.java | 22
src/main/resources/template/wpmz/waylines.wpml | 3992 ++++++++++++++++++++++++++
src/main/java/com/dji/sample/patches/xml/utils/CreateWaylineFileUtils.java | 4
src/main/java/com/dji/sample/patches/utils/ZipUtil.java | 84
src/main/java/com/dji/sample/patches/service/GetPatchesService.java | 1
src/main/resources/template/wpmz/template.kml | 4610 ++++++++++++++++++++++++++++++
pom.xml | 7
src/main/java/com/dji/sample/patches/controller/PatchesController.java | 93
src/main/java/com/dji/sample/patches/service/impl/ShpToDataSourceServiceImpl.java | 77
src/main/java/com/dji/sample/patches/utils/FormatConversionUtil.java | 50
/dev/null | 46
src/main/java/com/dji/sample/wayline/service/impl/WaylineFileServiceImpl.java | 29
src/main/java/com/dji/sample/summarize/controller/SummarizeController.java | 2
src/main/java/com/dji/sample/patches/utils/ShapeFileUtil.java | 11
src/main/java/com/dji/sample/wayline/service/IWaylineFileService.java | 3
16 files changed, 8,781 insertions(+), 255 deletions(-)
diff --git a/pom.xml b/pom.xml
index 7647f29..8de2509 100644
--- a/pom.xml
+++ b/pom.xml
@@ -250,7 +250,12 @@
<groupId>org.freemarker</groupId>
<artifactId>freemarker</artifactId>
</dependency>
-
+ <!-- MultipartFile文件类型转换 -->
+ <dependency>
+ <groupId>org.springframework</groupId>
+ <artifactId>spring-test</artifactId>
+ <version>5.0.8.RELEASE</version>
+ </dependency>
</dependencies>
diff --git a/src/main/java/com/dji/sample/patches/controller/GetPatchesController.java b/src/main/java/com/dji/sample/patches/controller/GetPatchesController.java
deleted file mode 100644
index 5ca7a73..0000000
--- a/src/main/java/com/dji/sample/patches/controller/GetPatchesController.java
+++ /dev/null
@@ -1,51 +0,0 @@
-package com.dji.sample.patches.controller;
-
-import com.dji.sample.common.model.PaginationData;
-import com.dji.sample.common.model.ResponseResult;
-import com.dji.sample.log.aspect.SysLogAnnotation;
-import com.dji.sample.media.model.MediaFileEntity;
-import com.dji.sample.patches.model.Param.PatchesParam;
-import com.dji.sample.patches.model.entity.LotInfo;
-import com.dji.sample.patches.service.GetPatchesService;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.*;
-
-@RequestMapping("${url.patches.prefix}${url.patches.version}")
-@RestController
-public class GetPatchesController {
- @Autowired
- private GetPatchesService getPatchesService;
-
- @GetMapping("/getPatches")
- @SysLogAnnotation(operModul = "图斑", operType = "查询", operDesc = "查询图斑的全部信息")
- public ResponseResult<PaginationData<LotInfo>> page(@RequestParam Integer page,
- @RequestParam(name = "page_size", defaultValue = "10") Integer pageSize,
- @RequestParam String workspaceId) {
- //调用service分页查询
- PatchesParam param=PatchesParam.builder()
- .page(page)
- .workspaceId(workspaceId)
- .pageSize(pageSize).build();
- PaginationData<LotInfo> data = getPatchesService.limitGet(param);
- return ResponseResult.success(data);
- }
-
- @DeleteMapping("/delPatches")
- public ResponseResult del(){
- getPatchesService.delPatches();
- return ResponseResult.success();
- }
-
- @GetMapping("/GetPhoto")
- public ResponseResult<PaginationData<MediaFileEntity>> GetPatchesPhoto(@RequestParam(name = "page", defaultValue = "1") Integer page,
- @RequestParam(name = "page_size", defaultValue = "10") Integer pageSize,
- @RequestParam String workspaceId,
- @RequestParam String dkbh){
- PatchesParam param=PatchesParam.builder()
- .page(page)
- .workspaceId(workspaceId)
- .pageSize(pageSize).build();
- getPatchesService.getPhoto(param,dkbh);
- return ResponseResult.success(getPatchesService.getPhoto(param,dkbh));
- }
-}
diff --git a/src/main/java/com/dji/sample/patches/controller/PatchesController.java b/src/main/java/com/dji/sample/patches/controller/PatchesController.java
new file mode 100644
index 0000000..7d2f781
--- /dev/null
+++ b/src/main/java/com/dji/sample/patches/controller/PatchesController.java
@@ -0,0 +1,93 @@
+package com.dji.sample.patches.controller;
+
+import com.dji.sample.common.model.CustomClaim;
+import com.dji.sample.common.model.PaginationData;
+import com.dji.sample.common.model.ResponseResult;
+import com.dji.sample.common.util.MinioUrlUtils;
+import com.dji.sample.log.aspect.SysLogAnnotation;
+import com.dji.sample.media.model.MediaFileEntity;
+import com.dji.sample.patches.model.Param.PatchesParam;
+import com.dji.sample.patches.model.entity.LotInfo;
+import com.dji.sample.patches.service.GetPatchesService;
+import com.dji.sample.patches.service.impl.ShpToDataSourceServiceImpl;
+import com.dji.sample.wayline.model.entity.WaylineFileEntity;
+import com.dji.sample.wayline.service.IWaylineFileService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+import org.springframework.web.multipart.MultipartFile;
+
+import javax.servlet.http.HttpServletRequest;
+import java.net.URL;
+import java.sql.SQLException;
+
+import static com.dji.sample.component.AuthInterceptor.TOKEN_CLAIM;
+
+@RequestMapping("${url.patches.prefix}${url.patches.version}/Patches")
+@RestController
+public class PatchesController {
+ @Autowired
+ private GetPatchesService getPatchesService;
+ @Autowired
+ private ShpToDataSourceServiceImpl shpToDataSourceServiceImpl;
+ @Autowired
+ private IWaylineFileService waylineFileService;
+
+ @GetMapping("/getPatches")
+ @SysLogAnnotation(operModul = "图斑", operType = "查询", operDesc = "查询图斑的全部信息")
+ public ResponseResult<PaginationData<LotInfo>> page(@RequestParam Integer page,
+ @RequestParam(name = "page_size", defaultValue = "10") Integer pageSize,
+ @RequestParam String workspaceId) {
+ //调用service分页查询
+ PatchesParam param = PatchesParam.builder()
+ .page(page)
+ .workspaceId(workspaceId)
+ .pageSize(pageSize).build();
+ PaginationData<LotInfo> data = getPatchesService.limitGet(param);
+ return ResponseResult.success(data);
+ }
+
+ @DeleteMapping("/delPatches")
+ public ResponseResult del() {
+ getPatchesService.delPatches();
+ return ResponseResult.success();
+ }
+
+ @GetMapping("/GetPhoto")
+ public ResponseResult<PaginationData<MediaFileEntity>> GetPatchesPhoto(@RequestParam(name = "page", defaultValue = "1") Integer page,
+ @RequestParam(name = "page_size", defaultValue = "10") Integer pageSize,
+ @RequestParam String workspaceId,
+ @RequestParam String dkbh) {
+ try {
+ PatchesParam param = PatchesParam.builder()
+ .page(page)
+ .workspaceId(workspaceId)
+ .pageSize(pageSize).build();
+ PaginationData<MediaFileEntity> paginationData = getPatchesService.getPhoto(param, dkbh);
+ return ResponseResult.success(paginationData);
+ } catch (Exception e) {
+ e.printStackTrace(); // 记录异常信息到控制台
+ return ResponseResult.error("未匹配到相关图片"); // 返回错误信息，可以根据实际情况自定义
+ }
+ }
+
+ @PostMapping("/getGeo")
+ public ResponseResult getGeo(@RequestParam("file") MultipartFile file,
+ @RequestParam String workspaceId,
+ @RequestParam String waylineName,
+ @RequestParam double airportLat,
+ @RequestParam double airportLon,
+ HttpServletRequest request) throws Exception {
+ MultipartFile multipartFile = shpToDataSourceServiceImpl.insertGeo(file, workspaceId, waylineName, airportLat, airportLon);
+ CustomClaim customClaim = (CustomClaim) request.getAttribute(TOKEN_CLAIM);
+ String creator = customClaim.getUsername();
+ waylineFileService.importKmzFileBack(multipartFile, workspaceId, creator);
+ WaylineFileEntity entity = waylineFileService.selectByName(waylineName);
+ URL url = null;
+ try {
+ url = waylineFileService.getObjectUrl(workspaceId, entity.getWaylineId());
+ } catch (SQLException e) {
+ throw new RuntimeException(e);
+ }
+ return ResponseResult.success(MinioUrlUtils.getUrl(url));
+ }
+}
diff --git a/src/main/java/com/dji/sample/patches/controller/ShpToDataSourceController.java b/src/main/java/com/dji/sample/patches/controller/ShpToDataSourceController.java
deleted file mode 100644
index acd4d65..0000000
--- a/src/main/java/com/dji/sample/patches/controller/ShpToDataSourceController.java
+++ /dev/null
@@ -1,46 +0,0 @@
-package com.dji.sample.patches.controller;
-
-import cn.hutool.core.io.FileUtil;
-import com.dji.sample.common.model.ResponseResult;
-import com.dji.sample.patches.model.entity.LotInfo;
-import com.dji.sample.patches.service.impl.ShpToDataSourceServiceImpl;
-import com.dji.sample.patches.utils.ZipUtil;
-import org.apache.tomcat.util.http.fileupload.UploadContext;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.core.io.FileSystemResource;
-import org.springframework.core.io.Resource;
-import org.springframework.http.HttpHeaders;
-import org.springframework.http.MediaType;
-import org.springframework.http.ResponseEntity;
-import org.springframework.web.bind.annotation.*;
-import org.springframework.web.multipart.MultipartFile;
-
-
-import javax.servlet.ServletOutputStream;
-import javax.servlet.http.HttpServletResponse;
-import java.io.*;
-import java.util.List;
-
-import static org.springframework.http.MediaType.parseMediaType;
-
-@RestController
-@RequestMapping("${url.patches.prefix}${url.patches.version}")
-public class ShpToDataSourceController {
- @Autowired
- private ShpToDataSourceServiceImpl shpToDataSourceServiceImpl;
-
- @PostMapping("/getGeo")
- public ResponseResult<List<LotInfo>> getGeo(@RequestParam("file") MultipartFile file,
- @RequestParam String waylineName,
- @RequestParam String workspaceId) throws IOException {
- List<LotInfo> list = shpToDataSourceServiceImpl.insertGeo(file, workspaceId,waylineName);
- return ResponseResult.success(list);
- }
-
-
- @GetMapping("/getFile")
- public ResponseEntity<Resource> download(String waylineName) throws UnsupportedEncodingException {
- return shpToDataSourceServiceImpl.backWayline(waylineName);
- }
-}
-
diff --git a/src/main/java/com/dji/sample/patches/service/GetPatchesService.java b/src/main/java/com/dji/sample/patches/service/GetPatchesService.java
index 1a38f05..719be53 100644
--- a/src/main/java/com/dji/sample/patches/service/GetPatchesService.java
+++ b/src/main/java/com/dji/sample/patches/service/GetPatchesService.java
@@ -8,6 +8,5 @@
public interface GetPatchesService {
PaginationData<LotInfo> limitGet(PatchesParam param);
void delPatches();
-
PaginationData<MediaFileEntity> getPhoto(PatchesParam param,String dkbh);
}
diff --git a/src/main/java/com/dji/sample/patches/service/ShpToDataSourceService.java b/src/main/java/com/dji/sample/patches/service/ShpToDataSourceService.java
index fbd4f8b..253b5c8 100644
--- a/src/main/java/com/dji/sample/patches/service/ShpToDataSourceService.java
+++ b/src/main/java/com/dji/sample/patches/service/ShpToDataSourceService.java
@@ -1,6 +1,7 @@
package com.dji.sample.patches.service;
import com.dji.sample.patches.model.entity.LotInfo;
+import com.dji.sample.wayline.model.dto.WaylineFileDTO;
import org.springframework.core.io.Resource;
import org.springframework.http.ResponseEntity;
import org.springframework.web.multipart.MultipartFile;
@@ -12,6 +13,6 @@
import java.util.List;
public interface ShpToDataSourceService {
- List<LotInfo> insertGeo(MultipartFile file ,String workspaceId,String waylineName) throws IOException;
- ResponseEntity<Resource> backWayline(String waylineName) throws FileNotFoundException, UnsupportedEncodingException;
+ MultipartFile insertGeo(MultipartFile file , String workspaceId,String waylineName, double airportLat, double airportLon) throws Exception;
+
}
diff --git a/src/main/java/com/dji/sample/patches/service/impl/ShpToDataSourceServiceImpl.java b/src/main/java/com/dji/sample/patches/service/impl/ShpToDataSourceServiceImpl.java
index 892c234..b8dfb92 100644
--- a/src/main/java/com/dji/sample/patches/service/impl/ShpToDataSourceServiceImpl.java
+++ b/src/main/java/com/dji/sample/patches/service/impl/ShpToDataSourceServiceImpl.java
@@ -11,44 +11,35 @@
import com.dji.sample.patches.utils.ShapeFileUtil;
import com.dji.sample.patches.xml.mode.XMLTemplateModel;
import com.dji.sample.patches.xml.utils.CreateWaylineFileUtils;
+import com.dji.sample.wayline.service.IWaylineFileService;
import org.locationtech.jts.geom.Coordinate;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.core.io.FileSystemResource;
-import org.springframework.core.io.Resource;
-import org.springframework.http.HttpHeaders;
-import org.springframework.http.HttpStatus;
-import org.springframework.http.MediaType;
-import org.springframework.http.ResponseEntity;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
-
import java.io.File;
-import java.io.IOException;
-import java.io.UnsupportedEncodingException;
-import java.net.URLEncoder;
-import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.List;
import java.util.UUID;
-
-import static com.dji.sample.common.error.CommonErrorEnum.ILLEGAL_ARGUMENT;
-import static com.dji.sample.patches.utils.ZipUtil.compressToKMZ;
+import static com.dji.sample.patches.utils.FormatConversionUtil.getCentros;
+import static com.dji.sample.patches.utils.MultipartFileTOFileUtil.convert;
+import static com.dji.sample.patches.utils.ZipUtil.*;
import static org.locationtech.jts.io.WKTConstants.POLYGON;
@Service
public class ShpToDataSourceServiceImpl implements ShpToDataSourceService {
@Autowired
private ShpToDataSourceMapper mapper;
- String head = POLYGON;
- double airportLat = 28.624514734; // 机场纬度
- double airportLon = 115.856725497; // 机场经度
- String kmlFilePath = "src/main/resources/template/wpmz/template.kml"; // KML文件路径
- String wpmlFilePath = "src/main/resources/template/wpmz/waylines.wpml"; // WPML文件路径
- String end = ".kmz";
+ @Autowired
+ private IWaylineFileService service;
+ String head = POLYGON;
+ String sourceDir = "/home/drone/server/template/wpmz/"; // 源文件夹路径
+
+ MultipartFile multipartFile;
+
String json;
- public List<LotInfo> insertGeo(MultipartFile file, String workspaceId, String waylineName) throws IOException {
+ public MultipartFile insertGeo(MultipartFile file, String workspaceId,String waylineName, double airportLat, double airportLon) throws Exception {
List<LotInfo> list = new ArrayList<>();
MultipartFileTOFileUtil multipartFileTOFileUtil = new MultipartFileTOFileUtil();
File file1 = multipartFileTOFileUtil.multipartFile2File(file);
@@ -65,46 +56,26 @@
lotInfo.setWorkspaceId(workspaceId);
lotInfo.setDkfw(json);
lotInfo.setDkbh("dkbh" + i);
+ list.add(lotInfo);
+ String strs=getCentros(list);
+ String end =strs.replaceAll("\\(","").replaceAll(", NaN\\)","");
+ String[] points=end.split(",");
+ lotInfo.setXzb(Double.valueOf(points[0]));
+ lotInfo.setYzb(Double.valueOf(points[1]));
mapper.insert(lotInfo);
list.add(lotInfo);
- System.out.println(lotInfo);
}
Coordinate[] coordinates = GeoToolsUtil.getRoutePointOrder(list, airportLat, airportLon);
XMLTemplateModel xmlModel = XMLTemplateModel.init(coordinates, list);
CreateWaylineFileUtils.createWaylineFile(xmlModel);
- String destinationKMZFilePath = "src/main/resources/template/kmz/" + waylineName + ".kmz";
- try {
- compressToKMZ(kmlFilePath, wpmlFilePath, destinationKMZFilePath);
- System.out.println("Files compressed to KMZ successfully.");
- } catch (IOException e) {
- e.printStackTrace();
- System.out.println("Error compressing files to KMZ: " + e.getMessage());
- }
- return list;
+ // 压缩文件夹中的内容
+ String destKMZFile = "/home/drone/server/template/kmz/"+waylineName+".kmz"; // 输出的KMZ文件路径
+ zipFolder(sourceDir, destKMZFile);
+ multipartFile = convert(new File("/home/drone/server/template/kmz/"+waylineName+".kmz"));
+ return multipartFile;
+
}
- public ResponseEntity<Resource> backWayline(String fileName) {
- String name = fileName + end;
- try {
- File kmzFile = new File("src/main/resources/template/kmz/" + name);
- boolean kzm=(kmzFile.exists());
- System.out.println(kzm);
- System.out.println(kmzFile);
- if (!kzm) {
- System.out.println(kzm);
- // 如果文件不存在，返回404 Not Found响应
- return ResponseEntity.status(HttpStatus.NOT_FOUND).body(null);
- }
- HttpHeaders headers = new HttpHeaders();
- headers.add(HttpHeaders.CONTENT_DISPOSITION, "attachment; filename=\"" + name + "\"");
- headers.add(HttpHeaders.CONTENT_TYPE, MediaType.APPLICATION_OCTET_STREAM_VALUE);
- return ResponseEntity.ok().headers(headers).contentLength(kmzFile.length()).
- contentType(MediaType.APPLICATION_OCTET_STREAM).body(new FileSystemResource(kmzFile));
- } catch (Exception e) {
- e.printStackTrace();
- return ResponseEntity.status(HttpStatus.INTERNAL_SERVER_ERROR).body(null);
- }
- }
}
diff --git a/src/main/java/com/dji/sample/patches/utils/FormatConversionUtil.java b/src/main/java/com/dji/sample/patches/utils/FormatConversionUtil.java
index 6d66005..f220536 100644
--- a/src/main/java/com/dji/sample/patches/utils/FormatConversionUtil.java
+++ b/src/main/java/com/dji/sample/patches/utils/FormatConversionUtil.java
@@ -1,8 +1,25 @@
package com.dji.sample.patches.utils;
-import java.util.List;
+import com.dji.sample.patches.model.entity.LotInfo;
+import org.geotools.geometry.jts.JTSFactoryFinder;
+import org.locationtech.jts.geom.Coordinate;
+import org.locationtech.jts.geom.Geometry;
+import org.locationtech.jts.geom.Point;
+import org.locationtech.jts.io.ParseException;
+import org.locationtech.jts.io.WKTReader;
+
+import java.io.UnsupportedEncodingException;
+import java.net.URLEncoder;
+import java.nio.charset.StandardCharsets;
+import java.util.*;
+import java.util.concurrent.atomic.AtomicReference;
+
+import static com.dji.sample.patches.utils.GeoToolsUtil.getCentro;
+import static com.dji.sample.patches.utils.GeoToolsUtil.getExtremePoints;
public class FormatConversionUtil {
+ static String str = "";
+ //优化Polygon格式
public static String[] formatConversion(List<String> s) {
String str = s.toString().trim();
String ses = str.substring(1, str.length() - 2);
@@ -12,7 +29,7 @@
String[] arr1 = see.split("],");
return arr1;
}
-
+ //优化Polygon格式
public static String modifySpacesAndCommas(String str) {
StringBuilder modified = new StringBuilder();
for (char c : str.toCharArray()) {
@@ -26,4 +43,33 @@
}
return modified.toString();
}
+ //获取Polygon的中心点,X轴和Y轴
+ public static String getCentros(List<LotInfo> list) {
+ List<Coordinate> centros = new ArrayList<>();
+ List<List<Coordinate>> extremePoints = new ArrayList<>();
+ Map<Coordinate, List<Coordinate>> points = new HashMap<>();
+ list.forEach(patche -> {
+ String wkt = patche.getDkfw();
+ // 解析WKT字符串为多边形
+ WKTReader wktReader = new WKTReader(JTSFactoryFinder.getGeometryFactory());
+ Geometry polygon = null;
+ try {
+ polygon = wktReader.read(wkt);
+ } catch (ParseException e) {
+ throw new RuntimeException(e);
+ }
+
+ // 开始封装中心点坐标
+ Coordinate coordinateCentro = getCentro(polygon);
+ centros.add(coordinateCentro);
+ str = coordinateCentro.toString();
+ // 开始封装图斑4个航线
+ List<Coordinate> coordinatePointList = getExtremePoints(polygon);
+ extremePoints.add(coordinatePointList);
+ points.put(coordinateCentro, coordinatePointList);
+
+ });
+ return str;
+ }
+
}
diff --git a/src/main/java/com/dji/sample/patches/utils/MultipartFileTOFileUtil.java b/src/main/java/com/dji/sample/patches/utils/MultipartFileTOFileUtil.java
index 8e11c2a..2f94bf1 100644
--- a/src/main/java/com/dji/sample/patches/utils/MultipartFileTOFileUtil.java
+++ b/src/main/java/com/dji/sample/patches/utils/MultipartFileTOFileUtil.java
@@ -1,19 +1,22 @@
package com.dji.sample.patches.utils;
+import org.apache.http.entity.ContentType;
+import org.apache.tomcat.util.http.fileupload.FileItem;
+import org.springframework.http.MediaType;
+import org.springframework.mock.web.MockMultipartFile;
import org.springframework.web.multipart.MultipartFile;
+import org.springframework.web.multipart.commons.CommonsMultipartFile;
-import java.io.File;
-import java.io.FileOutputStream;
-import java.io.InputStream;
+import java.io.*;
import java.util.UUID;
public class MultipartFileTOFileUtil {
-
+ //MultiparFile转File
public File multipartFile2File(MultipartFile multipartFile) {
String tmpFileDir = null;
// 创建临时文件
String randomFileName = UUID.randomUUID().toString();
- tmpFileDir = "/home/drone/server/temp/" + randomFileName;
+ tmpFileDir = "D:/tmp/" + randomFileName;
File file = new File(tmpFileDir);
InputStream inputStream = null;
FileOutputStream outputStream = null;
@@ -38,4 +41,13 @@
ZipUtil.deleteFiles(tmpFileDir);
return file;
}
+
+ //File转MultiparFile
+ public static MultipartFile convert(File file) throws IOException {
+ FileInputStream input = new FileInputStream(file);
+ MultipartFile multipartFile = new MockMultipartFile("file",
+ file.getName(), "application/octet-stream", input);
+ return multipartFile;
+ }
+
}
diff --git a/src/main/java/com/dji/sample/patches/utils/ShapeFileUtil.java b/src/main/java/com/dji/sample/patches/utils/ShapeFileUtil.java
index c1a8a54..baeb13d 100644
--- a/src/main/java/com/dji/sample/patches/utils/ShapeFileUtil.java
+++ b/src/main/java/com/dji/sample/patches/utils/ShapeFileUtil.java
@@ -17,14 +17,8 @@
import java.util.*;
public class ShapeFileUtil {
- /*
- * @param zipFile: 压缩包文件地址
- * @return FeatureCollection
- * @author pangshicheng
- * @description 解析shp压缩包，并返回解析出的 FeatureCollection
- * @date 2023/7/18 16:02
- */
+ //将文件解压
public static FeatureCollection getFeatureCollectionByShpFile(File zipFile) throws IOException {
try {
String tempDir = FileUtil.getTmpDirPath();
@@ -61,10 +55,9 @@
/**
* @param zipFile:
* @return JSONObject
- * @author pangshicheng
* @description 通过shp压缩文件，将其转换为GeoJson格式
- * @date 2023/7/18 16:04
*/
+ //将解压后的文件转换成GeoJson格式
public static List<String> shpToGeoJson(File zipFile) throws IOException {
FeatureJSON fjson = new FeatureJSON();
JSONObject geoJsonObject = new JSONObject();
diff --git a/src/main/java/com/dji/sample/patches/utils/ZipUtil.java b/src/main/java/com/dji/sample/patches/utils/ZipUtil.java
index cb593bc..4afa3d9 100644
--- a/src/main/java/com/dji/sample/patches/utils/ZipUtil.java
+++ b/src/main/java/com/dji/sample/patches/utils/ZipUtil.java
@@ -13,23 +13,8 @@
import java.util.zip.ZipEntry;
import java.util.zip.ZipFile;
import java.util.zip.ZipOutputStream;
-
-/**
- * @author soulmate丶
- * @date 2021-10-26
- */
@Configuration
public class ZipUtil {
-
-
- /**
- * 保存zip文件到本地并调用解压方法并返回解压出的文件的路径集合
- *
- * @param file 文件
- * @return list //解压出的文件的路径合集
- */
- private static String zipPath = "D:/ceshi/tuban.zip";//zip根路径
-
/**
* zip解压
*
@@ -126,6 +111,7 @@
// 空文件的删除
file.delete();
}
+
// 定义一个公共的静态方法zipFolder，用于压缩文件夹
// 参数sourceFolderPath是源文件夹的路径，zipFilePath是压缩后的zip文件路径
public static boolean zipFolder(String sourceFolderPath, String zipFilePath) {
@@ -147,7 +133,7 @@
return false;
}
- // 定义一个私有的静态方法zipFile，用于递归地压缩文件和文件夹
+ // 将文件夹整体压缩
// 参数fileToZip是需要被压缩的文件或文件夹，fileName是其在zip中的名称，zos是ZipOutputStream对象
private static void zipFile(File fileToZip, String fileName, ZipOutputStream zos) throws IOException {
// 如果fileToZip是一个隐藏文件，则不进行压缩，直接返回
@@ -190,68 +176,4 @@
// 关闭FileInputStream对象，释放资源
fis.close();
}
- public static void compressAndRename(String sourceFilePath, String destinationZipFilePath, String newFileName) throws IOException {
- FileOutputStream fos = new FileOutputStream(destinationZipFilePath);
- ZipOutputStream zos = new ZipOutputStream(fos);
-
- File file = new File(sourceFilePath);
- FileInputStream fis = new FileInputStream(file);
-
- ZipEntry zipEntry = new ZipEntry(newFileName);
- zos.putNextEntry(zipEntry);
-
- byte[] bytes = new byte[1024];
- int length;
- while ((length = fis.read(bytes)) >= 0) {
- zos.write(bytes, 0, length);
- }
-
- zos.closeEntry();
- fis.close();
- zos.close();
- }
-
- public static void compressToKMZ(String kmlFilePath, String wpmlFilePath, String destinationKMZFilePath) throws IOException {
- FileOutputStream fos = new FileOutputStream(destinationKMZFilePath);
- ZipOutputStream zos = new ZipOutputStream(fos);
-
- byte[] buffer = new byte[1024];
-
- // 添加KML文件
- addFileToKMZ(zos, kmlFilePath, "doc.kml", buffer);
-
- // 添加WPML文件
- addFileToKMZ(zos, wpmlFilePath, "data.wpml", buffer);
-
- zos.close();
- }
-
- private static void addFileToKMZ(ZipOutputStream zos, String filePath, String entryName, byte[] buffer) throws IOException {
- File file = new File(filePath);
- FileInputStream fis = new FileInputStream(file);
- ZipEntry zipEntry = new ZipEntry(entryName);
- zos.putNextEntry(zipEntry);
-
- int length;
- while ((length = fis.read(buffer)) > 0) {
- zos.write(buffer, 0, length);
- }
-
- fis.close();
- zos.closeEntry();
- }
- public static void main(String[] args) throws IOException {
- String kmzFileName="航线001";
- String kmlFilePath = "src/main/resources/template/wpmz/template.kml"; // KML文件路径
- String wpmlFilePath = "src/main/resources/template/wpmz/waylines.wpml"; // WPML文件路径
- String destinationKMZFilePath = "src/main/resources/template/zip/" + kmzFileName + ".kmz";
- try {
- compressToKMZ(kmlFilePath, wpmlFilePath, destinationKMZFilePath);
- System.out.println("Files compressed to KMZ successfully.");
- } catch (IOException e) {
- e.printStackTrace();
- System.out.println("Error compressing files to KMZ: " + e.getMessage());
- }
- }
-}
-
+}
\ No newline at end of file
diff --git a/src/main/java/com/dji/sample/patches/xml/utils/CreateWaylineFileUtils.java b/src/main/java/com/dji/sample/patches/xml/utils/CreateWaylineFileUtils.java
index c64ff26..0bd0cb8 100644
--- a/src/main/java/com/dji/sample/patches/xml/utils/CreateWaylineFileUtils.java
+++ b/src/main/java/com/dji/sample/patches/xml/utils/CreateWaylineFileUtils.java
@@ -22,8 +22,8 @@
* @param xmlModel
*/
public static void createWaylineFile(XMLTemplateModel xmlModel) {
- 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");
+ xml2XmlDoc(xmlModel, "home\\drone\\server\\template\\template.xml", "home\\drone\\server\\template\\wpmz\\template.kml");
+ xml2XmlDoc(xmlModel, "home\\drone\\server\\template\\waylines.xml", "home\\drone\\server\\template\\wpmz\\waylines.wpml");
}
/**
diff --git a/src/main/java/com/dji/sample/summarize/controller/SummarizeController.java b/src/main/java/com/dji/sample/summarize/controller/SummarizeController.java
index 728d3f8..1e225b2 100644
--- a/src/main/java/com/dji/sample/summarize/controller/SummarizeController.java
+++ b/src/main/java/com/dji/sample/summarize/controller/SummarizeController.java
@@ -7,7 +7,7 @@
import org.springframework.web.bind.annotation.*;
@RestController
-@RequestMapping("${url.summarize.prefix}${url.summarize.version}")
+@RequestMapping("${url.summarize.prefix}${url.summarize.version}/Summarize")
public class SummarizeController {
@Autowired
private SummarizeService summarizeService;
diff --git a/src/main/java/com/dji/sample/wayline/service/IWaylineFileService.java b/src/main/java/com/dji/sample/wayline/service/IWaylineFileService.java
index b1fb293..13a3a5b 100644
--- a/src/main/java/com/dji/sample/wayline/service/IWaylineFileService.java
+++ b/src/main/java/com/dji/sample/wayline/service/IWaylineFileService.java
@@ -84,6 +84,9 @@
*/
void importKmzFile(MultipartFile file, String workspaceId, String creator);
+ WaylineFileDTO importKmzFileBack (MultipartFile file, String workspaceId, String creator);
+ WaylineFileEntity selectByName(String name);
+
List<WaylineListDTO> waylineList(String workspaceId,String droneName);
int updateWayline(WaylineFileEntity entity);
diff --git a/src/main/java/com/dji/sample/wayline/service/impl/WaylineFileServiceImpl.java b/src/main/java/com/dji/sample/wayline/service/impl/WaylineFileServiceImpl.java
index a90846f..449316f 100644
--- a/src/main/java/com/dji/sample/wayline/service/impl/WaylineFileServiceImpl.java
+++ b/src/main/java/com/dji/sample/wayline/service/impl/WaylineFileServiceImpl.java
@@ -9,6 +9,7 @@
import com.dji.sample.component.oss.model.OssConfiguration;
import com.dji.sample.component.oss.service.impl.OssServiceContext;
import com.dji.sample.manage.model.enums.DeviceDomainEnum;
+import com.dji.sample.summarize.model.entity.FlyInfo;
import com.dji.sample.wayline.dao.IWaylineFileMapper;
import com.dji.sample.wayline.model.dto.KmzFileProperties;
import com.dji.sample.wayline.model.dto.WaylineFileDTO;
@@ -28,7 +29,6 @@
import org.springframework.util.StringUtils;
import org.springframework.web.multipart.MultipartFile;
-import java.io.File;
import java.io.IOException;
import java.io.InputStream;
import java.net.URL;
@@ -182,6 +182,33 @@
}
@Override
+ public WaylineFileDTO importKmzFileBack(MultipartFile file, String workspaceId, String creator) {
+ WaylineFileDTO waylineFile=null;
+ Optional<WaylineFileDTO> waylineFileOpt = validKmzFile(file);
+ if (waylineFileOpt.isEmpty()) {
+ throw new RuntimeException("文件格式错误");
+ }
+
+ try {
+ waylineFile = waylineFileOpt.get();
+ waylineFile.setWaylineId(workspaceId);
+ waylineFile.setUsername(creator);
+
+ ossService.putObject(OssConfiguration.bucket, waylineFile.getObjectKey(), file.getInputStream());
+ this.saveWaylineFile(workspaceId, waylineFile);
+
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
+ return waylineFile;
+ }
+
+ @Override
+ public WaylineFileEntity selectByName(String name) {
+ return mapper.selectOne(new LambdaQueryWrapper<WaylineFileEntity>().eq(WaylineFileEntity::getName,name));
+ }
+
+ @Override
public List<WaylineListDTO> waylineList(String workspaceId,String droneName) {
LambdaQueryChainWrapper<WaylineFileEntity> wrapper =
new LambdaQueryChainWrapper<>(mapper).eq(WaylineFileEntity::getWorkspaceId, workspaceId);
diff --git a/src/main/resources/template/wpmz/template.kml b/src/main/resources/template/wpmz/template.kml
index ecce99d..49bd06f 100644
--- a/src/main/resources/template/wpmz/template.kml
+++ 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>1712109755073</wpml:createTime>
- <wpml:updateTime>1712109755073</wpml:updateTime>
+ <wpml:createTime>1712570792248</wpml:createTime>
+ <wpml:updateTime>1712570792248</wpml:updateTime>
<!-- 步骤2:设置任务配置 -->
<wpml:missionConfig>
<wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
@@ -12,7 +12,7 @@
<wpml:exitOnRCLost>executeLostAction</wpml:exitOnRCLost>
<wpml:executeRCLostAction>goBack</wpml:executeRCLostAction>
<wpml:takeOffSecurityHeight>20</wpml:takeOffSecurityHeight>
- <wpml:takeOffRefPoint>28.624514734,115.856725497,0</wpml:takeOffRefPoint>
+ <wpml:takeOffRefPoint>28.624514733999998,115.85672549700001,0</wpml:takeOffRefPoint>
<wpml:takeOffRefPointAGLHeight>0</wpml:takeOffRefPointAGLHeight>
<wpml:globalTransitionalSpeed>10</wpml:globalTransitionalSpeed>
<wpml:globalRTHHeight>100</wpml:globalRTHHeight>
@@ -53,7 +53,7 @@
<Point>
<!-- 经度和纬度 -->
<coordinates>
- 115.86002109342,28.6202713913694
+ 115.86,28.6203
</coordinates>
</Point>
<wpml:index>0</wpml:index>
@@ -91,7 +91,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh01</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -120,7 +120,7 @@
<Point>
<!-- 经度和纬度 -->
<coordinates>
- 115.86002109342,28.6142037658042
+ 115.86,28.6142
</coordinates>
</Point>
<wpml:index>1</wpml:index>
@@ -158,7 +158,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh01</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -187,7 +187,7 @@
<Point>
<!-- 经度和纬度 -->
<coordinates>
- 115.866374254306,28.6142037658042
+ 115.8664,28.6142
</coordinates>
</Point>
<wpml:index>2</wpml:index>
@@ -225,7 +225,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh01</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -254,7 +254,7 @@
<Point>
<!-- 经度和纬度 -->
<coordinates>
- 115.866374254306,28.6202713913694
+ 115.8664,28.6203
</coordinates>
</Point>
<wpml:index>3</wpml:index>
@@ -292,7 +292,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh01</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -321,7 +321,7 @@
<Point>
<!-- 经度和纬度 -->
<coordinates>
- 115.86425430209,28.6357383285408
+ 115.86,28.6203
</coordinates>
</Point>
<wpml:index>4</wpml:index>
@@ -359,7 +359,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh02</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -388,7 +388,7 @@
<Point>
<!-- 经度和纬度 -->
<coordinates>
- 115.86425430209,28.633120921433
+ 115.86,28.6142
</coordinates>
</Point>
<wpml:index>5</wpml:index>
@@ -426,7 +426,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh02</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -455,7 +455,7 @@
<Point>
<!-- 经度和纬度 -->
<coordinates>
- 115.866977149064,28.633120921433
+ 115.8664,28.6142
</coordinates>
</Point>
<wpml:index>6</wpml:index>
@@ -493,7 +493,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh02</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -522,7 +522,7 @@
<Point>
<!-- 经度和纬度 -->
<coordinates>
- 115.866977149064,28.6357383285408
+ 115.8664,28.6203
</coordinates>
</Point>
<wpml:index>7</wpml:index>
@@ -560,7 +560,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh02</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -589,7 +589,7 @@
<Point>
<!-- 经度和纬度 -->
<coordinates>
- 115.838147600941,28.618654178036
+ 115.8643,28.6357
</coordinates>
</Point>
<wpml:index>8</wpml:index>
@@ -627,7 +627,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh03</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh1</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -656,7 +656,7 @@
<Point>
<!-- 经度和纬度 -->
<coordinates>
- 115.838147600941,28.6160843601496
+ 115.8643,28.6331
</coordinates>
</Point>
<wpml:index>9</wpml:index>
@@ -694,7 +694,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh03</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh1</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -723,7 +723,7 @@
<Point>
<!-- 经度和纬度 -->
<coordinates>
- 115.841288489469,28.6160843601496
+ 115.867,28.6331
</coordinates>
</Point>
<wpml:index>10</wpml:index>
@@ -761,7 +761,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh03</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh1</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -790,7 +790,7 @@
<Point>
<!-- 经度和纬度 -->
<coordinates>
- 115.841288489469,28.618654178036
+ 115.867,28.6357
</coordinates>
</Point>
<wpml:index>11</wpml:index>
@@ -828,7 +828,4563 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh03</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh1</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>
+ 115.8643,28.6357
+ </coordinates>
+ </Point>
+ <wpml:index>12</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>0</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>13</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>13</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>13</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dkbh1</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>
+ 115.8643,28.6331
+ </coordinates>
+ </Point>
+ <wpml:index>13</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>0</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>14</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>14</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>14</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dkbh1</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>
+ 115.867,28.6331
+ </coordinates>
+ </Point>
+ <wpml:index>14</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>0</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>15</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>15</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>15</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dkbh1</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>
+ 115.867,28.6357
+ </coordinates>
+ </Point>
+ <wpml:index>15</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>0</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>16</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>16</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>16</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dkbh1</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>
+ 115.841,28.6317
+ </coordinates>
+ </Point>
+ <wpml:index>16</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>0</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>17</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>17</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>17</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dkbh2</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>
+ 115.841,28.6305
+ </coordinates>
+ </Point>
+ <wpml:index>17</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>0</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>18</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>18</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>18</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dkbh2</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>
+ 115.844,28.6305
+ </coordinates>
+ </Point>
+ <wpml:index>18</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>0</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>19</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>19</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>19</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dkbh2</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>
+ 115.844,28.6317
+ </coordinates>
+ </Point>
+ <wpml:index>19</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>0</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>20</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>20</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>20</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dkbh2</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>
+ 115.841,28.6317
+ </coordinates>
+ </Point>
+ <wpml:index>20</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>0</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>21</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>21</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>21</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dkbh2</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>
+ 115.841,28.6305
+ </coordinates>
+ </Point>
+ <wpml:index>21</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>0</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>22</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>22</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>22</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dkbh2</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>
+ 115.844,28.6305
+ </coordinates>
+ </Point>
+ <wpml:index>22</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>0</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>23</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>23</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>23</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dkbh2</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>
+ 115.844,28.6317
+ </coordinates>
+ </Point>
+ <wpml:index>23</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>0</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>24</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>24</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>24</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dkbh2</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>
+ 115.8381,28.6187
+ </coordinates>
+ </Point>
+ <wpml:index>24</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>0</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>25</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>25</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>25</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dkbh3</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>
+ 115.8381,28.6161
+ </coordinates>
+ </Point>
+ <wpml:index>25</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>0</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>26</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>26</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>26</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dkbh3</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>
+ 115.8413,28.6161
+ </coordinates>
+ </Point>
+ <wpml:index>26</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>0</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>27</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>27</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>27</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dkbh3</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>
+ 115.8413,28.6187
+ </coordinates>
+ </Point>
+ <wpml:index>27</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>0</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>28</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>28</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>28</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dkbh3</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>
+ 115.8381,28.6187
+ </coordinates>
+ </Point>
+ <wpml:index>28</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>0</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>29</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>29</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>29</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dkbh3</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>
+ 115.8381,28.6161
+ </coordinates>
+ </Point>
+ <wpml:index>29</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>0</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>30</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>30</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>30</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dkbh3</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>
+ 115.8413,28.6161
+ </coordinates>
+ </Point>
+ <wpml:index>30</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>0</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>31</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>31</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>31</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dkbh3</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>
+ 115.8413,28.6187
+ </coordinates>
+ </Point>
+ <wpml:index>31</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>0</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>32</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>32</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>32</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dkbh3</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>
+ 115.8059,28.6239
+ </coordinates>
+ </Point>
+ <wpml:index>32</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>0</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>33</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>33</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>33</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dkbh4</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>
+ 115.8059,28.622
+ </coordinates>
+ </Point>
+ <wpml:index>33</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>0</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>34</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>34</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>34</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dkbh4</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>
+ 115.8102,28.622
+ </coordinates>
+ </Point>
+ <wpml:index>34</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>0</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>35</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>35</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>35</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dkbh4</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>
+ 115.8102,28.6239
+ </coordinates>
+ </Point>
+ <wpml:index>35</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>0</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>36</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>36</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>36</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dkbh4</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>
+ 115.8059,28.6239
+ </coordinates>
+ </Point>
+ <wpml:index>36</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>0</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>37</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>37</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>37</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dkbh4</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>
+ 115.8059,28.622
+ </coordinates>
+ </Point>
+ <wpml:index>37</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>0</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>38</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>38</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>38</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dkbh4</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>
+ 115.8102,28.622
+ </coordinates>
+ </Point>
+ <wpml:index>38</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>0</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>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>
+ <!-- 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dkbh4</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>
+ 115.8102,28.6239
+ </coordinates>
+ </Point>
+ <wpml:index>39</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>0</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>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>
+ </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dkbh4</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>
+ 115.8297,28.6659
+ </coordinates>
+ </Point>
+ <wpml:index>40</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>0</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>41</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>41</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>41</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dkbh5</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>
+ 115.8297,28.6604
+ </coordinates>
+ </Point>
+ <wpml:index>41</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>0</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>42</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>42</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>42</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dkbh5</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>
+ 115.837,28.6604
+ </coordinates>
+ </Point>
+ <wpml:index>42</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>0</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>43</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>43</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>43</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dkbh5</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>
+ 115.837,28.6659
+ </coordinates>
+ </Point>
+ <wpml:index>43</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>0</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>44</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>44</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>44</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dkbh5</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>
+ 115.8297,28.6659
+ </coordinates>
+ </Point>
+ <wpml:index>44</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>0</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>45</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>45</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>45</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dkbh5</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>
+ 115.8297,28.6604
+ </coordinates>
+ </Point>
+ <wpml:index>45</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>0</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>46</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>46</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>46</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dkbh5</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>
+ 115.837,28.6604
+ </coordinates>
+ </Point>
+ <wpml:index>46</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>0</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>47</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>47</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>47</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dkbh5</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>
+ 115.837,28.6659
+ </coordinates>
+ </Point>
+ <wpml:index>47</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>0</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>48</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>48</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>48</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dkbh5</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>
+ 115.8575,28.6791
+ </coordinates>
+ </Point>
+ <wpml:index>48</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>0</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>49</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>49</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>49</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dkbh6</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>
+ 115.8575,28.6762
+ </coordinates>
+ </Point>
+ <wpml:index>49</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>0</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>50</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>50</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>50</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dkbh6</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>
+ 115.8637,28.6762
+ </coordinates>
+ </Point>
+ <wpml:index>50</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>0</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>51</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>51</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>51</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dkbh6</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>
+ 115.8637,28.6791
+ </coordinates>
+ </Point>
+ <wpml:index>51</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>0</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>52</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>52</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>52</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dkbh6</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>
+ 115.8575,28.6791
+ </coordinates>
+ </Point>
+ <wpml:index>52</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>0</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>53</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>53</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>53</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dkbh6</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>
+ 115.8575,28.6762
+ </coordinates>
+ </Point>
+ <wpml:index>53</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>0</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>54</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>54</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>54</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dkbh6</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>
+ 115.8637,28.6762
+ </coordinates>
+ </Point>
+ <wpml:index>54</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>0</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>55</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>55</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>55</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dkbh6</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>
+ 115.8637,28.6791
+ </coordinates>
+ </Point>
+ <wpml:index>55</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>0</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>56</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>56</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>56</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dkbh6</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>
+ 115.9122,28.6232
+ </coordinates>
+ </Point>
+ <wpml:index>56</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>0</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>57</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>57</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>57</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dkbh7</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>
+ 115.9122,28.6212
+ </coordinates>
+ </Point>
+ <wpml:index>57</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>0</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>58</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>58</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>58</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dkbh7</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>
+ 115.916,28.6212
+ </coordinates>
+ </Point>
+ <wpml:index>58</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>0</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>59</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>59</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>59</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dkbh7</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>
+ 115.916,28.6232
+ </coordinates>
+ </Point>
+ <wpml:index>59</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>0</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>60</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>60</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>60</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dkbh7</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>
+ 115.9122,28.6232
+ </coordinates>
+ </Point>
+ <wpml:index>60</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>0</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>61</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>61</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>61</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dkbh7</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>
+ 115.9122,28.6212
+ </coordinates>
+ </Point>
+ <wpml:index>61</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>0</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>62</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>62</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>62</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dkbh7</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>
+ 115.916,28.6212
+ </coordinates>
+ </Point>
+ <wpml:index>62</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>0</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>63</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>63</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>63</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dkbh7</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>
+ 115.916,28.6232
+ </coordinates>
+ </Point>
+ <wpml:index>63</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>0</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>64</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>64</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>64</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dkbh7</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>
+ 115.8834,28.5772
+ </coordinates>
+ </Point>
+ <wpml:index>64</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>0</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>65</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>65</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>65</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dkbh8</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>
+ 115.8834,28.5721
+ </coordinates>
+ </Point>
+ <wpml:index>65</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>0</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>66</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>66</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>66</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dkbh8</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>
+ 115.8875,28.5721
+ </coordinates>
+ </Point>
+ <wpml:index>66</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>0</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>67</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>67</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>67</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dkbh8</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>
+ 115.8875,28.5772
+ </coordinates>
+ </Point>
+ <wpml:index>67</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>0</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>68</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>68</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>68</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dkbh8</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>
+ 115.8834,28.5772
+ </coordinates>
+ </Point>
+ <wpml:index>68</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>0</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>69</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>69</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>69</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dkbh8</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>
+ 115.8834,28.5721
+ </coordinates>
+ </Point>
+ <wpml:index>69</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>0</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>70</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>70</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>70</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dkbh8</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>
+ 115.8875,28.5721
+ </coordinates>
+ </Point>
+ <wpml:index>70</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>0</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>71</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>71</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>71</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dkbh8</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>
+ 115.8875,28.5772
+ </coordinates>
+ </Point>
+ <wpml:index>71</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>0</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>72</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>72</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>72</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dkbh8</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>
+ 115.8576,28.5751
+ </coordinates>
+ </Point>
+ <wpml:index>72</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>0</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>73</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>73</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>73</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dkbh9</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>
+ 115.8576,28.5729
+ </coordinates>
+ </Point>
+ <wpml:index>73</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>0</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>74</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>74</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>74</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dkbh9</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>
+ 115.8591,28.5729
+ </coordinates>
+ </Point>
+ <wpml:index>74</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>0</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>75</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>75</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>75</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dkbh9</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>
+ 115.8591,28.5751
+ </coordinates>
+ </Point>
+ <wpml:index>75</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>0</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>76</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>76</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>76</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dkbh9</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>
+ 115.8576,28.5751
+ </coordinates>
+ </Point>
+ <wpml:index>76</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>0</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>77</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>77</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>77</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dkbh9</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>
+ 115.8576,28.5729
+ </coordinates>
+ </Point>
+ <wpml:index>77</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>0</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>78</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>78</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>78</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dkbh9</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>
+ 115.8591,28.5729
+ </coordinates>
+ </Point>
+ <wpml:index>78</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>0</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>79</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>79</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>79</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dkbh9</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>
+ 115.8591,28.5751
+ </coordinates>
+ </Point>
+ <wpml:index>79</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>0</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>80</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>80</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>80</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dkbh9</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
diff --git a/src/main/resources/template/wpmz/waylines.wpml b/src/main/resources/template/wpmz/waylines.wpml
index 44a725c..8d63617 100644
--- a/src/main/resources/template/wpmz/waylines.wpml
+++ b/src/main/resources/template/wpmz/waylines.wpml
@@ -27,7 +27,7 @@
<Placemark>
<Point>
<coordinates>
- 115.86002109342,28.6202713913694
+ 115.86,28.6203
</coordinates>
</Point>
<wpml:index>0</wpml:index>
@@ -58,7 +58,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh01</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -85,7 +85,7 @@
<Placemark>
<Point>
<coordinates>
- 115.86002109342,28.6142037658042
+ 115.86,28.6142
</coordinates>
</Point>
<wpml:index>1</wpml:index>
@@ -116,7 +116,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh01</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -143,7 +143,7 @@
<Placemark>
<Point>
<coordinates>
- 115.866374254306,28.6142037658042
+ 115.8664,28.6142
</coordinates>
</Point>
<wpml:index>2</wpml:index>
@@ -174,7 +174,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh01</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -201,7 +201,7 @@
<Placemark>
<Point>
<coordinates>
- 115.866374254306,28.6202713913694
+ 115.8664,28.6203
</coordinates>
</Point>
<wpml:index>3</wpml:index>
@@ -232,7 +232,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh01</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -259,7 +259,7 @@
<Placemark>
<Point>
<coordinates>
- 115.86425430209,28.6357383285408
+ 115.86,28.6203
</coordinates>
</Point>
<wpml:index>4</wpml:index>
@@ -290,7 +290,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh02</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -317,7 +317,7 @@
<Placemark>
<Point>
<coordinates>
- 115.86425430209,28.633120921433
+ 115.86,28.6142
</coordinates>
</Point>
<wpml:index>5</wpml:index>
@@ -348,7 +348,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh02</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -375,7 +375,7 @@
<Placemark>
<Point>
<coordinates>
- 115.866977149064,28.633120921433
+ 115.8664,28.6142
</coordinates>
</Point>
<wpml:index>6</wpml:index>
@@ -406,7 +406,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh02</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -433,7 +433,7 @@
<Placemark>
<Point>
<coordinates>
- 115.866977149064,28.6357383285408
+ 115.8664,28.6203
</coordinates>
</Point>
<wpml:index>7</wpml:index>
@@ -464,7 +464,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh02</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh0</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -491,7 +491,7 @@
<Placemark>
<Point>
<coordinates>
- 115.838147600941,28.618654178036
+ 115.8643,28.6357
</coordinates>
</Point>
<wpml:index>8</wpml:index>
@@ -522,7 +522,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh03</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh1</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -549,7 +549,7 @@
<Placemark>
<Point>
<coordinates>
- 115.838147600941,28.6160843601496
+ 115.8643,28.6331
</coordinates>
</Point>
<wpml:index>9</wpml:index>
@@ -580,7 +580,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh03</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh1</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -607,7 +607,7 @@
<Placemark>
<Point>
<coordinates>
- 115.841288489469,28.6160843601496
+ 115.867,28.6331
</coordinates>
</Point>
<wpml:index>10</wpml:index>
@@ -638,7 +638,7 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh03</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh1</wpml:fileSuffix>
<wpml:payloadLensIndex>wide,ir</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
@@ -665,7 +665,7 @@
<Placemark>
<Point>
<coordinates>
- 115.841288489469,28.618654178036
+ 115.867,28.6357
</coordinates>
</Point>
<wpml:index>11</wpml:index>
@@ -696,7 +696,3951 @@
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
- <wpml:fileSuffix>航点dkbh03</wpml:fileSuffix>
+ <wpml:fileSuffix>航点dkbh1</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>
+ 115.8643,28.6357
+ </coordinates>
+ </Point>
+ <wpml:index>12</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>13</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>13</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>13</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dkbh1</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>
+ 115.8643,28.6331
+ </coordinates>
+ </Point>
+ <wpml:index>13</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>14</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>14</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>14</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dkbh1</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>
+ 115.867,28.6331
+ </coordinates>
+ </Point>
+ <wpml:index>14</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>15</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>15</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>15</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dkbh1</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>
+ 115.867,28.6357
+ </coordinates>
+ </Point>
+ <wpml:index>15</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>16</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>16</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>16</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dkbh1</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>
+ 115.841,28.6317
+ </coordinates>
+ </Point>
+ <wpml:index>16</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>17</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>17</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>17</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dkbh2</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>
+ 115.841,28.6305
+ </coordinates>
+ </Point>
+ <wpml:index>17</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>18</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>18</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>18</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dkbh2</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>
+ 115.844,28.6305
+ </coordinates>
+ </Point>
+ <wpml:index>18</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>19</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>19</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>19</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dkbh2</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>
+ 115.844,28.6317
+ </coordinates>
+ </Point>
+ <wpml:index>19</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>20</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>20</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>20</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dkbh2</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>
+ 115.841,28.6317
+ </coordinates>
+ </Point>
+ <wpml:index>20</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>21</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>21</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>21</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dkbh2</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>
+ 115.841,28.6305
+ </coordinates>
+ </Point>
+ <wpml:index>21</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>22</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>22</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>22</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dkbh2</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>
+ 115.844,28.6305
+ </coordinates>
+ </Point>
+ <wpml:index>22</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>23</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>23</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>23</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dkbh2</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>
+ 115.844,28.6317
+ </coordinates>
+ </Point>
+ <wpml:index>23</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>24</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>24</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>24</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dkbh2</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>
+ 115.8381,28.6187
+ </coordinates>
+ </Point>
+ <wpml:index>24</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>25</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>25</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>25</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dkbh3</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>
+ 115.8381,28.6161
+ </coordinates>
+ </Point>
+ <wpml:index>25</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>26</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>26</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>26</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dkbh3</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>
+ 115.8413,28.6161
+ </coordinates>
+ </Point>
+ <wpml:index>26</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>27</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>27</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>27</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dkbh3</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>
+ 115.8413,28.6187
+ </coordinates>
+ </Point>
+ <wpml:index>27</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>28</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>28</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>28</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dkbh3</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>
+ 115.8381,28.6187
+ </coordinates>
+ </Point>
+ <wpml:index>28</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>29</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>29</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>29</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dkbh3</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>
+ 115.8381,28.6161
+ </coordinates>
+ </Point>
+ <wpml:index>29</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>30</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>30</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>30</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dkbh3</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>
+ 115.8413,28.6161
+ </coordinates>
+ </Point>
+ <wpml:index>30</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>31</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>31</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>31</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dkbh3</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>
+ 115.8413,28.6187
+ </coordinates>
+ </Point>
+ <wpml:index>31</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>32</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>32</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>32</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dkbh3</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>
+ 115.8059,28.6239
+ </coordinates>
+ </Point>
+ <wpml:index>32</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>33</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>33</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>33</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dkbh4</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>
+ 115.8059,28.622
+ </coordinates>
+ </Point>
+ <wpml:index>33</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>34</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>34</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>34</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dkbh4</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>
+ 115.8102,28.622
+ </coordinates>
+ </Point>
+ <wpml:index>34</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>35</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>35</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>35</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dkbh4</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>
+ 115.8102,28.6239
+ </coordinates>
+ </Point>
+ <wpml:index>35</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>36</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>36</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>36</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dkbh4</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>
+ 115.8059,28.6239
+ </coordinates>
+ </Point>
+ <wpml:index>36</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>37</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>37</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>37</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dkbh4</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>
+ 115.8059,28.622
+ </coordinates>
+ </Point>
+ <wpml:index>37</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>38</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>38</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>38</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dkbh4</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>
+ 115.8102,28.622
+ </coordinates>
+ </Point>
+ <wpml:index>38</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>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dkbh4</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>
+ 115.8102,28.6239
+ </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>
+ </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dkbh4</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>
+ 115.8297,28.6659
+ </coordinates>
+ </Point>
+ <wpml:index>40</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>41</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>41</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>41</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dkbh5</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>
+ 115.8297,28.6604
+ </coordinates>
+ </Point>
+ <wpml:index>41</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>42</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>42</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>42</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dkbh5</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>
+ 115.837,28.6604
+ </coordinates>
+ </Point>
+ <wpml:index>42</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>43</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>43</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>43</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dkbh5</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>
+ 115.837,28.6659
+ </coordinates>
+ </Point>
+ <wpml:index>43</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>44</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>44</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>44</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dkbh5</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>
+ 115.8297,28.6659
+ </coordinates>
+ </Point>
+ <wpml:index>44</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>45</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>45</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>45</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dkbh5</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>
+ 115.8297,28.6604
+ </coordinates>
+ </Point>
+ <wpml:index>45</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>46</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>46</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>46</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dkbh5</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>
+ 115.837,28.6604
+ </coordinates>
+ </Point>
+ <wpml:index>46</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>47</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>47</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>47</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dkbh5</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>
+ 115.837,28.6659
+ </coordinates>
+ </Point>
+ <wpml:index>47</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>48</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>48</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>48</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dkbh5</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>
+ 115.8575,28.6791
+ </coordinates>
+ </Point>
+ <wpml:index>48</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>49</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>49</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>49</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dkbh6</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>
+ 115.8575,28.6762
+ </coordinates>
+ </Point>
+ <wpml:index>49</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>50</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>50</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>50</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dkbh6</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>
+ 115.8637,28.6762
+ </coordinates>
+ </Point>
+ <wpml:index>50</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>51</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>51</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>51</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dkbh6</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>
+ 115.8637,28.6791
+ </coordinates>
+ </Point>
+ <wpml:index>51</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>52</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>52</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>52</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dkbh6</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>
+ 115.8575,28.6791
+ </coordinates>
+ </Point>
+ <wpml:index>52</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>53</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>53</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>53</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dkbh6</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>
+ 115.8575,28.6762
+ </coordinates>
+ </Point>
+ <wpml:index>53</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>54</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>54</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>54</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dkbh6</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>
+ 115.8637,28.6762
+ </coordinates>
+ </Point>
+ <wpml:index>54</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>55</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>55</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>55</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dkbh6</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>
+ 115.8637,28.6791
+ </coordinates>
+ </Point>
+ <wpml:index>55</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>56</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>56</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>56</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dkbh6</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>
+ 115.9122,28.6232
+ </coordinates>
+ </Point>
+ <wpml:index>56</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>57</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>57</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>57</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dkbh7</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>
+ 115.9122,28.6212
+ </coordinates>
+ </Point>
+ <wpml:index>57</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>58</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>58</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>58</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dkbh7</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>
+ 115.916,28.6212
+ </coordinates>
+ </Point>
+ <wpml:index>58</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>59</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>59</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>59</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dkbh7</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>59</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>60</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>60</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>60</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dkbh7</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>
+ 115.9122,28.6232
+ </coordinates>
+ </Point>
+ <wpml:index>60</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>61</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>61</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>61</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dkbh7</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>
+ 115.9122,28.6212
+ </coordinates>
+ </Point>
+ <wpml:index>61</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>62</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>62</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>62</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dkbh7</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>
+ 115.916,28.6212
+ </coordinates>
+ </Point>
+ <wpml:index>62</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>63</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>63</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>63</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dkbh7</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>63</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>64</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>64</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>64</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dkbh7</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>
+ 115.8834,28.5772
+ </coordinates>
+ </Point>
+ <wpml:index>64</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>65</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>65</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>65</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dkbh8</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>
+ 115.8834,28.5721
+ </coordinates>
+ </Point>
+ <wpml:index>65</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>66</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>66</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>66</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dkbh8</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>
+ 115.8875,28.5721
+ </coordinates>
+ </Point>
+ <wpml:index>66</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>67</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>67</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>67</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dkbh8</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>
+ 115.8875,28.5772
+ </coordinates>
+ </Point>
+ <wpml:index>67</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>68</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>68</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>68</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dkbh8</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>
+ 115.8834,28.5772
+ </coordinates>
+ </Point>
+ <wpml:index>68</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>69</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>69</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>69</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dkbh8</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>
+ 115.8834,28.5721
+ </coordinates>
+ </Point>
+ <wpml:index>69</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>70</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>70</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>70</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dkbh8</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>
+ 115.8875,28.5721
+ </coordinates>
+ </Point>
+ <wpml:index>70</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>71</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>71</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>71</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dkbh8</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>
+ 115.8875,28.5772
+ </coordinates>
+ </Point>
+ <wpml:index>71</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>72</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>72</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>72</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dkbh8</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>
+ 115.8576,28.5751
+ </coordinates>
+ </Point>
+ <wpml:index>72</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>73</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>73</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>73</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>
+ 115.8576,28.5729
+ </coordinates>
+ </Point>
+ <wpml:index>73</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>74</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>74</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>74</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>
+ 115.8591,28.5729
+ </coordinates>
+ </Point>
+ <wpml:index>74</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>75</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>75</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>75</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>
+ 115.8591,28.5751
+ </coordinates>
+ </Point>
+ <wpml:index>75</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>76</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>76</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>76</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>
+ 115.8576,28.5751
+ </coordinates>
+ </Point>
+ <wpml:index>76</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>77</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>77</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>77</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>
+ 115.8576,28.5729
+ </coordinates>
+ </Point>
+ <wpml:index>77</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>78</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>78</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>78</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>
+ 115.8591,28.5729
+ </coordinates>
+ </Point>
+ <wpml:index>78</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>79</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>79</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>79</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>
+ 115.8591,28.5751
+ </coordinates>
+ </Point>
+ <wpml:index>79</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>80</wpml:actionGroupId>
+ <wpml:actionGroupStartIndex>80</wpml:actionGroupStartIndex>
+ <wpml:actionGroupEndIndex>80</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>
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