From f98b25a34d04c2acb9bf93e6cbd4e72fa2d81ba0 Mon Sep 17 00:00:00 2001
From: xieb <vip_xiaobin810@163.com>
Date: Sat, 13 Apr 2024 11:40:29 +0800
Subject: [PATCH] 航线规划修改
---
src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java | 6 +++---
src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PayloadParamUtils.java | 5 +++++
src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PlacemarkUtils.java | 1 +
src/main/resources/template/template.xml | 12 ++----------
src/main/resources/template/waylines.xml | 2 +-
5 files changed, 12 insertions(+), 14 deletions(-)
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java b/src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java
index 3f10a2a..893c620 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java
@@ -58,9 +58,9 @@
// 增加事件组
ActionGroup actionGroup = new ActionGroup();
- actionGroup.setActionGroupId(i);//动作组id从0开始单调连续递增。
- actionGroup.setActionGroupStartIndex(i);//动作组开始生效的航点
- actionGroup.setActionGroupEndIndex(i);//动作组结束生效的航点
+ actionGroup.setActionGroupId(i-1);//动作组id从0开始单调连续递增。
+ actionGroup.setActionGroupStartIndex(i-1);//动作组开始生效的航点
+ actionGroup.setActionGroupEndIndex(i-1);//动作组结束生效的航点
actionGroup.setActionGroupMode("sequence");
ActionTrigger at = new ActionTrigger();
at.setActionTriggerType("reachPoint");
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PayloadParamUtils.java b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PayloadParamUtils.java
index 49ed8c1..5101b16 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PayloadParamUtils.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PayloadParamUtils.java
@@ -12,6 +12,11 @@
public static PayloadParam setPayloadParam() {
PayloadParam pp = PayloadParam.builder()
+ .focusMode("firstPoint")
+ .meteringMode("average")
+ .returnMode("singleReturnFirst")
+ .samplingRate("240000")
+ .scanningMode("repetitive")
.payloadPositionIndex(0)
.imageFormat("wide,ir")
.build();
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PlacemarkUtils.java b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PlacemarkUtils.java
index aabfa65..7edb22c 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PlacemarkUtils.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PlacemarkUtils.java
@@ -22,6 +22,7 @@
placemark.setUseGlobalTurnParam(1);
placemark.setGimbalPitchAngle(0D);
placemark.setWaypointSpeed("10");
+ placemark.setUseStraightLine(1);
return placemark;
}
diff --git a/src/main/resources/template/template.xml b/src/main/resources/template/template.xml
index d812a51..f220453 100644
--- a/src/main/resources/template/template.xml
+++ b/src/main/resources/template/template.xml
@@ -1,11 +1,9 @@
<?xml version="1.0" encoding="UTF-8"?>
-<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.3">
+<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.5">
<Document>
- <!-- 步骤1:实现文件创建信息 -->
<wpml:author>${author!''}</wpml:author>
<wpml:createTime>${createTime!''}</wpml:createTime>
<wpml:updateTime>${updateTime!''}</wpml:updateTime>
- <!-- 步骤2:设置任务配置 -->
<wpml:missionConfig>
<wpml:flyToWaylineMode>${missionConfig.flyToWaylineMode!''}</wpml:flyToWaylineMode>
<wpml:finishAction>${missionConfig.finishAction!''}</wpml:finishAction>
@@ -17,18 +15,15 @@
<wpml:globalTransitionalSpeed>${missionConfig.globalTransitionalSpeed!''}</wpml:globalTransitionalSpeed>
<wpml:globalRTHHeight>${missionConfig.globalRTHHeight!''}</wpml:globalRTHHeight>
<wpml:droneInfo>
- <!-- 用M30申报无人机型号 -->
<wpml:droneEnumValue>${missionConfig.droneInfo.droneEnumValue!''}</wpml:droneEnumValue>
<wpml:droneSubEnumValue>${missionConfig.droneInfo.droneSubEnumValue!''}</wpml:droneSubEnumValue>
</wpml:droneInfo>
<wpml:payloadInfo>
- <!-- 用M30声明有效载荷模型 -->
<wpml:payloadEnumValue>${missionConfig.payloadInfo.payloadEnumValue!''}</wpml:payloadEnumValue>
<wpml:payloadSubEnumValue>${missionConfig.payloadInfo.payloadSubEnumValue!''}</wpml:payloadSubEnumValue>
<wpml:payloadPositionIndex>${missionConfig.payloadInfo.payloadPositionIndex!''}</wpml:payloadPositionIndex>
</wpml:payloadInfo>
</wpml:missionConfig>
- <!-- 步骤3:设置路径点模板文件夹 -->
<Folder>
<wpml:templateType>${folder.templateType!''}</wpml:templateType>
<wpml:templateId>${folder.templateId!''}</wpml:templateId>
@@ -54,7 +49,6 @@
<#list folder.placemarkList as placemark>
<Placemark>
<Point>
- <!-- 经度和纬度 -->
<coordinates>
${placemark.coordinates!''}
</coordinates>
@@ -80,7 +74,6 @@
<wpml:useGlobalHeadingParam>${placemark.useGlobalHeadingParam!''}</wpml:useGlobalHeadingParam>
<wpml:useGlobalTurnParam>${placemark.useGlobalTurnParam!''}</wpml:useGlobalTurnParam>
<wpml:useStraightLine>${placemark.useStraightLine!''}</wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
<#if placemark.actionGroup??>
<wpml:actionGroup>
<wpml:actionGroupId>${placemark.actionGroup.actionGroupId!''}</wpml:actionGroupId>
@@ -93,7 +86,6 @@
<#if placemark.actionGroup.actions??>
<#assign idx = 0>
<#list placemark.actionGroup.actions as action>
- <!-- 动作 -->
<wpml:action>
<wpml:actionId>${idx!''}</wpml:actionId>
<wpml:actionActuatorFunc>${action.actionActuatorFunc!''}</wpml:actionActuatorFunc>
@@ -163,10 +155,10 @@
</#if>
</wpml:actionGroup>
</#if>
+ <wpml:isRisky>0</wpml:isRisky>
</Placemark>
</#list>
</#if>
- <!-- 负载设置 -->
<wpml:payloadParam>
<wpml:payloadPositionIndex>${folder.payloadParam.payloadPositionIndex!''}</wpml:payloadPositionIndex>
<wpml:focusMode>${folder.payloadParam.focusMode!''}</wpml:focusMode>
diff --git a/src/main/resources/template/waylines.xml b/src/main/resources/template/waylines.xml
index 8140d2f..bbd6dc3 100644
--- a/src/main/resources/template/waylines.xml
+++ b/src/main/resources/template/waylines.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
-<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.3">
+<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.5">
<Document>
<wpml:missionConfig>
<wpml:flyToWaylineMode>${missionConfig.flyToWaylineMode!''}</wpml:flyToWaylineMode>
--
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