WaypointV2Action is divided into three parts: ActionID, Trigger and Actuator.
ActionID is a unique identifier for the waypoint action and must be unique in the waypoint action list.
Trigger, or WaypointTrigger, indicates the trigger for a waypoint action and is used to indicate when the action will be executed.
Actuator, or WaypointActuator, indicates the actuator of the waypoint action and is used to indicate the execution action.
- WaypointTrigger
WaypointTrigger is composed of two parts: the trigger type and the parameter corresponding to the type. Among them, TriggerType refers to the trigger type, and the parameters corresponding to it are different for different trigger types.
| TriggerType | Parameter Type | Parameter Attributes | Remark |
|
REACH_POINT
|
WaypointReachPointTriggerParam |
StartIndex-- Start waypoint number AutoTerminateCount--Number of sustained waypoints |
AutoTerminateCount is invalid and the REACH_POINT action will only be executed at the waypoint with the serial number StartIndex. |
|
ASSOCIATE |
WaypointV2AssociateTriggerParam |
AssociateActionId--Associated waypoint action number, i.e. ActionID AssociateType WaitingTime |
The association types are SIMULTANEOUSLY and AFTER_FINISHED, i.e. executed at the same time as the previous action and executed after the previous action is completed. |
|
TRAJECTORY |
WaypointTrajectoryTriggerParam |
StartIndex--Start waypoint number EndIndex--End waypoint number |
·EndIndex is invalid, TRAJECTORY action will only be executed from StartIndex to the next waypoint. ·The TRAJECTORY trigger can only be paired with the AIRCRAFT_CONTROL_GIMBAL actuator. |
|
SIMPLE_INTERVAL |
WaypointIntervalTriggerParam |
StartIndex -- Start waypoint number Type -- Type （Time/Distance） Interval |
The interval photo action will only be executed from StartIndex to the next waypoint. |
- WaypointActuator
The WaypointActuator is composed of an actuator type, an execution position and parameters corresponding to the type. Similar to the trigger type, different actuator types have different parameters corresponding to them. Among them, ActuatorIndex refers to the actuator position, which is generally used to specify the position of the gimbal or camera.
| ActuatorType | Parameter Type | Parameter Attributes | Remark |
| CAMERA（相机） | WaypointCameraActuatorParam |
CameraOperationType -- Action Type CustomNameParam FocusModeParam ZoomParam FocusParam
|
[1] |
| GIMBAL（云台） | WaypointGimbalActuatorParam |
OperationType-- Action Type Rotation pathShooting |
[2] |
|
AIRCRAFT_CONTROL （机身） |
WaypointAircraftControlParam |
AircraftControlType -- Action Type RotateYawParam FlyControlParam |
AircraftControlType has two types: ROTATE_YAW and START_STOP_FLY, which correspond to the RotateYawParam parameter and FlyControlParam parameter respectively. |
| LIDAR（雷达） | WaypointLidarActuatorParam |
LidarOperationType -- Action Type PointCloudRecordParam |
Only L1 is supported. |
[1]CameraOperationType contains seven types, namely SHOOT_SINGLE_PHOTO, START_RECORD_VIDEO, STOP_RECORD_VIDEO, CUSTOM_NAME, ZOOM, FOCUS and FOCUS_MODE. SINGLE_PHOTO, START_RECORD_VIDEO and STOP_RECORD_VIDEO do not need to be passed in; CUSTOM_NAME needs to be passed in the CustomNameParam parameter, which is divided into two types of custom folders and custom file suffixes; ZOOM needs to be passed in the ZoomParam parameter; FOCUS needs to be passed in the FocusParam parameter. FOCUS needs to pass the FocusParam parameter; FOCUS_MODE needs to pass the FocusModeParam parameter.
[2]OperationType contains three modes, namely, AIRCRAFT_CONTROL_GIMBAL, PATH_SHOOTING and ROTATE_GIMBAL. SHOOTING mode needs to pass in the pathShooting parameter, with REACH_POINT or ASSOCIATE type trigger, and only supports P1; ROTATE_GIMBAL needs to match the Rotation parameter. The time attribute of the Rotation parameter in the route is invalid, so the gimbal will rotate at maximum speed to the corresponding position.
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