航线指令超时

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wangqi

msdk 5.6.0版本调用WaypointMissionManager.getInstance().startMission()执行航线飞行任务，错误信息为 errorType='WAYPOINT'errorCode='SEND_PACK_TIMEOUT'

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  • DJI Developer Support
    升级到最新版本的SDK看看。此外，看看这个问题是必现的还是偶现的，有没有复现路径。
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  • wangqi

    pilot版本是9.0.5.31

    遥控器版本02.01.0202

    飞行器版本09.00.0505

    必现的，用pilot上传的航线，上传航线后执行任务，有时候能正常起飞，有时候也是航线指令超时。

    pilot上传航线后用msdk调用的话WaypointMissionManager.getInstance().startMission()执行航线飞行任务，错误信息为 errorType='WAYPOINT'errorCode='SEND_PACK_TIMEOUT'，我这有航线文件，可以提供

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  • wangqi

    <?xml version="1.0" encoding="UTF-8"?>
    <kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.4">
      <Document>
        <wpml:missionConfig>
          <wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
          <wpml:finishAction>goHome</wpml:finishAction>
          <wpml:exitOnRCLost>executeLostAction</wpml:exitOnRCLost>
          <wpml:executeRCLostAction>goBack</wpml:executeRCLostAction>
          <wpml:takeOffSecurityHeight>20</wpml:takeOffSecurityHeight>
          <wpml:globalTransitionalSpeed>15</wpml:globalTransitionalSpeed>
          <wpml:droneInfo>
            <wpml:droneEnumValue>77</wpml:droneEnumValue>
            <wpml:droneSubEnumValue>2</wpml:droneSubEnumValue>
          </wpml:droneInfo>
          <wpml:payloadInfo>
            <wpml:payloadEnumValue>68</wpml:payloadEnumValue>
            <wpml:payloadSubEnumValue>0</wpml:payloadSubEnumValue>
            <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
          </wpml:payloadInfo>
        </wpml:missionConfig>
        <Folder>
          <wpml:templateId>0</wpml:templateId>
          <wpml:executeHeightMode>WGS84</wpml:executeHeightMode>
          <wpml:waylineId>0</wpml:waylineId>
          <wpml:distance>38.6466445922852</wpml:distance>
          <wpml:duration>12.1198120117188</wpml:duration>
          <wpml:autoFlightSpeed>5</wpml:autoFlightSpeed>
          <Placemark>
            <Point>
              <coordinates>
                112.827730757658,28.2371695505852
              </coordinates>
            </Point>
            <wpml:index>0</wpml:index>
            <wpml:executeHeight>71.554328918457</wpml:executeHeight>
            <wpml:waypointSpeed>5</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:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
              <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
            </wpml:waypointHeadingParam>
            <wpml:waypointTurnParam>
              <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
              <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
            </wpml:waypointTurnParam>
            <wpml:useStraightLine>1</wpml:useStraightLine>
            <wpml:waypointGimbalHeadingParam>
              <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
              <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
            </wpml:waypointGimbalHeadingParam>
            <wpml:isRisky>0</wpml:isRisky>
          </Placemark>
          <Placemark>
            <Point>
              <coordinates>
                112.827843318209,28.2368979935745
              </coordinates>
            </Point>
            <wpml:index>1</wpml:index>
            <wpml:executeHeight>75.8543319702148</wpml:executeHeight>
            <wpml:waypointSpeed>5</wpml:waypointSpeed>
            <wpml:waypointHeadingParam>
              <wpml:waypointHeadingMode>smoothTransition</wpml:waypointHeadingMode>
              <wpml:waypointHeadingAngle>153</wpml:waypointHeadingAngle>
              <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
              <wpml:waypointHeadingAngleEnable>1</wpml:waypointHeadingAngleEnable>
              <wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
              <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
            </wpml:waypointHeadingParam>
            <wpml:waypointTurnParam>
              <wpml:waypointTurnMode>toPointAndPassWithContinuityCurvature</wpml:waypointTurnMode>
              <wpml:waypointTurnDampingDist>2.07140584236119</wpml:waypointTurnDampingDist>
            </wpml:waypointTurnParam>
            <wpml:useStraightLine>1</wpml:useStraightLine>
            <wpml:waypointGimbalHeadingParam>
              <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
              <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
            </wpml:waypointGimbalHeadingParam>
            <wpml:isRisky>0</wpml:isRisky>
          </Placemark>
          <Placemark>
            <Point>
              <coordinates>
                112.827902557686,28.2368780077099
              </coordinates>
            </Point>
            <wpml:index>2</wpml:index>
            <wpml:executeHeight>75.8543243408203</wpml:executeHeight>
            <wpml:waypointSpeed>5</wpml:waypointSpeed>
            <wpml:waypointHeadingParam>
              <wpml:waypointHeadingMode>smoothTransition</wpml:waypointHeadingMode>
              <wpml:waypointHeadingAngle>93</wpml:waypointHeadingAngle>
              <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
              <wpml:waypointHeadingAngleEnable>1</wpml:waypointHeadingAngleEnable>
              <wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
              <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
            </wpml:waypointHeadingParam>
            <wpml:waypointTurnParam>
              <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
              <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
            </wpml:waypointTurnParam>
            <wpml:useStraightLine>1</wpml:useStraightLine>
            <wpml:waypointGimbalHeadingParam>
              <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
              <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
            </wpml:waypointGimbalHeadingParam>
            <wpml:isRisky>0</wpml:isRisky>
          </Placemark>
        </Folder>
      </Document>
    </kml>

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  • wangqi

    航线是从pilot 中复制出来的

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  • DJI Developer Support
    要注意pilot和MSDK应用是不能同时使用的，会有资源占用的冲突。您在后台把MSDK应用程序彻底停止，然后用pilot上传执行航线看看会不会报错。
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  • wangqi

    pilot已经彻底停掉了，调用WaypointMissionManager.getInstance().getAvailableWaylineIDs(filePath)获取到的结果是个空的List, 而且msdk调用WaypointMissionManager.getInstance().startMission()执行航线飞行任务后，航线指令超时，停掉msdk后重新使用pilot 飞行同一条航线，pilot 也会出现航线指令超时

     

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  • DJI Developer Support
    注意到您是pilot上传航线后，MSDK调用的开始任务。这个操作方式是不行的。上传航线和开始航线必须用同一个APP。
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