路点飞行中路点动作不执行,pre/cur ActuatorState一直都是1，日志如链接,https://sp...

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July 13, 2021 12:26

路点飞行中路点动作不执行,pre/cur ActuatorState一直都是1，日志如链接,https://space.dingtalk.com/s/gwHOAvCkbwLOiZTTUgPaACBmMmEzNDFmZGMzMmM0YzRhYWIxYTA0OTBmZjQ0ZTExMw 密码: P8af

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DJI Developer Support

July 14, 2021 12:03
尊敬的开发者，您好，感谢您联系DJI 大疆创新。里面是Log截图，暂时不明白您的问题是什么。能否发一下您的航点动作代码过来，一般不执行是因为你的设置有问题。希望我们的解决方案能够帮到您，感谢您的邮件，祝您生活愉快！ Best Regards, DJI 大疆创新SDK技术支持
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msdk-dji-dev

July 14, 2021 13:18
航线飞行正常执行, 但是路点动作卡死在actionId为8的动作上，不会继续往下执行.
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msdk-dji-dev

July 14, 2021 13:18
后面的路点动作包括拍照等都不再执行
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DJI Developer Support

July 15, 2021 01:59
尊敬的开发者，您好，感谢您联系DJI 大疆创新。你需要看你的航点动作搭配才知道为什么卡死在8。你需要检查下触发器和执行器是否搭配。建议再看下文档，和Sample对比一下。希望我们的解决方案能够帮到您，感谢您的邮件，祝您生活愉快！ Best Regards, DJI 大疆创新SDK技术支持
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msdk-dji-dev

October 12, 2021 15:29
这是相应触发器和执行器的绑定，贵方可以帮忙分析一下是否搭配的合理吗
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msdk-dji-dev

October 12, 2021 15:32
DJIWaypointV2Action* DY::WayPointMissionV2::createDJIWaypointV2Action(int actionId, int actionIdAssociated, std::shared_ptr<DyWaypointAction> action){

if(action->type == CAMERA_TAKE_PHOTO){

DJIWaypointV2AssociateTriggerParam associateTriggerParam;

associateTriggerParam.actionIdAssociated = actionIdAssociated;

associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

associateTriggerParam.waitingTime = 0;

auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

auto *cameraActuatorParam = new DJIWaypointV2CameraActuatorParam(DJIWaypointV2ActionActuatorCameraOperationTypeTakePhoto, nullptr);

auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeCamera, 0, cameraActuatorParam);

return new DJIWaypointV2Action(actionId, *trigger, *actuator);

}

if(action->type == CAMERA_START_RECORD_VIDEO){

DJIWaypointV2AssociateTriggerParam associateTriggerParam;

associateTriggerParam.actionIdAssociated = actionIdAssociated;

associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

associateTriggerParam.waitingTime = 0;

auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

auto *cameraActuatorParam = new DJIWaypointV2CameraActuatorParam(DJIWaypointV2ActionActuatorCameraOperationTypeStartRecordVideo, nullptr);

auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeCamera, 0, cameraActuatorParam);

return new DJIWaypointV2Action(actionId, *trigger, *actuator);

}

if(action->type == CAMERA_STOP_RECORD_VIDEO){

DJIWaypointV2AssociateTriggerParam associateTriggerParam;

associateTriggerParam.actionIdAssociated = actionIdAssociated;

associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

associateTriggerParam.waitingTime = 0;

auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

auto *cameraActuatorParam = new DJIWaypointV2CameraActuatorParam(DJIWaypointV2ActionActuatorCameraOperationTypeStopRecordVideo, nullptr);

auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeCamera, 0, cameraActuatorParam);

return new DJIWaypointV2Action(actionId, *trigger, *actuator);

}

if(action->type == CAMERA_FOCUS){

DJIWaypointV2AssociateTriggerParam associateTriggerParam;

associateTriggerParam.actionIdAssociated = actionIdAssociated;

associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

associateTriggerParam.waitingTime = 0;

std::shared_ptr<FocusAction> focusAction = std::dynamic_pointer_cast<FocusAction>(action);

DJIWaypointV2CameraFocusParam focusParam;

focusParam.focusTarget.x = focusAction->focusX;

focusParam.focusTarget.y = focusAction->focusY;

focusParam.retryTimes = 0;

//focusParam.focusDelayTime = focusAction->focusDelayTime;

auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

auto *cameraActuatorParam = new DJIWaypointV2CameraActuatorParam(DJIWaypointV2ActionActuatorCameraOperationTypeFocus, &focusParam);

auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeCamera, 0, cameraActuatorParam);

return new DJIWaypointV2Action(actionId, *trigger, *actuator);

}

if(action->type == CAMERA_ZOOM){

DJIWaypointV2AssociateTriggerParam associateTriggerParam;

associateTriggerParam.actionIdAssociated = actionIdAssociated;

associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

associateTriggerParam.waitingTime = 0;

std::shared_ptr<ZoomAction> zoomAction = std::dynamic_pointer_cast<ZoomAction>(action);

DJIWaypointV2CameraFocalLengthParam zoomParam;

zoomParam.focalLength = zoomAction->focalLength;

zoomParam.retryTimes = 0;

auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

auto *cameraActuatorParam = new DJIWaypointV2CameraActuatorParam(DJIWaypointV2ActionActuatorCameraOperationTypeFocalLength, &zoomParam);

auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeCamera, 0, cameraActuatorParam);

return new DJIWaypointV2Action(actionId, *trigger, *actuator);

}

if(action->type == GIMBAL_ROTATE){

DJIWaypointV2AssociateTriggerParam associateTriggerParam;

associateTriggerParam.actionIdAssociated = actionIdAssociated;

associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

associateTriggerParam.waitingTime = 0;

std::shared_ptr<RotateGimbalAction> gimbalAction = std::dynamic_pointer_cast<RotateGimbalAction>(action);

DJIGimbalRotation rotation;

rotation.x = 10 * gimbalAction->rollDeg;

rotation.y = 10 * gimbalAction->pitchDeg;

rotation.z = 10 * gimbalAction->yawDeg;

rotation.ctrl_mode = gimbalAction->ctrlMode;

rotation.rollCmdIgnore = gimbalAction->rollCmdIgnore;

rotation.pitchCmdIgnore = gimbalAction->pitchCmdIgnore;

rotation.yawCmdIgnore = gimbalAction->yawCmdIgnore;

rotation.absYawModeRef = gimbalAction->absYawModeRef;

//rotation.duationTime = 10 * gimbalAction->durationTime;

rotation.duationTime = 5; // hard coded for duration time as 1s

auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

auto *gimbalActuatorParam = new DJIWaypointV2GimbalActuatorParam(DJIWaypointV2ActionActuatorGimbalOperationTypeRotateGimbal, &rotation);

auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeGimbal, 0, gimbalActuatorParam);

return new DJIWaypointV2Action(actionId, *trigger, *actuator);

}

if(action->type == AIRCRAFT_ROTATE_HEADING){

DJIWaypointV2AssociateTriggerParam associateTriggerParam;

associateTriggerParam.actionIdAssociated = actionIdAssociated;

associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

associateTriggerParam.waitingTime = 0;

std::shared_ptr<RotateHeadingAction> headingAction = std::dynamic_pointer_cast<RotateHeadingAction>(action);

DJIWaypointV2AircraftControlRotateHeadingParam rotateParam;

rotateParam.isRelative = headingAction->isRelative;

rotateParam.yaw = headingAction->yaw;

auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

auto *airCraftControlActuatorParam = new DJIWaypointV2AircraftControlParam(DJIWaypointV2ActionActuatorAircraftControlOperationTypeRotateYaw, &rotateParam);

auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeAircraftControl, 0, airCraftControlActuatorParam);

return new DJIWaypointV2Action(actionId, *trigger, *actuator);

}
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