MSDK4.15.1, M300机型，执行航点动作无效，设置航点拍照没有照片，航点动作onExecutionUpdate 回调出错

MSDK4.15.1, M300机型，航点动作上传没有出错，执行航点动作无效，设置航点拍照没有照片，航点动作回调onExecutionUpdate方法报错Unknown error, please contact SDK dev team, code: 65535。

下面是创建航点动作的代码，帮忙看下是否有问题，多谢了！！

public class WaypointV2Factory {


    //旋转飞机的偏航角
    public static WaypointV2Action getRotateActuator(int actionId, int startIndex, float heading) {
        WaypointActuator waypointActuator = new WaypointActuator.Builder()
                .setActuatorType(ActionTypes.ActionActuatorType.AIRCRAFT_CONTROL)
                .setAircraftControlActuatorParam(new WaypointAircraftControlParam.Builder()
                        .setAircraftControlType(ActionTypes.AircraftControlType.ROTATE_YAW)
                        .setRotateYawParam(new WaypointAircraftControlRotateYawParam.Builder()
                                .setDirection(WaypointV2MissionTypes.WaypointV2TurnMode.CLOCKWISE)
                                .setRelative(false)
                                .setYawAngle(heading).build())
                        .build())
                .build();

        WaypointTrigger waypointTrigger = new WaypointTrigger.Builder()
                .setTriggerType(ActionTypes.ActionTriggerType.REACH_POINT)
                .setAssociateParam(new WaypointV2AssociateTriggerParam.Builder()
                        .setAssociateType(ActionTypes.AssociatedTimingType.AFTER_FINISHED)
                        .setAssociateActionID(actionId)
                        .setWaitingTime(0)
                        .build())
                .build();

        WaypointV2Action waypointV2Action = new WaypointV2Action.Builder()
                .setTrigger(waypointTrigger)
                .setActuator(waypointActuator)
                .setActionID(actionId)
                .build();

        return waypointV2Action;
    }


    //云台
    public static WaypointV2Action getGimbalAction(int actionId, int startIndex, float pitch) {
        Rotation rotaion = new Rotation.Builder()
                .pitch(pitch)
                .time(1)
                .mode(RotationMode.RELATIVE_ANGLE)
                .build();

        WaypointActuator waypointActuator = new WaypointActuator.Builder()
                .setActuatorType(ActionTypes.ActionActuatorType.GIMBAL)
                .setGimbalActuatorParam(new WaypointGimbalActuatorParam.Builder()
                        .rotation(rotaion)
                        .operationType(ActionTypes.GimbalOperationType.ROTATE_GIMBAL)
                        .build())
                .build();

        WaypointTrigger waypointTrigger = new WaypointTrigger.Builder()
                .setTriggerType(ActionTypes.ActionTriggerType.REACH_POINT)
                .setReachPointParam(new WaypointReachPointTriggerParam.Builder()
                        .setStartIndex(startIndex)
                        .setAutoTerminateCount(1)
                        .build()).build();

        WaypointV2Action gimbalAction = new WaypointV2Action.Builder()
                .setActionID(actionId)
                .setTrigger(waypointTrigger)
                .setActuator(waypointActuator)
                .build();
        return gimbalAction;
    }


    //拍照航点动作
    public static WaypointV2Action getTakePhotoAction(int actionId, int startIndex) {
        WaypointActuator waypointActuator = new WaypointActuator.Builder()
                .setActuatorType(ActionTypes.ActionActuatorType.CAMERA)
                .setCameraActuatorParam(new WaypointCameraActuatorParam.Builder()
                        .setCameraOperationType(ActionTypes.CameraOperationType.SHOOT_SINGLE_PHOTO)
                        .build())
                .build();

        WaypointTrigger waypointTrigger = new WaypointTrigger.Builder()
                .setTriggerType(ActionTypes.ActionTriggerType.REACH_POINT)
                .setReachPointParam(new WaypointReachPointTriggerParam.Builder()
                        .setStartIndex(startIndex)
                        .setAutoTerminateCount(1)
                        .build()).build();

        WaypointV2Action takePhotoAction = new WaypointV2Action.Builder()
                .setActionID(actionId)
                .setTrigger(waypointTrigger)
                .setActuator(waypointActuator)
                .build();

        return takePhotoAction;
    }


    //开始录像航点动作
    public static WaypointV2Action getStartRecordVideoAction(int actionId, int startIndex) {
        WaypointActuator waypointActuator = new WaypointActuator.Builder()
                .setActuatorType(ActionTypes.ActionActuatorType.CAMERA)
                .setCameraActuatorParam(new WaypointCameraActuatorParam.Builder()
                        .setCameraOperationType(ActionTypes.CameraOperationType.START_RECORD_VIDEO)
                        .build())
                .build();

        WaypointTrigger waypointTrigger = new WaypointTrigger.Builder()
                .setTriggerType(ActionTypes.ActionTriggerType.REACH_POINT)
                .setReachPointParam(new WaypointReachPointTriggerParam.Builder()
                        .setStartIndex(startIndex)
                        .setAutoTerminateCount(1)
                        .build()).build();

        WaypointV2Action recordVideoAction = new WaypointV2Action.Builder()
                .setActionID(actionId)
                .setTrigger(waypointTrigger)
                .setActuator(waypointActuator)
                .build();

        return recordVideoAction;
    }


    //结束录像航点动作
    public static WaypointV2Action getStopRecordVideoAction(int actionId, int startIndex) {
        WaypointActuator waypointActuator = new WaypointActuator.Builder()
                .setActuatorType(ActionTypes.ActionActuatorType.CAMERA)
                .setCameraActuatorParam(new WaypointCameraActuatorParam.Builder()
                        .setCameraOperationType(ActionTypes.CameraOperationType.STOP_RECORD_VIDEO)
                        .build())
                .build();

        WaypointTrigger waypointTrigger = new WaypointTrigger.Builder()
                .setTriggerType(ActionTypes.ActionTriggerType.REACH_POINT)
                .setReachPointParam(new WaypointReachPointTriggerParam.Builder()
                        .setStartIndex(startIndex++)
                        .setAutoTerminateCount(startIndex)
                        .build())
                .build();

        WaypointV2Action stopRecordVideoAction = new WaypointV2Action.Builder()
                .setActionID(actionId)
                .setTrigger(waypointTrigger)
                .setActuator(waypointActuator)
                .build();

        return stopRecordVideoAction;
    }


    //按照距离间距拍照
    public static WaypointV2Action takePhotoByDistance(int actionId, int startIndex, float distance) {
        WaypointActuator waypointActuator = new WaypointActuator.Builder()
                .setActuatorType(ActionTypes.ActionActuatorType.CAMERA)
                .setCameraActuatorParam(new WaypointCameraActuatorParam.Builder()
                        .setCameraOperationType(ActionTypes.CameraOperationType.SHOOT_SINGLE_PHOTO)
                        .build())
                .build();

        WaypointTrigger waypointTrigger = new WaypointTrigger.Builder()
                .setTriggerType(ActionTypes.ActionTriggerType.SIMPLE_INTERVAL)
                .setIntervalTriggerParam(new WaypointIntervalTriggerParam.Builder()
                        .setStartIndex(startIndex)
                        .setType(ActionTypes.ActionIntervalType.DISTANCE)
                        .setInterval(distance)
                        .build()
                )
                .build();

        WaypointV2Action takePhotoAction = new WaypointV2Action.Builder()
                .setActionID(actionId)
                .setTrigger(waypointTrigger)
                .setActuator(waypointActuator)
                .build();

        return takePhotoAction;
    }


    //按照时间的间距拍照
    public static WaypointV2Action takePhotoByTime(int actionId, int startIndex, float time) {
        WaypointActuator waypointActuator = new WaypointActuator.Builder()
                .setActuatorType(ActionTypes.ActionActuatorType.CAMERA)
                .setCameraActuatorParam(new WaypointCameraActuatorParam.Builder()
                        .setCameraOperationType(ActionTypes.CameraOperationType.SHOOT_SINGLE_PHOTO)
                        .build())
                .build();

        WaypointTrigger waypointTrigger = new WaypointTrigger.Builder()
                .setTriggerType(ActionTypes.ActionTriggerType.SIMPLE_INTERVAL)
                .setIntervalTriggerParam(new WaypointIntervalTriggerParam.Builder()
                        .setStartIndex(startIndex)
                        .setType(ActionTypes.ActionIntervalType.TIME)
                        .setInterval(time)
                        .build()
                )
                .build();

        WaypointV2Action takePhotoAction = new WaypointV2Action.Builder()
                .setActionID(actionId)
                .setTrigger(waypointTrigger)
                .setActuator(waypointActuator)
                .build();

        return takePhotoAction;
    }

}