MSDK 航点任务V2中如何设置航点动作为悬停

可以通过 START_STOP_FLY 动作来实现。具体方法为：

WaypointActuator waypointAction1Actuator = new WaypointActuator.Builder()
   .setActuatorType(ActionTypes.ActionActuatorType.AIRCRAFT_CONTROL)
   .setAircraftControlActuatorParam(new WaypointAircraftControlParam.Builder()
     .setAircraftControlType(ActionTypes.AircraftControlType.START_STOP_FLY)
     .setFlyControlParam(new WaypointAircraftControlStartStopFlyParam.Builder()
        .setStartFly(false)
        .build())
     .build())
   .build();

执行这个action后飞机会悬停，悬停期间您可以执行其它的航点动作。待其它航点动作都执行完毕后，通过触发器，触发START_STOP_FLY 航点动作，继续航线任务。继续航线任务的代码可以参考：

WaypointTrigger waypointAction2Trigger = new WaypointTrigger.Builder()
  .setTriggerType(ActionTypes.ActionTriggerType.ASSOCIATE)
  .setAssociateParam(new WaypointV2AssociateTriggerParam.Builder()
    .setAssociateActionID(associateActionId)
    .setAssociateType(ActionTypes.AssociatedTimingType.AFTER_FINISHED)
    .setWaitingTime(0)
    .build())
  .build();
WaypointActuator waypointAction2Actuator = new WaypointActuator.Builder()
   .setActuatorType(ActionTypes.ActionActuatorType.AIRCRAFT_CONTROL)
   .setAircraftControlActuatorParam(new WaypointAircraftControlParam.Builder()
      .setAircraftControlType(ActionTypes.AircraftControlType.START_STOP_FLY)
      .setFlyControlParam(new WaypointAircraftControlStartStopFlyParam.Builder()
         .setStartFly(true)
         .build())
      .build())
   .build();

WaypointV2Action waypointAction2 = new WaypointV2Action.Builder()
  .setActionID(++actionId)
  .setTrigger(waypointAction2Trigger)
  .setActuator(waypointAction2Actuator)
  .build();
waypointV2ActionList.add(waypointAction2);

执行完这个action之后飞机会解除悬停状态，这样就实现了航点动作的悬停功能。