MSDK 5.2.0 WaypointMission issues
已完成
We are experiencing 2 issues with WaypointMission, using MSDK 5.2.0 and Mavic 3E/3T drones.
1) When reaching the final waypoint, drone will sometimes go onto RTH state but will hover over the last waypoint and refuse to land (located 80m above home point). The drone will also refuse to land when pressing the RTH button on the physical RC (RC beeps but drone hovers).
2) When starting a mission, the drone will sometimes report missionFinish immediately and won't fly.
Here is a WPML file where the drone will refuse to land (hover when reaching final point).
<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.2">
<Document>
<wpml:missionConfig>
<wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
<wpml:finishAction>noAction</wpml:finishAction>
<wpml:exitOnRCLost>goContinue</wpml:exitOnRCLost>
<wpml:takeOffSecurityHeight>20</wpml:takeOffSecurityHeight>
<wpml:globalTransitionalSpeed>15</wpml:globalTransitionalSpeed>
<wpml:droneInfo>
<wpml:droneEnumValue>77</wpml:droneEnumValue>
<wpml:droneSubEnumValue>0</wpml:droneSubEnumValue>
</wpml:droneInfo>
<wpml:payloadInfo>
<wpml:payloadEnumValue>66</wpml:payloadEnumValue>
<wpml:payloadSubEnumValue>0</wpml:payloadSubEnumValue>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
</wpml:payloadInfo>
</wpml:missionConfig>
<Folder>
<wpml:templateId>0</wpml:templateId>
<wpml:executeHeightMode>relativeToStartPoint</wpml:executeHeightMode>
<wpml:waylineId>0</wpml:waylineId>
<wpml:autoFlightSpeed>15</wpml:autoFlightSpeed>
<Placemark>
<Point>
<coordinates>35.656105,33.014112</coordinates>
</Point>
<wpml:index>0</wpml:index>
<wpml:executeHeight>60.0</wpml:executeHeight>
<wpml:waypointSpeed>15</wpml:waypointSpeed>
<wpml:waypointHeadingParam>
<wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
</wpml:waypointHeadingParam>
<wpml:waypointTurnParam>
<wpml:waypointTurnMode>toPointAndPassWithContinuityCurvature</wpml:waypointTurnMode>
<wpml:waypointTurnDampingDist>0.0</wpml:waypointTurnDampingDist>
</wpml:waypointTurnParam>
<wpml:useStraightLine>1</wpml:useStraightLine>
</Placemark>
<Placemark>
<Point>
<coordinates>35.655936,33.014149</coordinates>
</Point>
<wpml:index>1</wpml:index>
<wpml:executeHeight>79.1</wpml:executeHeight>
<wpml:waypointSpeed>15</wpml:waypointSpeed>
<wpml:waypointHeadingParam>
<wpml:waypointHeadingMode>smoothTransition</wpml:waypointHeadingMode>
<wpml:waypointHeadingAngle>-10.0</wpml:waypointHeadingAngle>
<wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
</wpml:waypointHeadingParam>
<wpml:waypointTurnParam>
<wpml:waypointTurnMode>toPointAndPassWithContinuityCurvature</wpml:waypointTurnMode>
<wpml:waypointTurnDampingDist>3.0</wpml:waypointTurnDampingDist>
</wpml:waypointTurnParam>
<wpml:useStraightLine>1</wpml:useStraightLine>
<wpml:actionGroup>
<wpml:actionGroupMode>sequence</wpml:actionGroupMode>
<wpml:actionTrigger>
<wpml:actionTriggerType>betweenAdjacentPoints</wpml:actionTriggerType>
<wpml:actionTriggerParam>0.0</wpml:actionTriggerParam>
</wpml:actionTrigger>
<wpml:action>
<wpml:actionActuatorFunc>gimbalEvenlyRotate</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:gimbalPitchRotateAngle>-65</wpml:gimbalPitchRotateAngle>
</wpml:actionActuatorFuncParam>
<wpml:actionId>0</wpml:actionId>
</wpml:action>
<wpml:actionGroupId>0</wpml:actionGroupId>
<wpml:actionGroupStartIndex>0</wpml:actionGroupStartIndex>
<wpml:actionGroupEndIndex>1</wpml:actionGroupEndIndex>
</wpml:actionGroup>
<wpml:actionGroup>
<wpml:actionGroupMode>sequence</wpml:actionGroupMode>
<wpml:actionTrigger>
<wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
</wpml:actionTrigger>
<wpml:action>
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
<wpml:fileSuffix>m2821w127</wpml:fileSuffix>
<wpml:useGlobalPayloadLensIndex>0</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
<wpml:actionId>0</wpml:actionId>
</wpml:action>
<wpml:actionGroupId>1</wpml:actionGroupId>
<wpml:actionGroupStartIndex>1</wpml:actionGroupStartIndex>
<wpml:actionGroupEndIndex>1</wpml:actionGroupEndIndex>
</wpml:actionGroup>
</Placemark>
<Placemark>
<Point>
<coordinates>35.654899,33.013367</coordinates>
</Point>
<wpml:index>2</wpml:index>
<wpml:executeHeight>72.6</wpml:executeHeight>
<wpml:waypointSpeed>15</wpml:waypointSpeed>
<wpml:waypointHeadingParam>
<wpml:waypointHeadingMode>smoothTransition</wpml:waypointHeadingMode>
<wpml:waypointHeadingAngle>169.0</wpml:waypointHeadingAngle>
<wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
</wpml:waypointHeadingParam>
<wpml:waypointTurnParam>
<wpml:waypointTurnMode>toPointAndPassWithContinuityCurvature</wpml:waypointTurnMode>
<wpml:waypointTurnDampingDist>3.0</wpml:waypointTurnDampingDist>
</wpml:waypointTurnParam>
<wpml:useStraightLine>1</wpml:useStraightLine>
<wpml:actionGroup>
<wpml:actionGroupMode>sequence</wpml:actionGroupMode>
<wpml:actionTrigger>
<wpml:actionTriggerType>betweenAdjacentPoints</wpml:actionTriggerType>
<wpml:actionTriggerParam>0.0</wpml:actionTriggerParam>
</wpml:actionTrigger>
<wpml:action>
<wpml:actionActuatorFunc>gimbalEvenlyRotate</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:gimbalPitchRotateAngle>-65</wpml:gimbalPitchRotateAngle>
</wpml:actionActuatorFuncParam>
<wpml:actionId>0</wpml:actionId>
</wpml:action>
<wpml:actionGroupId>2</wpml:actionGroupId>
<wpml:actionGroupStartIndex>1</wpml:actionGroupStartIndex>
<wpml:actionGroupEndIndex>2</wpml:actionGroupEndIndex>
</wpml:actionGroup>
<wpml:actionGroup>
<wpml:actionGroupMode>sequence</wpml:actionGroupMode>
<wpml:actionTrigger>
<wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
</wpml:actionTrigger>
<wpml:action>
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
<wpml:fileSuffix>m2821w128</wpml:fileSuffix>
<wpml:useGlobalPayloadLensIndex>0</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
<wpml:actionId>0</wpml:actionId>
</wpml:action>
<wpml:actionGroupId>3</wpml:actionGroupId>
<wpml:actionGroupStartIndex>2</wpml:actionGroupStartIndex>
<wpml:actionGroupEndIndex>2</wpml:actionGroupEndIndex>
</wpml:actionGroup>
</Placemark>
<Placemark>
<Point>
<coordinates>35.65508,33.012531</coordinates>
</Point>
<wpml:index>3</wpml:index>
<wpml:executeHeight>72.3</wpml:executeHeight>
<wpml:waypointSpeed>15</wpml:waypointSpeed>
<wpml:waypointHeadingParam>
<wpml:waypointHeadingMode>smoothTransition</wpml:waypointHeadingMode>
<wpml:waypointHeadingAngle>169.0</wpml:waypointHeadingAngle>
<wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
</wpml:waypointHeadingParam>
<wpml:waypointTurnParam>
<wpml:waypointTurnMode>toPointAndPassWithContinuityCurvature</wpml:waypointTurnMode>
<wpml:waypointTurnDampingDist>3.0</wpml:waypointTurnDampingDist>
</wpml:waypointTurnParam>
<wpml:useStraightLine>1</wpml:useStraightLine>
<wpml:actionGroup>
<wpml:actionGroupMode>sequence</wpml:actionGroupMode>
<wpml:actionTrigger>
<wpml:actionTriggerType>betweenAdjacentPoints</wpml:actionTriggerType>
<wpml:actionTriggerParam>0.0</wpml:actionTriggerParam>
</wpml:actionTrigger>
<wpml:action>
<wpml:actionActuatorFunc>gimbalEvenlyRotate</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:gimbalPitchRotateAngle>-65</wpml:gimbalPitchRotateAngle>
</wpml:actionActuatorFuncParam>
<wpml:actionId>0</wpml:actionId>
</wpml:action>
<wpml:actionGroupId>4</wpml:actionGroupId>
<wpml:actionGroupStartIndex>2</wpml:actionGroupStartIndex>
<wpml:actionGroupEndIndex>3</wpml:actionGroupEndIndex>
</wpml:actionGroup>
<wpml:actionGroup>
<wpml:actionGroupMode>sequence</wpml:actionGroupMode>
<wpml:actionTrigger>
<wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
</wpml:actionTrigger>
<wpml:action>
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
<wpml:fileSuffix>m2821w129</wpml:fileSuffix>
<wpml:useGlobalPayloadLensIndex>0</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
<wpml:actionId>0</wpml:actionId>
</wpml:action>
<wpml:actionGroupId>5</wpml:actionGroupId>
<wpml:actionGroupStartIndex>3</wpml:actionGroupStartIndex>
<wpml:actionGroupEndIndex>3</wpml:actionGroupEndIndex>
</wpml:actionGroup>
</Placemark>
<Placemark>
<Point>
<coordinates>35.655261,33.011692</coordinates>
</Point>
<wpml:index>4</wpml:index>
<wpml:executeHeight>71.5</wpml:executeHeight>
<wpml:waypointSpeed>15</wpml:waypointSpeed>
<wpml:waypointHeadingParam>
<wpml:waypointHeadingMode>smoothTransition</wpml:waypointHeadingMode>
<wpml:waypointHeadingAngle>169.0</wpml:waypointHeadingAngle>
<wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
</wpml:waypointHeadingParam>
<wpml:waypointTurnParam>
<wpml:waypointTurnMode>toPointAndPassWithContinuityCurvature</wpml:waypointTurnMode>
<wpml:waypointTurnDampingDist>3.0</wpml:waypointTurnDampingDist>
</wpml:waypointTurnParam>
<wpml:useStraightLine>1</wpml:useStraightLine>
<wpml:actionGroup>
<wpml:actionGroupMode>sequence</wpml:actionGroupMode>
<wpml:actionTrigger>
<wpml:actionTriggerType>betweenAdjacentPoints</wpml:actionTriggerType>
<wpml:actionTriggerParam>0.0</wpml:actionTriggerParam>
</wpml:actionTrigger>
<wpml:action>
<wpml:actionActuatorFunc>gimbalEvenlyRotate</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:gimbalPitchRotateAngle>-65</wpml:gimbalPitchRotateAngle>
</wpml:actionActuatorFuncParam>
<wpml:actionId>0</wpml:actionId>
</wpml:action>
<wpml:actionGroupId>6</wpml:actionGroupId>
<wpml:actionGroupStartIndex>3</wpml:actionGroupStartIndex>
<wpml:actionGroupEndIndex>4</wpml:actionGroupEndIndex>
</wpml:actionGroup>
<wpml:actionGroup>
<wpml:actionGroupMode>sequence</wpml:actionGroupMode>
<wpml:actionTrigger>
<wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
</wpml:actionTrigger>
<wpml:action>
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
<wpml:fileSuffix>m2821w130</wpml:fileSuffix>
<wpml:useGlobalPayloadLensIndex>0</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
<wpml:actionId>0</wpml:actionId>
</wpml:action>
<wpml:actionGroupId>7</wpml:actionGroupId>
<wpml:actionGroupStartIndex>4</wpml:actionGroupStartIndex>
<wpml:actionGroupEndIndex>4</wpml:actionGroupEndIndex>
</wpml:actionGroup>
</Placemark>
<Placemark>
<Point>
<coordinates>35.65389,33.012439</coordinates>
</Point>
<wpml:index>5</wpml:index>
<wpml:executeHeight>66.8</wpml:executeHeight>
<wpml:waypointSpeed>15</wpml:waypointSpeed>
<wpml:waypointHeadingParam>
<wpml:waypointHeadingMode>smoothTransition</wpml:waypointHeadingMode>
<wpml:waypointHeadingAngle>-10.0</wpml:waypointHeadingAngle>
<wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
</wpml:waypointHeadingParam>
<wpml:waypointTurnParam>
<wpml:waypointTurnMode>toPointAndPassWithContinuityCurvature</wpml:waypointTurnMode>
<wpml:waypointTurnDampingDist>3.0</wpml:waypointTurnDampingDist>
</wpml:waypointTurnParam>
<wpml:useStraightLine>1</wpml:useStraightLine>
<wpml:actionGroup>
<wpml:actionGroupMode>sequence</wpml:actionGroupMode>
<wpml:actionTrigger>
<wpml:actionTriggerType>betweenAdjacentPoints</wpml:actionTriggerType>
<wpml:actionTriggerParam>0.0</wpml:actionTriggerParam>
</wpml:actionTrigger>
<wpml:action>
<wpml:actionActuatorFunc>gimbalEvenlyRotate</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:gimbalPitchRotateAngle>-65</wpml:gimbalPitchRotateAngle>
</wpml:actionActuatorFuncParam>
<wpml:actionId>0</wpml:actionId>
</wpml:action>
<wpml:actionGroupId>8</wpml:actionGroupId>
<wpml:actionGroupStartIndex>4</wpml:actionGroupStartIndex>
<wpml:actionGroupEndIndex>5</wpml:actionGroupEndIndex>
</wpml:actionGroup>
<wpml:actionGroup>
<wpml:actionGroupMode>sequence</wpml:actionGroupMode>
<wpml:actionTrigger>
<wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
</wpml:actionTrigger>
<wpml:action>
<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
<wpml:fileSuffix>m2821w131</wpml:fileSuffix>
<wpml:useGlobalPayloadLensIndex>0</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
<wpml:actionId>0</wpml:actionId>
</wpml:action>
<wpml:actionGroupId>9</wpml:actionGroupId>
<wpml:actionGroupStartIndex>5</wpml:actionGroupStartIndex>
<wpml:actionGroupEndIndex>5</wpml:actionGroupEndIndex>
</wpml:actionGroup>
</Placemark>
<Placemark>
<Point>
<coordinates>35.655965,33.014003</coordinates>
</Point>
<wpml:index>6</wpml:index>
<wpml:executeHeight>79.1</wpml:executeHeight>
<wpml:waypointSpeed>15</wpml:waypointSpeed>
<wpml:waypointHeadingParam>
<wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
</wpml:waypointHeadingParam>
<wpml:waypointTurnParam>
<wpml:waypointTurnMode>toPointAndPassWithContinuityCurvature</wpml:waypointTurnMode>
<wpml:waypointTurnDampingDist>0.0</wpml:waypointTurnDampingDist>
</wpml:waypointTurnParam>
<wpml:useStraightLine>1</wpml:useStraightLine>
</Placemark>
</Folder>
</Document>
</kml>
-
1. Refuse to land or refuse to go home. We notice a firmware issue that the M3E's return home speed is 0. We fixed it in the latest firwmare in 2nd March, please update to the latest firmwre and try again. 2. This is a firmware bug happens in M300RTK before, the only way to fix it is reboot the aircraft. Please read this article, https://sdk-forum.dji.net/hc/en-us/articles/15557280692505-Why-the-waypointMission-finishes-immediately-after-starting-
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