Mavic 3 Enterprise gimbal rotation after battery swap.

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Logan Cautrell

We are seeing a problem with our KMZ where after performing a battery swap (or any RTH-> Resume), where the gimbal is not pointing nadir (-90) when returning to the pause/break point.

I am unable to determine what xml is missing to achieve -90 gimbal pitch on mission resume from pause break point.

 

<?xml version="1.0" encoding="UTF-8"?>

<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.0">

    <Document>

        <wpml:author>FieldAgent</wpml:author>

        <wpml:createTime>1687443472000</wpml:createTime>

        <wpml:updateTime>1687443472000</wpml:updateTime>

        <wpml:missionConfig>

            <wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>

            <wpml:finishAction>goHome</wpml:finishAction>

            <wpml:exitOnRCLost>goContinue</wpml:exitOnRCLost>

            <wpml:takeOffSecurityHeight>45.72</wpml:takeOffSecurityHeight>

            <wpml:globalTransitionalSpeed>15.0</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:templateType>waypoint</wpml:templateType>

            <wpml:useGlobalTransitionalSpeed>0</wpml:useGlobalTransitionalSpeed>

            <wpml:autoFlightSpeed>4.0</wpml:autoFlightSpeed>

            <wpml:transitionalSpeed>4.0</wpml:transitionalSpeed>

            <wpml:globalHeight>15.0</wpml:globalHeight>

            <wpml:gimbalPitchMode>usePointSetting</wpml:gimbalPitchMode>

            <wpml:globalWaypointTurnMode>coordinateTurn</wpml:globalWaypointTurnMode>

            <wpml:waypointTurnDampingDist>1.0</wpml:waypointTurnDampingDist>

            <wpml:globalUseStraightLine>1</wpml:globalUseStraightLine>

            <wpml:caliFlightEnable>0</wpml:caliFlightEnable>

            <wpml:waylineCoordinateSysParam>

                <wpml:coordinateMode>WGS84</wpml:coordinateMode>

                <wpml:heightMode>relativeToStartPoint</wpml:heightMode>

                <wpml:positioningType>GPS</wpml:positioningType>

            </wpml:waylineCoordinateSysParam>

            <wpml:globalWaypointHeadingParam>

                <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>

            </wpml:globalWaypointHeadingParam>

            <Placemark>

                <wpml:index>0</wpml:index>

                <Point>

                    <coordinates>-94.79824735881776,44.09653679765002</coordinates>

                </Point>

                <wpml:ellipsoidHeight>15.0</wpml:ellipsoidHeight>

                <wpml:height>15.0</wpml:height>

                <wpml:useGlobalHeight>0</wpml:useGlobalHeight>

                <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>

                <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>

                <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>

                <wpml:gimbalPitchAngle>-90.0</wpml:gimbalPitchAngle>

                <wpml:smartObliqueEnable>0</wpml:smartObliqueEnable>

                <wpml:elevationOptimizeEnable>0</wpml:elevationOptimizeEnable>

                <wpml:gimbalPitchMode>fixed</wpml:gimbalPitchMode>

                <wpml:actionGroup>

                    <wpml:actionGroupId>0</wpml:actionGroupId>

                    <wpml:actionGroupStartIndex>0</wpml:actionGroupStartIndex>

                    <wpml:actionGroupEndIndex>3</wpml:actionGroupEndIndex>

                    <wpml:actionGroupMode>sequence</wpml:actionGroupMode>

                    <wpml:actionTrigger>

                        <wpml:actionTriggerType>multipleDistance</wpml:actionTriggerType>

                        <wpml:actionTriggerParam>63.10302439024389</wpml:actionTriggerParam>

                    </wpml:actionTrigger>

                    <wpml:action>

                        <wpml:actionId>0</wpml:actionId>

                        <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>

                        <wpml:actionActuatorFuncParam>

                            <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>

                        </wpml:actionActuatorFuncParam>

                    </wpml:action>

                </wpml:actionGroup>

            </Placemark>

            <Placemark>

                <wpml:index>1</wpml:index>

                <Point>

                    <coordinates>-94.79622163222076,44.0967933198331</coordinates>

                </Point>

                <wpml:ellipsoidHeight>15.0</wpml:ellipsoidHeight>

                <wpml:height>15.0</wpml:height>

                <wpml:useGlobalHeight>0</wpml:useGlobalHeight>

                <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>

                <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>

                <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>

                <wpml:gimbalPitchAngle>-90.0</wpml:gimbalPitchAngle>

                <wpml:smartObliqueEnable>0</wpml:smartObliqueEnable>

                <wpml:elevationOptimizeEnable>0</wpml:elevationOptimizeEnable>

                <wpml:gimbalPitchMode>fixed</wpml:gimbalPitchMode>

            </Placemark>

            <Placemark>

                <wpml:index>2</wpml:index>

                <Point>

                    <coordinates>-94.79624039299334,44.097400554474525</coordinates>

                </Point>

                <wpml:ellipsoidHeight>15.0</wpml:ellipsoidHeight>

                <wpml:height>15.0</wpml:height>

                <wpml:useGlobalHeight>0</wpml:useGlobalHeight>

                <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>

                <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>

                <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>

                <wpml:gimbalPitchAngle>-90.0</wpml:gimbalPitchAngle>

                <wpml:smartObliqueEnable>0</wpml:smartObliqueEnable>

                <wpml:elevationOptimizeEnable>0</wpml:elevationOptimizeEnable>

                <wpml:gimbalPitchMode>fixed</wpml:gimbalPitchMode>

            </Placemark>

            <Placemark>

                <wpml:index>3</wpml:index>

                <Point>

                    <coordinates>-94.79849186389039,44.09711544865666</coordinates>

                </Point>

                <wpml:ellipsoidHeight>15.0</wpml:ellipsoidHeight>

                <wpml:height>15.0</wpml:height>

                <wpml:useGlobalHeight>0</wpml:useGlobalHeight>

                <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>

                <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>

                <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>

                <wpml:gimbalPitchAngle>-90.0</wpml:gimbalPitchAngle>

                <wpml:smartObliqueEnable>0</wpml:smartObliqueEnable>

                <wpml:elevationOptimizeEnable>0</wpml:elevationOptimizeEnable>

                <wpml:gimbalPitchMode>fixed</wpml:gimbalPitchMode>

            </Placemark>

        </Folder>

    </Document>

</kml>

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评论

8 条评论

日期 投票数
  • DJI Developer Support
    Can you provide us with the complete kmz file? Upload address: https://pan-sec.djicorp.com/s/nDzYHKSDKkR8mA2
    0
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  • Logan Cautrell

    I have uploaded the file "2023-06-26-10-30.kmz". Thank you.

    0
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  • DJI Developer Support
    Because the aircraft gimbal will re-check itself when replacing the battery, so the previous angle cannot be maintained. If you change the battery after the gimbal has been rotated, you can re-execute the previous waypoint after the battery change or control the gimbal to the specified angle to execute the next waypoint
    0
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  • Logan Cautrell

    Is there a way to set a takeoff action to rotate the gimbal?

    0
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  • DJI Developer Support
    I'm very sorry that there is no setting for takeoff action at present, but you can rotate the gimbal angle by setting the key: KeyRotateByAngle during takeoff.
    0
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  • Logan Cautrell

    We are only loading a KMZ file and do not have access to the mSDK.

    Can we use wpml:startActionGroup ?

    #

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  • DJI Developer Support
    You can use startActionGroup to complete the initialization action. It should be noted that it only supports M30/M30T, M3E/M3T/M3M models
    0
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  • Logan Cautrell

    I have added the startActionGroup for our M3E KMZ file. However it does not appear to execute. When we import the KMZ file, then re-export it, the startActionGroup is missing.

     

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