MSDK5.6手动生成的wpml文件和空template，压缩kmz上传后任务执行过程中，飞机飞到航点后继续飞往下一个航线，但航点动作不执行

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Dreambye

• 2023年10月30日 07:57

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

<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.4">

  <Document>

    <wpml:missionConfig>

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

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

      <wpml:exitOnRCLost>executeLostAction</wpml:exitOnRCLost>

      <wpml:executeRCLostAction>goBack</wpml:executeRCLostAction>

      <wpml:takeOffSecurityHeight>20</wpml:takeOffSecurityHeight>

      <wpml:globalTransitionalSpeed>12</wpml:globalTransitionalSpeed>

      <wpml:droneInfo>

        <wpml:droneEnumValue>77</wpml:droneEnumValue>

        <wpml:droneSubEnumValue>1</wpml:droneSubEnumValue>

      </wpml:droneInfo>

      <wpml:payloadInfo>

        <wpml:payloadEnumValue>67</wpml:payloadEnumValue>

        <wpml:payloadSubEnumValue>0</wpml:payloadSubEnumValue>

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

      </wpml:payloadInfo>

    </wpml:missionConfig>

    <Folder>

      <wpml:templateId>0</wpml:templateId>

      <wpml:waylineId>0</wpml:waylineId>

      <wpml:autoFlightSpeed>12</wpml:autoFlightSpeed>

      <wpml:executeHeightMode>relativeToStartPoint</wpml:executeHeightMode>

      <wpml:distance>21.2</wpml:distance>

      <wpml:duration>12.2</wpml:duration>

      <Placemark>

        <Point>

          <coordinates>108.95500026514344,34.240366936916935</coordinates>

        </Point>

        <wpml:index>0</wpml:index>

        <wpml:executeHeight>100.0</wpml:executeHeight>

        <wpml:waypointSpeed>12</wpml:waypointSpeed>

        <wpml:waypointHeadingParam>

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

          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>

        </wpml:waypointHeadingParam>

        <wpml:waypointTurnParam>

          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>

          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>

        </wpml:waypointTurnParam>

        <wpml:useStraightLine>1</wpml:useStraightLine>

        <wpml:isRisky>0</wpml:isRisky>

        <wpml:waypointGimbalHeadingParam>

          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>

          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>

        </wpml:waypointGimbalHeadingParam>

        <wpml:ActionGroup>

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

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

          <wpml:actionGroupEndIndex>0</wpml:actionGroupEndIndex>

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

          <wpml:actionTrigger>

            <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>

          </wpml:actionTrigger>

          <wpml:action>

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

            <wpml:actionActuatorFunc>rotateYaw</wpml:actionActuatorFunc>

            <wpml:actionActuatorFuncParam>

              <wpml:aircraftHeading>180</wpml:aircraftHeading>

              <wpml:aircraftPathMode>counterClockwise</wpml:aircraftPathMode>

            </wpml:actionActuatorFuncParam>

          </wpml:action>

          <wpml:action>

            <wpml:actionId>1</wpml:actionId>

            <wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>

            <wpml:actionActuatorFuncParam>

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

              <wpml:gimbalRotateMode>absoluteAngle</wpml:gimbalRotateMode>

              <wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable>

              <wpml:gimbalPitchRotateAngle>0.0</wpml:gimbalPitchRotateAngle>

              <wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>

              <wpml:gimbalRollRotateAngle>0</wpml:gimbalRollRotateAngle>

              <wpml:gimbalYawRotateEnable>0</wpml:gimbalYawRotateEnable>

              <wpml:gimbalYawRotateAngle>0</wpml:gimbalYawRotateAngle>

              <wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable>

              <wpml:gimbalRotateTime>0</wpml:gimbalRotateTime>

            </wpml:actionActuatorFuncParam>

          </wpml:action>

          <wpml:action>

            <wpml:actionId>2</wpml:actionId>

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

            <wpml:actionActuatorFuncParam>

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

              <wpml:fileSuffix>point0</wpml:fileSuffix>

              <wpml:useGlobalPayloadLensIndex>0</wpml:useGlobalPayloadLensIndex>

            </wpml:actionActuatorFuncParam>

          </wpml:action>

        </wpml:ActionGroup>

      </Placemark>

      <Placemark>

        <Point>

          <coordinates>108.95601816344717,34.24036915425712</coordinates>

        </Point>

        <wpml:index>1</wpml:index>

        <wpml:executeHeight>100.0</wpml:executeHeight>

        <wpml:waypointSpeed>12</wpml:waypointSpeed>

        <wpml:waypointHeadingParam>

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

          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>

        </wpml:waypointHeadingParam>

        <wpml:waypointTurnParam>

          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>

          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>

        </wpml:waypointTurnParam>

        <wpml:useStraightLine>1</wpml:useStraightLine>

        <wpml:isRisky>0</wpml:isRisky>

        <wpml:waypointGimbalHeadingParam>

          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>

          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>

        </wpml:waypointGimbalHeadingParam>

        <wpml:ActionGroup>

          <wpml:actionGroupId>1</wpml:actionGroupId>

          <wpml:actionGroupStartIndex>1</wpml:actionGroupStartIndex>

          <wpml:actionGroupEndIndex>1</wpml:actionGroupEndIndex>

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

          <wpml:actionTrigger>

            <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>

          </wpml:actionTrigger>

          <wpml:action>

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

            <wpml:actionActuatorFunc>rotateYaw</wpml:actionActuatorFunc>

            <wpml:actionActuatorFuncParam>

              <wpml:aircraftHeading>180</wpml:aircraftHeading>

              <wpml:aircraftPathMode>counterClockwise</wpml:aircraftPathMode>

            </wpml:actionActuatorFuncParam>

          </wpml:action>

          <wpml:action>

            <wpml:actionId>1</wpml:actionId>

            <wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>

            <wpml:actionActuatorFuncParam>

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

              <wpml:gimbalRotateMode>absoluteAngle</wpml:gimbalRotateMode>

              <wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable>

              <wpml:gimbalPitchRotateAngle>0.0</wpml:gimbalPitchRotateAngle>

              <wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>

              <wpml:gimbalRollRotateAngle>0</wpml:gimbalRollRotateAngle>

              <wpml:gimbalYawRotateEnable>0</wpml:gimbalYawRotateEnable>

              <wpml:gimbalYawRotateAngle>0</wpml:gimbalYawRotateAngle>

              <wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable>

              <wpml:gimbalRotateTime>0</wpml:gimbalRotateTime>

            </wpml:actionActuatorFuncParam>

          </wpml:action>

          <wpml:action>

            <wpml:actionId>2</wpml:actionId>

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

            <wpml:actionActuatorFuncParam>

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

              <wpml:fileSuffix>point1</wpml:fileSuffix>

              <wpml:useGlobalPayloadLensIndex>0</wpml:useGlobalPayloadLensIndex>

            </wpml:actionActuatorFuncParam>

          </wpml:action>

        </wpml:ActionGroup>

      </Placemark>

      <Placemark>

        <Point>

          <coordinates>108.95597390699918,34.2395431909994</coordinates>

        </Point>

        <wpml:index>2</wpml:index>

        <wpml:executeHeight>100.0</wpml:executeHeight>

        <wpml:waypointSpeed>12</wpml:waypointSpeed>

        <wpml:waypointHeadingParam>

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

          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>

        </wpml:waypointHeadingParam>

        <wpml:waypointTurnParam>

          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>

          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>

        </wpml:waypointTurnParam>

        <wpml:useStraightLine>1</wpml:useStraightLine>

        <wpml:isRisky>0</wpml:isRisky>

        <wpml:waypointGimbalHeadingParam>

          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>

          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>

        </wpml:waypointGimbalHeadingParam>

        <wpml:ActionGroup>

          <wpml:actionGroupId>2</wpml:actionGroupId>

          <wpml:actionGroupStartIndex>2</wpml:actionGroupStartIndex>

          <wpml:actionGroupEndIndex>2</wpml:actionGroupEndIndex>

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

          <wpml:actionTrigger>

            <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>

          </wpml:actionTrigger>

          <wpml:action>

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

            <wpml:actionActuatorFunc>rotateYaw</wpml:actionActuatorFunc>

            <wpml:actionActuatorFuncParam>

              <wpml:aircraftHeading>145</wpml:aircraftHeading>

              <wpml:aircraftPathMode>counterClockwise</wpml:aircraftPathMode>

            </wpml:actionActuatorFuncParam>

          </wpml:action>

          <wpml:action>

            <wpml:actionId>1</wpml:actionId>

            <wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>

            <wpml:actionActuatorFuncParam>

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

              <wpml:gimbalRotateMode>absoluteAngle</wpml:gimbalRotateMode>

              <wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable>

              <wpml:gimbalPitchRotateAngle>0.0</wpml:gimbalPitchRotateAngle>

              <wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>

              <wpml:gimbalRollRotateAngle>0</wpml:gimbalRollRotateAngle>

              <wpml:gimbalYawRotateEnable>0</wpml:gimbalYawRotateEnable>

              <wpml:gimbalYawRotateAngle>0</wpml:gimbalYawRotateAngle>

              <wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable>

              <wpml:gimbalRotateTime>0</wpml:gimbalRotateTime>

            </wpml:actionActuatorFuncParam>

          </wpml:action>

          <wpml:action>

            <wpml:actionId>2</wpml:actionId>

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

            <wpml:actionActuatorFuncParam>

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

              <wpml:fileSuffix>point2</wpml:fileSuffix>

              <wpml:useGlobalPayloadLensIndex>0</wpml:useGlobalPayloadLensIndex>

            </wpml:actionActuatorFuncParam>

          </wpml:action>

        </wpml:ActionGroup>

      </Placemark>

      <Placemark>

        <Point>

          <coordinates>108.95534358789146,34.23948997429686</coordinates>

        </Point>

        <wpml:index>3</wpml:index>

        <wpml:executeHeight>100.0</wpml:executeHeight>

        <wpml:waypointSpeed>12</wpml:waypointSpeed>

        <wpml:waypointHeadingParam>

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

          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>

        </wpml:waypointHeadingParam>

        <wpml:waypointTurnParam>

          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>

          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>

        </wpml:waypointTurnParam>

        <wpml:useStraightLine>1</wpml:useStraightLine>

        <wpml:isRisky>0</wpml:isRisky>

        <wpml:waypointGimbalHeadingParam>

          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>

          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>

        </wpml:waypointGimbalHeadingParam>

        <wpml:ActionGroup>

          <wpml:actionGroupId>3</wpml:actionGroupId>

          <wpml:actionGroupStartIndex>3</wpml:actionGroupStartIndex>

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

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

          <wpml:actionTrigger>

            <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>

          </wpml:actionTrigger>

          <wpml:action>

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

            <wpml:actionActuatorFunc>rotateYaw</wpml:actionActuatorFunc>

            <wpml:actionActuatorFuncParam>

              <wpml:aircraftHeading>65</wpml:aircraftHeading>

              <wpml:aircraftPathMode>counterClockwise</wpml:aircraftPathMode>

            </wpml:actionActuatorFuncParam>

          </wpml:action>

          <wpml:action>

            <wpml:actionId>1</wpml:actionId>

            <wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>

            <wpml:actionActuatorFuncParam>

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

              <wpml:gimbalRotateMode>absoluteAngle</wpml:gimbalRotateMode>

              <wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable>

              <wpml:gimbalPitchRotateAngle>0.0</wpml:gimbalPitchRotateAngle>

              <wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>

              <wpml:gimbalRollRotateAngle>0</wpml:gimbalRollRotateAngle>

              <wpml:gimbalYawRotateEnable>0</wpml:gimbalYawRotateEnable>

              <wpml:gimbalYawRotateAngle>0</wpml:gimbalYawRotateAngle>

              <wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable>

              <wpml:gimbalRotateTime>0</wpml:gimbalRotateTime>

            </wpml:actionActuatorFuncParam>

          </wpml:action>

          <wpml:action>

            <wpml:actionId>2</wpml:actionId>

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

            <wpml:actionActuatorFuncParam>

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

              <wpml:fileSuffix>point3</wpml:fileSuffix>

              <wpml:useGlobalPayloadLensIndex>0</wpml:useGlobalPayloadLensIndex>

            </wpml:actionActuatorFuncParam>

          </wpml:action>

        </wpml:ActionGroup>

      </Placemark>

    </Folder>

  </Document>

</kml>

0

• 

  DJI Developer Support

  • 2023年10月30日 09:39

  请问您用的什么飞机，我们测试一下。

  0

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• 

  Dreambye

  • 2023年10月31日 00:41

  Mavic 3T

  0

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• 

  DJI Developer Support

  • 2023年10月31日 13:06

  好的，我们看一下是什么问题

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• 

  Dreambye

  • 2023年11月04日 03:45

  看出啥问题了么？

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• 

  DJI Developer Support

  • 2023年11月07日 06:06

  actionGroup的“a”是小写，您写成大写了。

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• 

  Douz

  • 2023年11月09日 06:22

  兄弟你好，最近我也在学习编写wpml文档，但是不知道为什么导入不进去或者说出现了你这样类似的问题，不知可否加个联系方式请教一下，谢谢。VX:18319512957

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• 

  Douz

  • 2023年11月09日 08:22

  兄弟你的问题解决了嘛，我的设备是M3E，我用pilot2生成的航线信息是设定了拍照功能，并且在用pilot2模拟的时候也是拍了照片的。导出的kmz文档能够很顺利地导入到MSDK中，也能够执行，但是却未执行拍照功能，难道是因为MSDK不支持这些内容嘛

   

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