M350RTK执行航线文件,某些动作不执行
已完成参考上云API航线文件文档,编写代码生成的航线文件,使用M350执行是,跟云台相关的动作都没有执行,机型为M350RTK,负载为H20T,挂载点选择无误,可以起飞,但是动作没有执行,附上生成的航线文件,烦请官方协助解答下
<?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>goHome</wpml:finishAction>
<wpml:exitOnRCLost>executeLostAction</wpml:exitOnRCLost>
<wpml:executeRCLostAction>goBack</wpml:executeRCLostAction>
<wpml:takeOffSecurityHeight>70.0</wpml:takeOffSecurityHeight>
<wpml:globalTransitionalSpeed>10.0</wpml:globalTransitionalSpeed>
<wpml:globalRTHHeight>70.0</wpml:globalRTHHeight>
<wpml:droneInfo>
<wpml:droneEnumValue>89</wpml:droneEnumValue>
<wpml:droneSubEnumValue>0</wpml:droneSubEnumValue>
</wpml:droneInfo>
<wpml:payloadInfo>
<wpml:payloadEnumValue>43</wpml:payloadEnumValue>
<wpml:payloadSubEnumValue>0</wpml:payloadSubEnumValue>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
</wpml:payloadInfo>
</wpml:missionConfig>
<Folder>
<wpml:templateId>1</wpml:templateId>
<wpml:executeHeightMode>relativeToStartPoint</wpml:executeHeightMode>
<wpml:waylineId>0</wpml:waylineId>
<wpml:autoFlightSpeed>10.0</wpml:autoFlightSpeed>
<Placemark>
<Point>
<coordinates>121.4200768157409,31.0746957700152</coordinates>
</Point>
<wpml:index>0</wpml:index>
<wpml:executeHeight>120.0</wpml:executeHeight>
<wpml:waypointSpeed>10.0</wpml:waypointSpeed>
<wpml:waypointHeadingParam>
<wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
<wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
<wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
</wpml:waypointHeadingParam>
<wpml:waypointTurnParam>
<wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
</wpml:waypointTurnParam>
<wpml:useStraightLine>1</wpml:useStraightLine>
<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>gimbalRotate</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
<wpml:gimbalHeadingYawBase>north</wpml:gimbalHeadingYawBase>
<wpml:gimbalRotateMode>absoluteAngle</wpml:gimbalRotateMode>
<wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable>
<wpml:gimbalPitchRotateAngle>-19.0</wpml:gimbalPitchRotateAngle>
<wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>
<wpml:gimbalRollRotateAngle>0.0</wpml:gimbalRollRotateAngle>
<wpml:gimbalYawRotateEnable>1</wpml:gimbalYawRotateEnable>
<wpml:gimbalYawRotateAngle>-142.0</wpml:gimbalYawRotateAngle>
<wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable>
<wpml:gimbalRotateTime>0.0</wpml:gimbalRotateTime>
</wpml:actionActuatorFuncParam>
</wpml:action>
</wpml:actionGroup>
</Placemark>
<Placemark>
<Point>
<coordinates>121.42108004917293,31.075106133747</coordinates>
</Point>
<wpml:index>1</wpml:index>
<wpml:executeHeight>120.0</wpml:executeHeight>
<wpml:waypointSpeed>10.0</wpml:waypointSpeed>
<wpml:waypointHeadingParam>
<wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
<wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
<wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
</wpml:waypointHeadingParam>
<wpml:waypointTurnParam>
<wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
</wpml:waypointTurnParam>
<wpml:useStraightLine>1</wpml:useStraightLine>
<wpml:actionGroup>
<wpml:actionGroupId>0</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>takePhoto</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
<wpml:payloadLensIndex>zoom,wide</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>0</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
</wpml:action>
</wpml:actionGroup>
</Placemark>
<Placemark>
<Point>
<coordinates>121.42131145318965,31.075706032067085</coordinates>
</Point>
<wpml:index>2</wpml:index>
<wpml:executeHeight>120.0</wpml:executeHeight>
<wpml:waypointSpeed>10.0</wpml:waypointSpeed>
<wpml:waypointHeadingParam>
<wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
<wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
<wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
</wpml:waypointHeadingParam>
<wpml:waypointTurnParam>
<wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
</wpml:waypointTurnParam>
<wpml:useStraightLine>1</wpml:useStraightLine>
<wpml:actionGroup>
<wpml:actionGroupId>0</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>startRecord</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
<wpml:payloadLensIndex>zoom,wide</wpml:payloadLensIndex>
<wpml:useGlobalPayloadLensIndex>0</wpml:useGlobalPayloadLensIndex>
</wpml:actionActuatorFuncParam>
</wpml:action>
</wpml:actionGroup>
</Placemark>
<Placemark>
<Point>
<coordinates>121.42082937834599,31.076619446759505</coordinates>
</Point>
<wpml:index>3</wpml:index>
<wpml:executeHeight>120.0</wpml:executeHeight>
<wpml:waypointSpeed>10.0</wpml:waypointSpeed>
<wpml:waypointHeadingParam>
<wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
<wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
<wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
</wpml:waypointHeadingParam>
<wpml:waypointTurnParam>
<wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
</wpml:waypointTurnParam>
<wpml:useStraightLine>1</wpml:useStraightLine>
<wpml:actionGroup>
<wpml:actionGroupId>0</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>stopRecord</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
</wpml:actionActuatorFuncParam>
</wpml:action>
</wpml:actionGroup>
</Placemark>
<Placemark>
<Point>
<coordinates>121.41928998144003,31.076854558338336</coordinates>
</Point>
<wpml:index>4</wpml:index>
<wpml:executeHeight>120.0</wpml:executeHeight>
<wpml:waypointSpeed>10.0</wpml:waypointSpeed>
<wpml:waypointHeadingParam>
<wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
<wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
<wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
</wpml:waypointHeadingParam>
<wpml:waypointTurnParam>
<wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
</wpml:waypointTurnParam>
<wpml:useStraightLine>1</wpml:useStraightLine>
<wpml:actionGroup>
<wpml:actionGroupId>0</wpml:actionGroupId>
<wpml:actionGroupStartIndex>4</wpml:actionGroupStartIndex>
<wpml:actionGroupEndIndex>4</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>zoom</wpml:actionActuatorFunc>
<wpml:actionActuatorFuncParam>
<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
<wpml:payloadLensIndex>10</wpml:payloadLensIndex>
</wpml:actionActuatorFuncParam>
</wpml:action>
</wpml:actionGroup>
</Placemark>
</Folder>
</Document>
</kml>
请先登录再写评论。
评论
3 条评论