[MSDK 5.9.1] Wrong pitch for the first photo of mission

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Sergey Gorodetsky

• 2024年09月12日 15:23

I receive wrong pitch for the first photo in certain missions consistently. Both in flights and simulator mode. I use actionActuatorFunc: gimbalEvenlyRotate and actionTriggerType: betweenAdjacentPoints. I see that gimbal is changing pitch while aircraft is flying between start and end waypoints of this action. But then gimbal gets stuck half way, and photo is taken with incorrect pitch. Is there any known reasons for that behavior? I can provide you wayline files if needed.
All test missions were conducted using Mavic 3T.

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  DJI Developer Support

  • 2024年09月13日 11:39

  You can upload the file to this address. Additionally, could you provide us with a video of the gimbal stuck ? https://pan-sec.djicorp.com/s/BsN9G9kXPCjDHrT password:dji123

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  Sergey Gorodetsky

  • 2024年09月15日 13:45

  Done!

  You can see around 00:06 that gimbal stopped, that's the moment when the aircraft makes photo for the first waypoint. Attached wayline files are my attempts to achieve expected pitch, but to no avail. Some additional info about those missions:

  File: waylines_3992.txt
  Gimbal Pitch: -40.1
  Gimbal Yaw: 40.9
  Waypoint Index: 4
  Expected Gimbal Pitch: -89
  Expected Gimbal Yaw: 41.5

  File: waylines_4003.txt
  Gimbal Pitch: -67.5
  Gimbal Yaw: 9.6
  Waypoint Index: 4
  Expected Gimbal Pitch: -89
  Expected Gimbal Yaw: 41.5

  File: waylines_4005.txt
  Gimbal Pitch: -67.7
  Gimbal Yaw: 40.9
  Waypoint Index:4
  Expected Gimbal Pitch: -89
  Expected Gimbal Yaw: 41.5

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  DJI Developer Support

  • 2024年09月18日 03:35

  Please hold on for a moment; I will use the document you provided to attempt to reproduce this issue.

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  DJI Developer Support

  • 2024年09月23日 06:45

  I have replicated this issue. I will check with the engineers to confirm whether this behavior is as expected.

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  Sergey Gorodetsky

  • 2024年09月23日 06:59

  Thank you for providing the information and for looking into my issue. I look forward to your response.

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  DJI Developer Support

  • 2024年10月08日 09:04

  I will reach out to you as soon as I receive the analysis results.

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  DJI Developer Support

  • 2024年10月09日 12:03

  Thank you for your patience. After our analysis, we found that the waypoint file you are using contains errors. The action of type gimbalEvenlyRotate can only be paired with turning modes of type toPointAndStopWithDiscontinuityCurvature or toPointAndStopWithContinuityCurvature. Using it with other modes will result in the situation you have encountered.

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  Sergey Gorodetsky

  • 2024年10月15日 11:32

  Thank you very much for the help! Correct me if I wrong: if I set gimbalEvenlyRotate with betweenAdjacentPoints it means that the aircraft will start to change the gimbal at that waypoint and will finish until the next one, correct?

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  DJI Developer Support

  • 2024年10月16日 08:09

  You are correct. If the difference between the starting and ending serial numbers is only 1, then it is as you described. However, the error in your document is not related to the combination of `betweenAdjacentPoints` and `gimbalEvenlyRotate`, but rather to `WaypointTurnMode`. The `WaypointTurnMode` that does not pass through waypoints will affect the waypoint actions that must reach the points to trigger the start and end effects.

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