路点飞行中路点动作不执行,pre/cur ActuatorState一直都是1， 日志如链接,https://sp...

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DJI Developer Support

• 2021年07月13日 12:26

路点飞行中路点动作不执行,pre/cur ActuatorState一直都是1， 日志如链接,https://space.dingtalk.com/s/gwHOAvCkbwLOiZTTUgPaACBmMmEzNDFmZGMzMmM0YzRhYWIxYTA0OTBmZjQ0ZTExMw 密码: P8af

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  DJI Developer Support

  • 2021年07月14日 12:03

  尊敬的开发者， 您好，感谢您联系DJI 大疆创新。 里面是Log截图，暂时不明白您的问题是什么。能否发一下您的航点动作代码过来，一般不执行是因为你的设置有问题。 希望我们的解决方案能够帮到您，感谢您的邮件，祝您生活愉快！ Best Regards, DJI 大疆创新SDK技术支持

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  msdk-dji-dev

  • 2021年07月14日 13:18

  航线飞行正常执行, 但是路点动作卡死在actionId为8的动作上， 不会继续往下执行.

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  msdk-dji-dev

  • 2021年07月14日 13:18

  后面的路点动作包括拍照等都不再执行

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  DJI Developer Support

  • 2021年07月15日 01:59

  尊敬的开发者， 您好，感谢您联系DJI 大疆创新。 你需要看你的航点动作搭配才知道为什么卡死在8。你需要检查下触发器和执行器是否搭配。建议再看下文档，和Sample对比一下。 希望我们的解决方案能够帮到您，感谢您的邮件，祝您生活愉快！ Best Regards, DJI 大疆创新SDK技术支持

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  msdk-dji-dev

  • 2021年10月12日 15:29

  这是相应触发器和执行器的绑定，贵方可以帮忙分析一下是否搭配的合理吗

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  msdk-dji-dev

  • 2021年10月12日 15:32

  DJIWaypointV2Action* DY::WayPointMissionV2::createDJIWaypointV2Action(int actionId, int actionIdAssociated, std::shared_ptr<DyWaypointAction> action){

      if(action->type == CAMERA_TAKE_PHOTO){

          DJIWaypointV2AssociateTriggerParam associateTriggerParam;

          associateTriggerParam.actionIdAssociated = actionIdAssociated;

          associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

          associateTriggerParam.waitingTime = 0;

  
  

          auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

          auto *cameraActuatorParam = new DJIWaypointV2CameraActuatorParam(DJIWaypointV2ActionActuatorCameraOperationTypeTakePhoto, nullptr);

          auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeCamera, 0, cameraActuatorParam);

          return new DJIWaypointV2Action(actionId, *trigger, *actuator);

      }

  
  

      if(action->type == CAMERA_START_RECORD_VIDEO){

          DJIWaypointV2AssociateTriggerParam associateTriggerParam;

          associateTriggerParam.actionIdAssociated = actionIdAssociated;

          associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

          associateTriggerParam.waitingTime = 0;

  
  

          auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

          auto *cameraActuatorParam = new DJIWaypointV2CameraActuatorParam(DJIWaypointV2ActionActuatorCameraOperationTypeStartRecordVideo, nullptr);

          auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeCamera, 0, cameraActuatorParam);

          return new DJIWaypointV2Action(actionId, *trigger, *actuator);

      }

  
  

      if(action->type == CAMERA_STOP_RECORD_VIDEO){

          DJIWaypointV2AssociateTriggerParam associateTriggerParam;

          associateTriggerParam.actionIdAssociated = actionIdAssociated;

          associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

          associateTriggerParam.waitingTime = 0;

  
  

          auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

          auto *cameraActuatorParam = new DJIWaypointV2CameraActuatorParam(DJIWaypointV2ActionActuatorCameraOperationTypeStopRecordVideo, nullptr);

          auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeCamera, 0, cameraActuatorParam);

          return new DJIWaypointV2Action(actionId, *trigger, *actuator);

      }

  
  

      if(action->type == CAMERA_FOCUS){

          DJIWaypointV2AssociateTriggerParam associateTriggerParam;

          associateTriggerParam.actionIdAssociated = actionIdAssociated;

          associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

          associateTriggerParam.waitingTime = 0;

  
  

          std::shared_ptr<FocusAction> focusAction = std::dynamic_pointer_cast<FocusAction>(action);

          DJIWaypointV2CameraFocusParam focusParam;

          focusParam.focusTarget.x = focusAction->focusX;

          focusParam.focusTarget.y = focusAction->focusY;

          focusParam.retryTimes = 0;

          //focusParam.focusDelayTime = focusAction->focusDelayTime;

  
  

          auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

          auto *cameraActuatorParam = new DJIWaypointV2CameraActuatorParam(DJIWaypointV2ActionActuatorCameraOperationTypeFocus, &focusParam);

          auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeCamera, 0, cameraActuatorParam);

          return new DJIWaypointV2Action(actionId, *trigger, *actuator);

      }

  
  

      if(action->type == CAMERA_ZOOM){

          DJIWaypointV2AssociateTriggerParam associateTriggerParam;

          associateTriggerParam.actionIdAssociated = actionIdAssociated;

          associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

          associateTriggerParam.waitingTime = 0;

  
  

          std::shared_ptr<ZoomAction> zoomAction = std::dynamic_pointer_cast<ZoomAction>(action);

          DJIWaypointV2CameraFocalLengthParam zoomParam;

          zoomParam.focalLength = zoomAction->focalLength;

          zoomParam.retryTimes = 0;

  
  

          auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

          auto *cameraActuatorParam = new DJIWaypointV2CameraActuatorParam(DJIWaypointV2ActionActuatorCameraOperationTypeFocalLength, &zoomParam);

          auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeCamera, 0, cameraActuatorParam);

          return new DJIWaypointV2Action(actionId, *trigger, *actuator);

      }

  
  

      if(action->type == GIMBAL_ROTATE){

          DJIWaypointV2AssociateTriggerParam associateTriggerParam;

          associateTriggerParam.actionIdAssociated = actionIdAssociated;

          associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

          associateTriggerParam.waitingTime = 0;

  
  

          std::shared_ptr<RotateGimbalAction> gimbalAction = std::dynamic_pointer_cast<RotateGimbalAction>(action);

          DJIGimbalRotation rotation;

          rotation.x              = 10 * gimbalAction->rollDeg;

          rotation.y              = 10 * gimbalAction->pitchDeg;

          rotation.z              = 10 * gimbalAction->yawDeg;

          rotation.ctrl_mode      = gimbalAction->ctrlMode;

          rotation.rollCmdIgnore  = gimbalAction->rollCmdIgnore;

          rotation.pitchCmdIgnore = gimbalAction->pitchCmdIgnore;

          rotation.yawCmdIgnore   = gimbalAction->yawCmdIgnore;

          rotation.absYawModeRef  = gimbalAction->absYawModeRef;

          //rotation.duationTime    = 10 * gimbalAction->durationTime;

          rotation.duationTime    = 5;  // hard coded for duration time as 1s

  
  

          auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

          auto *gimbalActuatorParam = new DJIWaypointV2GimbalActuatorParam(DJIWaypointV2ActionActuatorGimbalOperationTypeRotateGimbal, &rotation);

          auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeGimbal, 0, gimbalActuatorParam);

          return new DJIWaypointV2Action(actionId, *trigger, *actuator);

      }

  
  

      if(action->type == AIRCRAFT_ROTATE_HEADING){

          DJIWaypointV2AssociateTriggerParam associateTriggerParam;

          associateTriggerParam.actionIdAssociated = actionIdAssociated;

          associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;

          associateTriggerParam.waitingTime = 0;

  
  

          std::shared_ptr<RotateHeadingAction> headingAction = std::dynamic_pointer_cast<RotateHeadingAction>(action);

          DJIWaypointV2AircraftControlRotateHeadingParam  rotateParam;

          rotateParam.isRelative = headingAction->isRelative;

          rotateParam.yaw = headingAction->yaw;

  
  

          auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated, &associateTriggerParam);

          auto *airCraftControlActuatorParam = new DJIWaypointV2AircraftControlParam(DJIWaypointV2ActionActuatorAircraftControlOperationTypeRotateYaw, &rotateParam);

          auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeAircraftControl, 0, airCraftControlActuatorParam);

          return new DJIWaypointV2Action(actionId, *trigger, *actuator);

      }

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