版本-4.15.1，机型-M300RTK，相机-H20T，使用WaypointV2类进行航点任务，会发生崩溃，尤其是...

flyucare

2022年02月10日 00:59

Android SDK

崩溃信息如下：

BuglyCrash errorMessage: ;errorStack = #00 pc 0000000000246c90 /data/app/com.cloudcentury.djiremotecontrol-6zIh2BG3vL_x4s0uzttjDQ==/lib/arm64/libDJIWaypointV2Core.so (_ZN3dji10waypointv213DataConverter41ConvertSDKInitializationMissionToProtocolENSt6__ndk110shared_ptrINS0_15WaypointMissionEEE+144) [arm64-v8a::]
#01 pc 0000000000215f2c /data/app/com.cloudcentury.djiremotecontrol-6zIh2BG3vL_x4s0uzttjDQ==/lib/arm64/libDJIWaypointV2Core.so (_ZN3dji10waypointv211Abstraction17InitializeMissionENSt6__ndk110shared_ptrINS0_15WaypointMissionEEENS2_8functionIFviEEE+100) [arm64-v8a::]
#02 pc 0000000000216650 /data/app/com.cloudcentury.djiremotecontrol-6zIh2BG3vL_x4s0uzttjDQ==/lib/arm64/libDJIWaypointV2Core.so (_ZN3dji10waypointv211Abstraction13UploadMissionENSt6__ndk18functionIFviEEE+572) [arm64-v8a::]
#03 pc 00000075e1c7c818 [anon:dalvik-zygote-jit-code-cache] (_ZN3dji10waypointv212LogicManager13UploadMissionEmNSt6__ndk18functionIFviEEE+220)
#04 pc 00000000001c4cb4 /data/app/com.cloudcentury.djiremotecontrol-6zIh2BG3vL_x4s0uzttjDQ==/lib/arm64/libDJIWaypointV2Core.so [arm64-v8a::] #05 pc 0000000000172468 /data/app/com.cloudcentury.djiremotecontrol-6zIh2BG3vL_x4s0uzttjDQ==/lib/arm64/libDJIWaypointV2Core.so (_ZNSt6__ndk113packaged_taskIFvvEEclEv+88) [arm64-v8a::] #06 pc 00000000001710f8 /data/app/com.cloudcentury.djiremotecontrol-6zIh2BG3vL_x4s0uzttjDQ==/lib/arm64/libDJIWaypointV2Core.so (_ZZN3dji6common6WorkerC1EvENKUlvE_clEv+520) [arm64-v8a::] #07 pc 0000000000170e78 /data/app/com.cloudcentury.djiremotecontrol-6zIh2BG3vL_x4s0uzttjDQ==/lib/arm64/libDJIWaypointV2Core.so (_ZNSt6__ndk114__thread_proxyINS_5tupleIJNS_10unique_ptrINS_15__thread_structENS_14default_deleteIS3_EEEEZN3dji6common6WorkerC1EvEUlvE_EEEEEPvSC_+44) [arm64-v8a::] #08 pc 00000000000cf7c0 /apex/com.android.runtime/lib64/bionic/libc.so (_ZL15__pthread_startPv+36) [arm64-v8a::b91c775ccc9b0556e91bc575a2511cd0] #09 pc 00000000000721a8 /apex/com.android.runtime/lib64/bionic/libc.so (__start_thread+64) [arm64-v8a::b91c775ccc9b0556e91bc575a2511cd0] java: [Failed to get Java stack]

0

DJI Developer Support

2022年02月10日 03:09

你的代码是怎么写得呀，直接跑Sample应该不会崩溃。Load就崩溃肯定是你代码写得有问题，能贴出来看看吗？

0

flyucare

2022年02月10日 03:23

mission部分的代码我直接用的Demo里写的，我只是更换了action部分的代码，loadmission应该还没有走到action部分的代码吧。

action代码如下：

List<WaypointV2Action> waypointV2ActionList = new ArrayList<>();

// 第一个点
// stop Fly
WaypointTrigger waypointAction1Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.REACH_POINT)
        .setReachPointParam(new WaypointReachPointTriggerParam.Builder()
                .setStartIndex(1)
                .setAutoTerminateCount(0)
                .build())
        .build();

WaypointActuator waypointAction1Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.AIRCRAFT_CONTROL)
        .setAircraftControlActuatorParam(new WaypointAircraftControlParam.Builder()
                .setAircraftControlType(ActionTypes.AircraftControlType.START_STOP_FLY)
                .setFlyControlParam(new WaypointAircraftControlStartStopFlyParam.Builder()
                        .setStartFly(false)
                        .build())
                .build())
        .build();

WaypointV2Action waypointAction1 = new WaypointV2Action.Builder()
        .setActionID(1)
        .setTrigger(waypointAction1Trigger)
        .setActuator(waypointAction1Actuator)
        .build();
waypointV2ActionList.add(waypointAction1);

// take photo
WaypointTrigger waypointAction2Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.ASSOCIATE)
        .setAssociateParam(new WaypointV2AssociateTriggerParam.Builder()
                .setAssociateActionID(1)
                .setAssociateType(ActionTypes.AssociatedTimingType.AFTER_FINISHED)
                .setWaitingTime(0)
                .build())
        .build();

WaypointActuator waypointAction2Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.CAMERA)
        .setCameraActuatorParam(new WaypointCameraActuatorParam.Builder()
                .setCameraOperationType(ActionTypes.CameraOperationType.SHOOT_SINGLE_PHOTO)
                .build())
        .build();

WaypointV2Action waypointAction2 = new WaypointV2Action.Builder()
        .setActionID(2)
        .setTrigger(waypointAction2Trigger)
        .setActuator(waypointAction2Actuator)
        .build();
waypointV2ActionList.add(waypointAction2);

// take photo
WaypointTrigger waypointAction3Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.ASSOCIATE)
        .setAssociateParam(new WaypointV2AssociateTriggerParam.Builder()
                .setAssociateActionID(2)
                .setAssociateType(ActionTypes.AssociatedTimingType.AFTER_FINISHED)
                .setWaitingTime(10)
                .build())
        .build();

WaypointActuator waypointAction3Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.CAMERA)
        .setCameraActuatorParam(new WaypointCameraActuatorParam.Builder()
                .setCameraOperationType(ActionTypes.CameraOperationType.SHOOT_SINGLE_PHOTO)
                .build())
        .build();

WaypointV2Action waypointAction3 = new WaypointV2Action.Builder()
        .setActionID(3)
        .setTrigger(waypointAction3Trigger)
        .setActuator(waypointAction3Actuator)
        .build();
waypointV2ActionList.add(waypointAction3);

// 偏航角
WaypointTrigger waypointAction4Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.ASSOCIATE)
        .setAssociateParam(new WaypointV2AssociateTriggerParam.Builder()
                .setAssociateActionID(3)
                .setAssociateType(ActionTypes.AssociatedTimingType.AFTER_FINISHED)
                .setWaitingTime(20)
                .build())
        .build();

WaypointActuator waypointAction4Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.AIRCRAFT_CONTROL)
        .setAircraftControlActuatorParam(new WaypointAircraftControlParam.Builder()
                .setAircraftControlType(ActionTypes.AircraftControlType.ROTATE_YAW)
                .setRotateYawParam(new WaypointAircraftControlRotateYawParam.Builder()
                        .setDirection(WaypointV2MissionTypes.WaypointV2TurnMode.CLOCKWISE)
                        .setRelative(true)
                        .setYawAngle(-90)
                        .build())
                .build())
        .build();

WaypointV2Action waypointAction4 = new WaypointV2Action.Builder()
        .setActionID(4)
        .setTrigger(waypointAction4Trigger)
        .setActuator(waypointAction4Actuator)
        .build();
waypointV2ActionList.add(waypointAction4);

// start fly
WaypointTrigger waypointAction5Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.ASSOCIATE)
        .setAssociateParam(new WaypointV2AssociateTriggerParam.Builder()
                .setAssociateActionID(4)
                .setAssociateType(ActionTypes.AssociatedTimingType.AFTER_FINISHED)
                .setWaitingTime(0)
                .build())
        .build();

WaypointActuator waypointAction5Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.AIRCRAFT_CONTROL)
        .setAircraftControlActuatorParam(new WaypointAircraftControlParam.Builder()
                .setAircraftControlType(ActionTypes.AircraftControlType.START_STOP_FLY)
                .setFlyControlParam(new WaypointAircraftControlStartStopFlyParam.Builder()
                        .setStartFly(true)
                        .build())
                .build())
        .build();

WaypointV2Action waypointAction5 = new WaypointV2Action.Builder()
        .setActionID(5)
        .setTrigger(waypointAction5Trigger)
        .setActuator(waypointAction5Actuator)
        .build();
waypointV2ActionList.add(waypointAction5);


// 第二个点
// stop Fly
WaypointTrigger waypointAction6Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.REACH_POINT)
        .setReachPointParam(new WaypointReachPointTriggerParam.Builder()
                .setStartIndex(2)
                .setAutoTerminateCount(0)
                .build())
        .build();

WaypointActuator waypointAction6Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.AIRCRAFT_CONTROL)
        .setAircraftControlActuatorParam(new WaypointAircraftControlParam.Builder()
                .setAircraftControlType(ActionTypes.AircraftControlType.START_STOP_FLY)
                .setFlyControlParam(new WaypointAircraftControlStartStopFlyParam.Builder()
                        .setStartFly(false)
                        .build())
                .build())
        .build();

WaypointV2Action waypointAction6 = new WaypointV2Action.Builder()
        .setActionID(6)
        .setTrigger(waypointAction6Trigger)
        .setActuator(waypointAction6Actuator)
        .build();
waypointV2ActionList.add(waypointAction6);

// take photo
WaypointTrigger waypointAction7Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.ASSOCIATE)
        .setAssociateParam(new WaypointV2AssociateTriggerParam.Builder()
                .setAssociateActionID(6)
                .setAssociateType(ActionTypes.AssociatedTimingType.AFTER_FINISHED)
                .setWaitingTime(0)
                .build())
        .build();

WaypointActuator waypointAction7Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.CAMERA)
        .setCameraActuatorParam(new WaypointCameraActuatorParam.Builder()
                .setCameraOperationType(ActionTypes.CameraOperationType.SHOOT_SINGLE_PHOTO)
                .build())
        .build();

WaypointV2Action waypointAction7 = new WaypointV2Action.Builder()
        .setActionID(7)
        .setTrigger(waypointAction7Trigger)
        .setActuator(waypointAction7Actuator)
        .build();
waypointV2ActionList.add(waypointAction7);

// 云台
WaypointTrigger waypointAction8Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.ASSOCIATE)
        .setAssociateParam(new WaypointV2AssociateTriggerParam.Builder()
                .setAssociateActionID(7)
                .setAssociateType(ActionTypes.AssociatedTimingType.AFTER_FINISHED)
                .setWaitingTime(0)
                .build())
        .build();

WaypointActuator waypointAction8Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.GIMBAL)
        .setGimbalActuatorParam(new WaypointGimbalActuatorParam.Builder()
                .operationType(ActionTypes.GimbalOperationType.ROTATE_GIMBAL)
                .rotation(new Rotation.Builder()
                        .mode(RotationMode.ABSOLUTE_ANGLE)
                        .pitch(0)
                        .roll(0)
                        .yaw(-20.0f)
                        .time(1)
                        .build())
                .build())
        .build();

WaypointV2Action waypointAction8 = new WaypointV2Action.Builder()
        .setActionID(8)
        .setTrigger(waypointAction8Trigger)
        .setActuator(waypointAction8Actuator)
        .build();
waypointV2ActionList.add(waypointAction8);

// start fly
WaypointTrigger waypointAction9Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.ASSOCIATE)
        .setAssociateParam(new WaypointV2AssociateTriggerParam.Builder()
                .setAssociateActionID(8)
                .setAssociateType(ActionTypes.AssociatedTimingType.AFTER_FINISHED)
                .setWaitingTime(10)
                .build())
        .build();

WaypointActuator waypointAction9Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.AIRCRAFT_CONTROL)
        .setAircraftControlActuatorParam(new WaypointAircraftControlParam.Builder()
                .setAircraftControlType(ActionTypes.AircraftControlType.START_STOP_FLY)
                .setFlyControlParam(new WaypointAircraftControlStartStopFlyParam.Builder()
                        .setStartFly(true)
                        .build())
                .build())
        .build();

WaypointV2Action waypointAction9 = new WaypointV2Action.Builder()
        .setActionID(9)
        .setTrigger(waypointAction9Trigger)
        .setActuator(waypointAction9Actuator)
        .build();
waypointV2ActionList.add(waypointAction9);


// 第三个点
// stop Fly
WaypointTrigger waypointAction10Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.REACH_POINT)
        .setReachPointParam(new WaypointReachPointTriggerParam.Builder()
                .setStartIndex(3)
                .setAutoTerminateCount(0)
                .build())
        .build();

WaypointActuator waypointAction10Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.AIRCRAFT_CONTROL)
        .setAircraftControlActuatorParam(new WaypointAircraftControlParam.Builder()
                .setAircraftControlType(ActionTypes.AircraftControlType.START_STOP_FLY)
                .setFlyControlParam(new WaypointAircraftControlStartStopFlyParam.Builder()
                        .setStartFly(false)
                        .build())
                .build())
        .build();

WaypointV2Action waypointAction10 = new WaypointV2Action.Builder()
        .setActionID(10)
        .setTrigger(waypointAction10Trigger)
        .setActuator(waypointAction10Actuator)
        .build();
waypointV2ActionList.add(waypointAction10);

// 偏航角
WaypointTrigger waypointAction11Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.ASSOCIATE)
        .setAssociateParam(new WaypointV2AssociateTriggerParam.Builder()
                .setAssociateActionID(10)
                .setAssociateType(ActionTypes.AssociatedTimingType.AFTER_FINISHED)
                .setWaitingTime(20)
                .build())
        .build();

WaypointActuator waypointAction11Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.AIRCRAFT_CONTROL)
        .setAircraftControlActuatorParam(new WaypointAircraftControlParam.Builder()
                .setAircraftControlType(ActionTypes.AircraftControlType.ROTATE_YAW)
                .setRotateYawParam(new WaypointAircraftControlRotateYawParam.Builder()
                        .setDirection(WaypointV2MissionTypes.WaypointV2TurnMode.CLOCKWISE)
                        .setRelative(true)
                        .setYawAngle(20)
                        .build())
                .build())
        .build();

WaypointV2Action waypointAction11 = new WaypointV2Action.Builder()
        .setActionID(11)
        .setTrigger(waypointAction11Trigger)
        .setActuator(waypointAction11Actuator)
        .build();
waypointV2ActionList.add(waypointAction11);

// 云台
WaypointTrigger waypointAction12Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.ASSOCIATE)
        .setAssociateParam(new WaypointV2AssociateTriggerParam.Builder()
                .setAssociateActionID(11)
                .setAssociateType(ActionTypes.AssociatedTimingType.AFTER_FINISHED)
                .setWaitingTime(0)
                .build())
        .build();

WaypointActuator waypointAction12Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.GIMBAL)
        .setGimbalActuatorParam(new WaypointGimbalActuatorParam.Builder()
                .operationType(ActionTypes.GimbalOperationType.ROTATE_GIMBAL)
                .rotation(new Rotation.Builder()
                        .mode(RotationMode.ABSOLUTE_ANGLE)
                        .pitch(0)
                        .roll(0)
                        .yaw(-30.0f)
                        .time(1)
                        .build())
                .build())
        .build();

WaypointV2Action waypointAction12 = new WaypointV2Action.Builder()
        .setActionID(12)
        .setTrigger(waypointAction12Trigger)
        .setActuator(waypointAction12Actuator)
        .build();
waypointV2ActionList.add(waypointAction12);

// start fly
WaypointTrigger waypointAction13Trigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.ASSOCIATE)
        .setAssociateParam(new WaypointV2AssociateTriggerParam.Builder()
                .setAssociateActionID(12)
                .setAssociateType(ActionTypes.AssociatedTimingType.AFTER_FINISHED)
                .setWaitingTime(0)
                .build())
        .build();

WaypointActuator waypointAction13Actuator = new WaypointActuator.Builder()
        .setActuatorType(ActionTypes.ActionActuatorType.AIRCRAFT_CONTROL)
        .setAircraftControlActuatorParam(new WaypointAircraftControlParam.Builder()
                .setAircraftControlType(ActionTypes.AircraftControlType.START_STOP_FLY)
                .setFlyControlParam(new WaypointAircraftControlStartStopFlyParam.Builder()
                        .setStartFly(true)
                        .build())
                .build())
        .build();

WaypointV2Action waypointAction13 = new WaypointV2Action.Builder()
        .setActionID(13)
        .setTrigger(waypointAction13Trigger)
        .setActuator(waypointAction13Actuator)
        .build();
waypointV2ActionList.add(waypointAction13);

waypointV2MissionOperator.uploadWaypointActions(waypointV2ActionList, new CommonCallbacks.CompletionCallback<DJIWaypointV2Error>() {
    @Override
    public void onResult(DJIWaypointV2Error djiWaypointV2Error) {
        if (djiWaypointV2Error != null) {
            ToastUtils.setResultToToast(djiWaypointV2Error.getDescription());
        }
    }
});

0

flyucare

2022年02月10日 03:29

再提个建议，能否开放一个方法或者返回值，方便我们自查任务参数设置是否有误？每次出现问题都得一点点去对照排查，相当降低开发效率，尤其是WaypointV2类

0

DJI Developer Support

2022年02月10日 10:51

没看出啥问题，我把这个问题提交到研发团队。

0

DJI Developer Support

2022年05月27日 07:54

这个问题出在4.15.1，我们找不到4.15.1的debug.so没法定位问题出在哪，你在4.16，或者4.16.1上还有出现吗？

0

DJI Developer Support

2022年06月27日 07:07

由于之前报告的版本太老了，我们无法解析这个崩溃，只能等有人在最新版本上复现才能解决了。

0

yuan1011yyy

2022年06月27日 07:30

这个问题已解决

0

版本-4.15.1，机型-M300RTK，相机-H20T，使用WaypointV2类进行航点任务，会发生崩溃，尤其是...

评论

没有找到您要找的？