V4最新版本，M300+H20T，V2航点任务，使用定时/定距航点动作，报错：The actuator state ...

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DJI Developer Support

2022年08月10日 02:46

V4最新版本，M300+H20T，V2航点任务，使用定时/定距航点动作，报错：The actuator state does not match action.(-9004)，如何解决？

12 条评论

DJI Developer Support

2022年08月10日 06:50
你的代码动作搭配有问题，需要把动作搭配发出来看看。M300已经支持了V5，也可以考虑换用V5版本。
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yuan1011yyy

2022年08月10日 08:04
动作搭配逻辑如下日志所示：到达航点转云台，然后设置定时/定距拍照，最后一个动作是按照你们之前要求的，说是固件原因会导致最后一个动作不执行所以随便添加一个动作

当前正在设置的航点为 0
当前处理后的waypointV2航点动作startIndex=0+WaypointV2Action{actionID=1, trigger=WaypointTrigger{triggerType=REACH_POINT, complexReachPointParam=null, associateParam=null, trajectoryParam=null, reachPointParam=dji.common.mission.waypointv2.Action.WaypointReachPointTriggerParam@78ae847, simpleIntervalTriggerParam=null}, actuator=WaypointActuator{actuatorType=GIMBAL, actuatorIndex=0, subActuatorIndex=0, cameraActuatorParam=null, gimbalActuatorParam=dji.common.mission.waypointv2.Action.WaypointGimbalActuatorParam@6d4b874, aircraftControlActuatorParam=null, payloadActuatorParam=null, navigationActionParam=null, djiSYSActuatorParam=null}}

当前处理后的interval(等时/等距)waypointV2航点动作startIndex=0+WaypointV2Action{actionID=2, trigger=WaypointTrigger{triggerType=SIMPLE_INTERVAL, complexReachPointParam=null, associateParam=null, trajectoryParam=null, reachPointParam=null, simpleIntervalTriggerParam=dji.common.mission.waypointv2.Action.WaypointIntervalTriggerParam@67e119d}, actuator=WaypointActuator{actuatorType=CAMERA, actuatorIndex=0, subActuatorIndex=0, cameraActuatorParam=dji.common.mission.waypointv2.Action.WaypointCameraActuatorParam@9798612, gimbalActuatorParam=null, aircraftControlActuatorParam=null, payloadActuatorParam=null, navigationActionParam=null, djiSYSActuatorParam=null}}

当前正在设置的航点为 1
当前处理后的waypointV2航点动作startIndex=1+WaypointV2Action{actionID=3, trigger=WaypointTrigger{triggerType=REACH_POINT, complexReachPointParam=null, associateParam=null, trajectoryParam=null, reachPointParam=dji.common.mission.waypointv2.Action.WaypointReachPointTriggerParam@383c1e3, simpleIntervalTriggerParam=null}, actuator=WaypointActuator{actuatorType=GIMBAL, actuatorIndex=0, subActuatorIndex=0, cameraActuatorParam=null, gimbalActuatorParam=dji.common.mission.waypointv2.Action.WaypointGimbalActuatorParam@cbee7e0, aircraftControlActuatorParam=null, payloadActuatorParam=null, navigationActionParam=null, djiSYSActuatorParam=null}}

当前处理后的interval(等时/等距)waypointV2航点动作startIndex=1+WaypointV2Action{actionID=4, trigger=WaypointTrigger{triggerType=SIMPLE_INTERVAL, complexReachPointParam=null, associateParam=null, trajectoryParam=null, reachPointParam=null, simpleIntervalTriggerParam=dji.common.mission.waypointv2.Action.WaypointIntervalTriggerParam@f2f2a99}, actuator=WaypointActuator{actuatorType=CAMERA, actuatorIndex=0, subActuatorIndex=0, cameraActuatorParam=dji.common.mission.waypointv2.Action.WaypointCameraActuatorParam@165f15e, gimbalActuatorParam=null, aircraftControlActuatorParam=null, payloadActuatorParam=null, navigationActionParam=null, djiSYSActuatorParam=null}}

当前正在设置的航点为 2
当前处理后的waypointV2航点动作startIndex=2+WaypointV2Action{actionID=5, trigger=WaypointTrigger{triggerType=REACH_POINT, complexReachPointParam=null, associateParam=null, trajectoryParam=null, reachPointParam=dji.common.mission.waypointv2.Action.WaypointReachPointTriggerParam@4a6993f, simpleIntervalTriggerParam=null}, actuator=WaypointActuator{actuatorType=GIMBAL, actuatorIndex=0, subActuatorIndex=0, cameraActuatorParam=null, gimbalActuatorParam=dji.common.mission.waypointv2.Action.WaypointGimbalActuatorParam@35aa20c, aircraftControlActuatorParam=null, payloadActuatorParam=null, navigationActionParam=null, djiSYSActuatorParam=null}}

当前处理后的interval(等时/等距)waypointV2航点动作startIndex=2+WaypointV2Action{actionID=6, trigger=WaypointTrigger{triggerType=SIMPLE_INTERVAL, complexReachPointParam=null, associateParam=null, trajectoryParam=null, reachPointParam=null, simpleIntervalTriggerParam=dji.common.mission.waypointv2.Action.WaypointIntervalTriggerParam@c3ed755}, actuator=WaypointActuator{actuatorType=CAMERA, actuatorIndex=0, subActuatorIndex=0, cameraActuatorParam=dji.common.mission.waypointv2.Action.WaypointCameraActuatorParam@d1bc56a, gimbalActuatorParam=null, aircraftControlActuatorParam=null, payloadActuatorParam=null, navigationActionParam=null, djiSYSActuatorParam=null}}

当前为绑定的航点动作，AssociateActionID:6stayTime:0.0
当前处理后的waypointV2航点动作startIndex=3+WaypointV2Action{actionID=7, trigger=WaypointTrigger{triggerType=ASSOCIATE, complexReachPointParam=null, associateParam=dji.common.mission.waypointv2.Action.WaypointV2AssociateTriggerParam@2787137, trajectoryParam=null, reachPointParam=null, simpleIntervalTriggerParam=null}, actuator=WaypointActuator{actuatorType=AIRCRAFT_CONTROL, actuatorIndex=0, subActuatorIndex=0, cameraActuatorParam=null, gimbalActuatorParam=null, aircraftControlActuatorParam=dji.common.mission.waypointv2.Action.WaypointAircraftControlParam@75126a4, payloadActuatorParam=null, navigationActionParam=null, djiSYSActuatorParam=null}}
准备上传V2 Action，当前需要上传的航点动作数量为：7
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yuan1011yyy

2022年08月10日 08:05
问题是现在V5 SDK内未开放自定义航点动作的API
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DJI Developer Support

2022年08月10日 13:17
MSDK V5的航点动作只用编辑KMZ就可以了。我怀疑是你到达航点转云台，和到达航点开始间隔拍照冲突了，无法在同一时间又转云台又拍照，因为固件同时只能做一件事情。
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yuan1011yyy

2022年08月11日 01:55
那我如何实现云台和间隔拍照按顺序执行？现有的动作搭配，我是通过SDK Demo自己探索实现的
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DJI Developer Support

2022年08月11日 02:09
你的reachPoint后面搭配转机头，让飞机斜着飞，进行间隔拍照，这样应该也能满足你的需求吧。转机头和间隔拍照是可以在一个点上执行的。
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yuan1011yyy

2022年08月11日 02:21
我的需求是需要云台转动到固定角度，来拍摄当前角度的图片，所以如何保证在转动云台后才开始顺序执行间隔拍照？
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yuan1011yyy

2022年08月11日 03:06
在DJI pilot里面，我的需求是可以实现的，每个航点上都依次添加云台俯仰角和间隔拍照的动作，他会按顺序执行动作，所以V4版本里我如何控制动作搭配能实现和pilot中一样的效果？
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DJI Developer Support

2022年08月11日 03:09
你现在使用得是DJI Pilot还是DJI Pilot 2呢？Pilot 2里已经在使用KMZ文件了也就是航线3.0。
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yuan1011yyy

2022年08月11日 04:10
DJI Pilot和DJI Pilot 2 均已验证，都可以实现我的需求
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yuan1011yyy

2022年08月12日 01:28

我用的航点动作分别是：

转云台：

WaypointTrigger.Builder triggerBuilder = new WaypointTrigger.Builder();
triggerBuilder.setTriggerType(ActionTypes.ActionTriggerType.REACH_POINT);

WaypointReachPointTriggerParam reachPointTriggerParam = new WaypointReachPointTriggerParam.Builder()
            .setStartIndex(waypointIndex)
            .setAutoTerminateCount(0)
            .build();

triggerBuilder.setReachPointParam(reachPointTriggerParam);
WaypointTrigger trigger = triggerBuilder.build();

WaypointActuator.Builder actuatorBuilder = new WaypointActuator.Builder();
actuatorBuilder.setActuatorType(ActionTypes.ActionActuatorType.GIMBAL);

Rotation rotation = new Rotation.Builder()
.mode(RotationMode.ABSOLUTE_ANGLE)
.pitch(pitch)
.time(2)
.build();

WaypointGimbalActuatorParam gimbalParam = new WaypointGimbalActuatorParam.Builder()
.operationType(ActionTypes.GimbalOperationType.ROTATE_GIMBAL)
.rotation(rotation)
.build();

actuatorBuilder.setGimbalActuatorParam(gimbalParam);

WaypointV2Action waypointV2Action = new WaypointV2Action.Builder()
.setActionID(actionId++)
.setTrigger(trigger)
.setActuator(actuatorBuilder.build())
.build();

等时/等距拍照

WaypointIntervalTriggerParam intervalTriggerParam = new WaypointIntervalTriggerParam.Builder()
        .setType(isTime ? ActionTypes.ActionIntervalType.TIME : ActionTypes.ActionIntervalType.DISTANCE)
        .setStartIndex(waypointIndex)
        .setInterval(interval)
        .build();
WaypointTrigger waypointTrigger = new WaypointTrigger.Builder()
        .setTriggerType(ActionTypes.ActionTriggerType.SIMPLE_INTERVAL)
        .setIntervalTriggerParam(intervalTriggerParam)
        .build();

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

WaypointV2Action intervalWaypointV2Action = new WaypointV2Action.Builder()
        .setActionID(actionId++)
        .setTrigger(waypointTrigger)
        .setActuator(waypointActuator)
        .build();

DJI Developer Support

2022年08月12日 03:35
我这边测试Pilot 2确实可以这样飞，也许不是这段代码的问题，你把其他航点动作都删除，只留一个到点转云台的动作和在该点进行间隔拍照的动作，看看是否还会报这个错误，这样可以确定问题是不是出在这。
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