[add] 新增无人机模块后端项目
[refactor] 重构后端项目
This commit is contained in:
119
drone/ruoyi-wayline/src/main/resources/waypoint/template.kml
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119
drone/ruoyi-wayline/src/main/resources/waypoint/template.kml
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<?xml version="1.0" encoding="UTF-8"?>
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<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.2">
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<Document>
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<wpml:missionConfig>
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<wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
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<wpml:finishAction>goHome</wpml:finishAction>
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<wpml:exitOnRCLost>executeLostAction</wpml:exitOnRCLost>
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<wpml:executeRCLostAction>goBack</wpml:executeRCLostAction>
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<!-- 安全起飞高度 -->
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<wpml:takeOffSecurityHeight>?</wpml:takeOffSecurityHeight>
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<!-- 参考起飞点 -->
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<wpml:takeOffRefPoint>?</wpml:takeOffRefPoint>
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<!-- 全局航线过渡速度[飞向首航点速度] -->
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<wpml:globalTransitionalSpeed>?</wpml:globalTransitionalSpeed>
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<!-- 飞行器信息 -->
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<wpml:droneInfo>
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<wpml:droneEnumValue>?</wpml:droneEnumValue>
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<wpml:droneSubEnumValue>?</wpml:droneSubEnumValue>
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</wpml:droneInfo>
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<!-- 负载信息 -->
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<wpml:payloadInfo>
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<wpml:payloadEnumValue>?</wpml:payloadEnumValue>
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<wpml:payloadSubEnumValue>?</wpml:payloadSubEnumValue>
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<wpml:payloadPositionIndex>?</wpml:payloadPositionIndex>
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</wpml:payloadInfo>
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</wpml:missionConfig>
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<Folder>
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<wpml:templateType>waypoint</wpml:templateType>
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<!-- 模板ID -->
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<wpml:templateId>?</wpml:templateId>
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<!-- 全局航线飞行速度 -->
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<wpml:autoFlightSpeed>?</wpml:autoFlightSpeed>
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<wpml:globalWaypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:globalWaypointTurnMode>
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<wpml:globalUseStraightLine>1</wpml:globalUseStraightLine>
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<wpml:gimbalPitchMode>usePointSetting</wpml:gimbalPitchMode>
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<!-- 全局航线高度（相对起飞点高度）-->
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<wpml:globalHeight>?</wpml:globalHeight>
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<wpml:waylineCoordinateSysParam>
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<wpml:coordinateMode>WGS84</wpml:coordinateMode>
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<wpml:heightMode>relativeToStartPoint</wpml:heightMode>
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<wpml:positioningType>GPS</wpml:positioningType>
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<!-- 飞行器离被摄面高度（相对地面高）-->
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<wpml:globalShootHeight>?</wpml:globalShootHeight>
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</wpml:waylineCoordinateSysParam>
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<wpml:globalWaypointHeadingParam>
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<wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
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<wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
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<wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
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</wpml:globalWaypointHeadingParam>
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<Placemark>
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<Point>
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<!-- 经度,纬度 -->
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<coordinates>?</coordinates>
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</Point>
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<!-- 递增的 index -->
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<wpml:index>?</wpml:index>
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<!-- 全局航线高度（椭球高）选用相对起飞点高度则和下面一致 -->
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<wpml:ellipsoidHeight>?</wpml:ellipsoidHeight>
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<!-- 全局航线高度（EGM96海拔高）-->
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<wpml:height>?</wpml:height>
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<wpml:useGlobalHeight>1</wpml:useGlobalHeight>
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<wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
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<wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
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<wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
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<wpml:useStraightLine>1</wpml:useStraightLine>
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<wpml:gimbalPitchAngle>0.0</wpml:gimbalPitchAngle>
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<!-- 航点飞行速度 -->
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<wpml:waypointSpeed>?</wpml:waypointSpeed>
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<wpml:actionGroup>
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<wpml:actionGroupId>0</wpml:actionGroupId>
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<wpml:actionGroupStartIndex>0</wpml:actionGroupStartIndex>
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<wpml:actionGroupEndIndex>0</wpml:actionGroupEndIndex>
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<wpml:actionGroupMode>sequence</wpml:actionGroupMode>
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<wpml:actionTrigger>
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<wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
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</wpml:actionTrigger>
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<wpml:action>
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<wpml:actionId>0</wpml:actionId>
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<wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>
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<wpml:actionActuatorFuncParam>
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<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
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<wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable>
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<wpml:gimbalPitchRotateAngle>-90.0</wpml:gimbalPitchRotateAngle>
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<wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>
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<wpml:gimbalRollRotateAngle>0.0</wpml:gimbalRollRotateAngle>
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<wpml:gimbalYawRotateEnable>0</wpml:gimbalYawRotateEnable>
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<wpml:gimbalYawRotateAngle>0.0</wpml:gimbalYawRotateAngle>
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<wpml:gimbalRotateTimeEnable>1</wpml:gimbalRotateTimeEnable>
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<wpml:gimbalRotateTime>0.0</wpml:gimbalRotateTime>
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</wpml:actionActuatorFuncParam>
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</wpml:action>
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<wpml:action>
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<wpml:actionId>1</wpml:actionId>
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<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
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<wpml:actionActuatorFuncParam>
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<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
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<!-- 图片格式列表 -->
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<wpml:payloadLensIndex>?</wpml:payloadLensIndex>
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<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
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</wpml:actionActuatorFuncParam>
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</wpml:action>
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</wpml:actionGroup>
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</Placemark>
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<wpml:payloadParam>
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<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
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<wpml:focusMode>firstPoint</wpml:focusMode>
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<wpml:meteringMode>average</wpml:meteringMode>
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<wpml:dewarpingEnable>0</wpml:dewarpingEnable>
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<wpml:returnMode>singleReturnStrongest</wpml:returnMode>
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<wpml:samplingRate>160000</wpml:samplingRate>
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<wpml:modelColoringEnable>0</wpml:modelColoringEnable>
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<!-- 图片格式列表 -->
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<wpml:imageFormat>?</wpml:imageFormat>
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</wpml:payloadParam>
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<Circle></Circle>
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</Folder>
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</Document>
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</kml>
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@ -0,0 +1,93 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.2">
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<Document>
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<wpml:missionConfig>
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<wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
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<wpml:finishAction>goHome</wpml:finishAction>
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<wpml:exitOnRCLost>executeLostAction</wpml:exitOnRCLost>
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<wpml:executeRCLostAction>goBack</wpml:executeRCLostAction>
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<!-- 安全起飞高度 -->
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<wpml:takeOffSecurityHeight>?</wpml:takeOffSecurityHeight>
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<!-- 全局航线过渡速度[飞向首航点速度] -->
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<wpml:globalTransitionalSpeed>?</wpml:globalTransitionalSpeed>
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<!-- 飞行器信息 -->
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<wpml:droneInfo>
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<wpml:droneEnumValue>?</wpml:droneEnumValue>
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<wpml:droneSubEnumValue>?</wpml:droneSubEnumValue>
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</wpml:droneInfo>
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<!-- 负载信息 -->
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<wpml:payloadInfo>
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<wpml:payloadEnumValue>?</wpml:payloadEnumValue>
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<wpml:payloadSubEnumValue>?</wpml:payloadSubEnumValue>
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<wpml:payloadPositionIndex>?</wpml:payloadPositionIndex>
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</wpml:payloadInfo>
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</wpml:missionConfig>
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<Folder>
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<!-- 模板ID -->
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<wpml:templateId>?</wpml:templateId>
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<wpml:waylineId>0</wpml:waylineId>
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<!-- 全局航线飞行速度 -->
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<wpml:autoFlightSpeed>?</wpml:autoFlightSpeed>
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<wpml:executeHeightMode>relativeToStartPoint</wpml:executeHeightMode>
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<Placemark>
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<Point>
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<!-- 经度,纬度 -->
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<coordinates>?</coordinates>
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</Point>
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<!-- 递增的 index -->
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<wpml:index>?</wpml:index>
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<!-- 航点执行高度 -->
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<wpml:executeHeight>?</wpml:executeHeight>
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<!-- 航点飞行速度,当前航点飞向下一个航点的速度 -->
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<wpml:waypointSpeed>?</wpml:waypointSpeed>
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<wpml:waypointHeadingParam>
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<wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
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<wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
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<wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
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</wpml:waypointHeadingParam>
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<wpml:waypointTurnParam>
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<wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
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<wpml:waypointTurnDampingDist>0.0</wpml:waypointTurnDampingDist>
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</wpml:waypointTurnParam>
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<wpml:waypointGimbalHeadingParam>
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<wpml:waypointGimbalPitchAngle>0.0</wpml:waypointGimbalPitchAngle>
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</wpml:waypointGimbalHeadingParam>
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<wpml:useStraightLine>1</wpml:useStraightLine>
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<wpml:actionGroup>
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<wpml:actionGroupId>0</wpml:actionGroupId>
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<wpml:actionGroupStartIndex>0</wpml:actionGroupStartIndex>
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<wpml:actionGroupEndIndex>0</wpml:actionGroupEndIndex>
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<wpml:actionGroupMode>sequence</wpml:actionGroupMode>
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<wpml:actionTrigger>
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<wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
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</wpml:actionTrigger>
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<wpml:action>
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<wpml:actionId>0</wpml:actionId>
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<wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>
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<wpml:actionActuatorFuncParam>
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<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
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<wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable>
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<wpml:gimbalPitchRotateAngle>-90.0</wpml:gimbalPitchRotateAngle>
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<wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>
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<wpml:gimbalRollRotateAngle>0.0</wpml:gimbalRollRotateAngle>
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<wpml:gimbalYawRotateEnable>0</wpml:gimbalYawRotateEnable>
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<wpml:gimbalYawRotateAngle>0.0</wpml:gimbalYawRotateAngle>
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<wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable>
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<wpml:gimbalRotateTime>0.0</wpml:gimbalRotateTime>
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</wpml:actionActuatorFuncParam>
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</wpml:action>
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<wpml:action>
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<wpml:actionId>1</wpml:actionId>
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<wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
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<wpml:actionActuatorFuncParam>
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<wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
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<!-- 图片格式列表 -->
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<wpml:payloadLensIndex>?</wpml:payloadLensIndex>
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<wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
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</wpml:actionActuatorFuncParam>
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</wpml:action>
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</wpml:actionGroup>
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</Placemark>
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</Folder>
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</Document>
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</kml>
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