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@ -1074,7 +1074,7 @@ const handelrAirPoint = () => {
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{
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"actionGroupId": 0,
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"actionGroupStartIndex": item.id,
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"actionGroupEndIndex": props.airPoints.length - 3,
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"actionGroupEndIndex": props.airPoints.length - 2,
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"actionGroupMode": "sequence",
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"actionTrigger": {
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"actionTriggerType": "betweenAdjacentPoints"
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@ -1116,7 +1116,7 @@ const handelrAirPoint = () => {
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{
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"actionGroupId": 1,
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"actionGroupStartIndex": item.id,
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"actionGroupEndIndex": props.airPoints.length - 3,
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"actionGroupEndIndex": props.airPoints.length - 2,
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"actionGroupMode": "sequence",
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"actionTrigger": {
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"actionTriggerType": "multipleTiming",
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@ -1395,6 +1395,33 @@ const handelrAirPoint = () => {
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"actionGroupStartIndex": item.id,
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"actionGroupEndIndex": item.id+1,
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"actionGroupMode": "sequence",
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"actionTrigger": {
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"actionTriggerType": "multipleTiming",
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"actionTriggerParam": 2
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},
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"action": {
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"actionId": 0,
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"actionActuatorFunc": "gimbalRotate",
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"actionActuatorFuncParam": {
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"gimbalHeadingYawBase": "aircraft",
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"gimbalRotateMode": "absoluteAngle",
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"gimbalPitchRotateEnable": 1,
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"gimbalPitchRotateAngle": -45,
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"gimbalRollRotateEnable": 0,
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"gimbalRollRotateAngle": 0,
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"gimbalYawRotateEnable": 0,
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"gimbalYawRotateAngle": 0,
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"gimbalRotateTimeEnable": 0,
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"gimbalRotateTime": 10,
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"payloadPositionIndex": 0
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}
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}
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},
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{
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"actionGroupId":5,
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"actionGroupStartIndex": item.id,
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"actionGroupEndIndex": item.id+1,
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"actionGroupMode": "sequence",
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"actionTrigger": {
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"actionTriggerType": "betweenAdjacentPoints"
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},
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@ -1432,33 +1459,7 @@ const handelrAirPoint = () => {
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}
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]
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},
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{
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"actionGroupId": 5,
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"actionGroupStartIndex": item.id,
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"actionGroupEndIndex": item.id+1,
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"actionGroupMode": "sequence",
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"actionTrigger": {
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"actionTriggerType": "multipleTiming",
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"actionTriggerParam": 2
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},
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"action": {
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"actionId": 0,
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"actionActuatorFunc": "gimbalRotate",
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"actionActuatorFuncParam": {
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"gimbalHeadingYawBase": "aircraft",
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"gimbalRotateMode": "absoluteAngle",
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"gimbalPitchRotateEnable": 1,
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"gimbalPitchRotateAngle": -45,
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"gimbalRollRotateEnable": 0,
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"gimbalRollRotateAngle": 0,
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"gimbalYawRotateEnable": 0,
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"gimbalYawRotateAngle": 0,
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"gimbalRotateTimeEnable": 0,
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"gimbalRotateTime": 10,
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"payloadPositionIndex": 0
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}
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}
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}
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],
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"waypointGimbalHeadingParam": {
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"waypointGimbalPitchAngle": 0,
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@ -1467,6 +1468,60 @@ const handelrAirPoint = () => {
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"isRisky": 0,
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"waypointWorkType": 0
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}
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}else if(index == props.airPoints.length -3){
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point = {
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"Placemark": {
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"Point": {
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"coordinates":"\n"+item.lng+","+item.lat+"\n"
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},
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"index": item.id,
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"executeHeight": item.alt - height,
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"waypointSpeed": props.templateKmlConfig.Folder.autoFlightSpeed,
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"waypointHeadingParam": {
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"waypointHeadingMode": "followWayline",
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"waypointHeadingAngle": -90.9999957673264,
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"waypointPoiPoint": "0.000000,0.000000,0.000000",
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"waypointHeadingAngleEnable": 1,
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"waypointHeadingPathMode": "followBadArc",
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"waypointHeadingPoiIndex": 0
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},
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"waypointTurnParam": {
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"waypointTurnMode": "toPointAndStopWithDiscontinuityCurvature",
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"waypointTurnDampingDist": 0
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},
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"useStraightLine": 1,
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"actionGroup": {
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"actionGroupId": 2,
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"actionGroupStartIndex": item.id,
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"actionGroupEndIndex": item.id,
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"actionGroupMode": "sequence",
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"actionTrigger": {
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"actionTriggerType": "reachPoint"
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},
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"action": [
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{
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"actionId": 0,
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"actionActuatorFunc": "stopTimeLapse",
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"actionActuatorFuncParam": {
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"payloadPositionIndex": 0,
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"payloadLensIndex": "visable"
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}
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},
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{
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"actionId": 1,
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"actionActuatorFunc": "gimbalAngleUnlock"
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}
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]
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},
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"waypointGimbalHeadingParam": {
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"waypointGimbalPitchAngle": 0,
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"waypointGimbalYawAngle": 0
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},
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"isRisky": 0,
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"waypointWorkType": 0
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}
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}
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}else{ // 处理中间航点
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point = {
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"Point": {
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