waypointV2的触发器写法
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我现在有20个航点,前6个航点只是普通的直线飞行,后5个航点也是直线飞行,中间9个航点要云台调成-90度持续拍照或拍视频,疑问:到倒数第5个航点不需要拍照了,怎么设置拍照终止的触发器和动作? 我的写法如下:
WaypointTrigger waypointActionA1Trigger = new WaypointTrigger.Builder()
.setTriggerType(ActionTypes.ActionTriggerType.REACH_POINT)
.setReachPointParam(new WaypointReachPointTriggerParam.Builder()
.setStartIndex(6)
.setAutoTerminateCount(0)
.build())
.build();
WaypointActuator waypointActionA1Actuator = 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(-90.0f)
.roll(0)
.yaw(0)
.time(3)
.build())
.build())
.build();
WaypointV2Action waypointActionA1 = new WaypointV2Action.Builder()
.setActionID(1)
.setTrigger(waypointActionA1Trigger)
.setActuator(waypointActionA1Actuator)
.build();
DJIWaypointV2MissionUtil.getInstance().addMainWorkbenchViewModel(mainWorkbenchViewModel).addWaypointV2Action(waypointActionA1);
WaypointTrigger waypointActionA2Trigger = new WaypointTrigger.Builder()
.setTriggerType(ActionTypes.ActionTriggerType.SIMPLE_INTERVAL)
.setIntervalTriggerParam(new WaypointIntervalTriggerParam.Builder()
.setType(ActionTypes.ActionIntervalType.TIME)
.setStartIndex(6)
.setInterval(2)
.build())
.build();
WaypointActuator waypointActionA2Actuator = new WaypointActuator.Builder()
.setActuatorType(ActionTypes.ActionActuatorType.CAMERA)
.setCameraActuatorParam(new WaypointCameraActuatorParam.Builder()
.setCameraOperationType(ActionTypes.CameraOperationType.SHOOT_SINGLE_PHOTO)
.build())
.build();
WaypointV2Action waypointActionA2 = new WaypointV2Action.Builder()
.setActionID(2)
.setTrigger(waypointActionA2Trigger)
.setActuator(waypointActionA2Actuator)
.build();
DJIWaypointV2MissionUtil.getInstance().addMainWorkbenchViewModel(mainWorkbenchViewModel).addWaypointV2Action(waypointActionA2);
疑问:到倒数第5个航点不需要拍照了,怎么设置拍照终止的触发器和动作? |
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