基于大疆最新航线文件格式标准 v1.11.3 版本开发，生成符合大疆标准的 KMZ 航线文件，可直接导入到 DJI Pilot 2 或机场等地面站软件中使用。 支持灵活配置各种航线参数，包括：
- 航线结束动作： 自定义航线飞行结束后无人机的行为（例如：悬停、返航、降落）。
- 失控动作： 设置无人机在失去遥控信号时的应对措施（例如：自动返航、悬停）。
- 飞行高度和速度： 精确控制航线飞行的高度和速度，确保飞行安全和效率。
- 航点转弯模式： 选择合适的转弯方式（例如：直线飞行、曲线飞行），优化飞行轨迹。
- 偏航角模式： 控制无人机在航点之间的偏航角度，满足不同的拍摄需求。
- 航点动作： 为每个航点单独设置动作，例如拍照、录像、悬停等，实现复杂的飞行任务。
支持解析已有的 KMZ 航线文件，方便用户导入、查看和编辑航线数据，提高航线管理的效率和灵活性。
提供结构清晰、注释完善完整的 Demo 代码，帮助用户快速上手，进行二次开发。
- waypoint：航点飞行是目前使用最多的场景，因此单独维护该分支，仅支持生成和解析航点飞行模板功能。
- main：主分支，在 waypoint 分支的基础上，实现更多功能，目前开发建图航拍等模板的生成和解析功能。
- file/kmz：存放生成的 KMZ 文件
- domain/kml：XStream 注解的 Java Bean
- domain/*.Req：前端请求参数对象
- enums：航线文件元素标签取值枚举
- util/RouteFileUtils：生成和解析 KMZ 航线文件的代码都在这个工具类里
生成航线 KMZ 文件
{
"templateType": "waypoint",
"takeOffRefPoint": "22.581115,113.940282,16.035026",
"droneType": 91,
"subDroneType": 1,
"payloadType": 81,
"payloadPosition": 0,
"imageFormat": "visable,ir",
"finishAction": "autoLand",
"exitOnRcLostAction": "goBack",
"globalHeight": 100,
"autoFlightSpeed": 10,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
},
"waypointTurnReq": {
"waypointTurnMode": "toPointAndStopWithDiscontinuityCurvature"
},
"gimbalPitchMode": "usePointSetting",
"startActionList": [
{
"actionIndex": 0,
"gimbalYawRotateAngle": -90
},
{
"actionIndex": 1,
"hoverTime": 30
}
],
"routePointList": [
{
"routePointIndex": 0,
"longitude": 113.940343144377,
"latitude": 22.5813699888658,
"actionGroupList": [
{
"actionGroupId": 0,
"actionGroupStartIndex": 0,
"actionGroupEndIndex": 0,
"actionTriggerType": "reachPoint",
"actions": [
{
"actionIndex": 0,
"takePhotoType": 0,
"useGlobalImageFormat": 1
},
{
"actionIndex": 1,
"hoverTime": 20
}
]
}
]
},
{
"routePointIndex": 1,
"longitude": 113.942924142576,
"latitude": 22.5814115656784,
"actionGroupList": [
{
"actionGroupId": 1,
"actionGroupStartIndex": 1,
"actionGroupEndIndex": 1,
"actionTriggerType": "reachPoint",
"actions": [
{
"actionIndex": 0,
"hoverTime": 20
}
]
}
]
},
{
"routePointIndex": 2,
"longitude": 113.942943025065,
"latitude": 22.5810880647388,
"actionGroupList": [
{
"actionGroupId": 2,
"actionGroupStartIndex": 2,
"actionGroupEndIndex": 2,
"actionTriggerType": "reachPoint",
"actions": [
{
"actionIndex": 0,
"takePhotoType": 1,
"useGlobalImageFormat": 1
},
{
"actionIndex": 1,
"startRecord": true,
"useGlobalImageFormat": 1
}
]
}
]
},
{
"routePointIndex": 3,
"longitude": 113.940341392538,
"latitude": 22.5810461555712
},
{
"routePointIndex": 4,
"longitude": 113.940339640707,
"latitude": 22.5807223222765,
"actionGroupList": [
{
"actionGroupId": 2,
"actionGroupStartIndex": 2,
"actionGroupEndIndex": 2,
"actionTriggerType": "reachPoint",
"actions": [
{
"actionIndex": 0,
"takePhotoType": 1,
"useGlobalImageFormat": 1
},
{
"actionIndex": 1,
"stopRecord": true
}
]
}
]
},
{
"routePointIndex": 5,
"longitude": 113.942961907465,
"latitude": 22.5807645637969
},
{
"routePointIndex": 6,
"longitude": 113.942980789776,
"latitude": 22.5804410628529
},
{
"routePointIndex": 7,
"longitude": 113.940337888885,
"latitude": 22.5803984889819
},
{
"routePointIndex": 8,
"longitude": 113.940336137071,
"latitude": 22.5800746556873
},
{
"routePointIndex": 9,
"longitude": 113.942997724328,
"latitude": 22.5801175305482
},
{
"routePointIndex": 10,
"longitude": 113.942999671999,
"latitude": 22.5801175619067
},
{
"routePointIndex": 11,
"longitude": 113.941647829558,
"latitude": 22.580729324342
}
]
}
生成航线 KMZ 文件
{
"templateType": "mapping2d",
"takeOffRefPoint": "22.581115,113.940282,16.035026",
"droneType": 91,
"subDroneType": 1,
"payloadType": 81,
"payloadPosition": 0,
"imageFormat": "visable,ir",
"finishAction": "autoLand",
"exitOnRcLostAction": "goBack",
"globalHeight": 100,
"autoFlightSpeed": 10,
"waypointTurnReq": {
"waypointTurnMode": "toPointAndStopWithDiscontinuityCurvature"
},
"gimbalPitchMode": "usePointSetting",
"mappingTypeReq": {
"collectionMethod": "camera",
"lensType": "ortho",
"overlapH": 80,
"overlapW": 70,
"elevationOptimizeEnable": 1,
"shootType": "time",
"direction": 89,
"margin": 0,
"coordinates": [
{
"longitude": 113.940334790292,
"latitude": 22.5798256945836,
"height": 0
},
{
"longitude": 113.943015351291,
"latitude": 22.5798490554135,
"height": 0
},
{
"longitude": 113.942911397786,
"latitude": 22.5816299613237,
"height": 0
},
{
"longitude": 113.940344598963,
"latitude": 22.5816387784883,
"height": 0
}
]
},
"startActionList": [
{
"actionIndex": 0,
"gimbalYawRotateAngle": -90
},
{
"actionIndex": 1,
"hoverTime": 0.5
}
],
"routePointList": [
{
"routePointIndex": 0,
"longitude": 113.940343144377,
"latitude": 22.5813699888658,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
},
"actionGroupList": [
{
"actionGroupId": 0,
"actionGroupStartIndex": 0,
"actionGroupEndIndex": 11,
"actionTriggerType": "betweenAdjacentPoints",
"actions": [
{
"actionIndex": 0,
"takePhotoType": 0,
"useGlobalImageFormat": 1
},
{
"actionIndex": 1,
"hoverTime": 20
}
]
}
]
},
{
"routePointIndex": 1,
"longitude": 113.942924142576,
"latitude": 22.5814115656784,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
}
},
{
"routePointIndex": 2,
"longitude": 113.942943025065,
"latitude": 22.5810880647388,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
}
},
{
"routePointIndex": 3,
"longitude": 113.940341392538,
"latitude": 22.5810461555712,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
}
},
{
"routePointIndex": 4,
"longitude": 113.940339640707,
"latitude": 22.5807223222765,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
}
},
{
"routePointIndex": 5,
"longitude": 113.942961907465,
"latitude": 22.5807645637969,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
}
},
{
"routePointIndex": 6,
"longitude": 113.942980789776,
"latitude": 22.5804410628529,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
}
},
{
"routePointIndex": 7,
"longitude": 113.940337888885,
"latitude": 22.5803984889819,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
}
},
{
"routePointIndex": 8,
"longitude": 113.940336137071,
"latitude": 22.5800746556873,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
}
},
{
"routePointIndex": 9,
"longitude": 113.942997724328,
"latitude": 22.5801175305482,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
}
},
{
"routePointIndex": 10,
"longitude": 113.942999671999,
"latitude": 22.5801175619067,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
}
},
{
"routePointIndex": 11,
"longitude": 113.941647829558,
"latitude": 22.580729324342,
"waypointHeadingReq": {
"waypointHeadingMode": "followWayline"
}
}
]
}