有时我一直在安静地挣扎，以便能够理解为什么我在尝试创建航路点任务时收到任务管理器的错误“无法执行”。我附上了我正在使用的工作流程，如果您能看一下，我将不胜感激。
1.Initialize FlightController :
mFlightController = ((Aircraft) product).getFlightController();
getProductInstance().getGimbal()
.rotate(new Rotation.Builder().pitch(-180)
.mode(RotationMode.SPEED)
.yaw(Rotation.NO_ROTATION)
.roll(Rotation.NO_ROTATION)
.time(0)
.build(), new CommonCallbacks.CompletionCallback() {
@Override
public void onResult(DJIError error) {
}
});
mFlightController.setControlMode(ControlMode.SMART, ... );
mFlightController.setMaxFlightHeight(499.0f , ... );
mFlightController.setMaxFlightRadiusLimitationEnabled(false, ...);
mFlightController.setLandImmediatelyBatteryThreshold(15, ...);
mFlightController.setStateCallback(new FlightControllerState.Callback() {
@Override
public void onUpdate(@NonNull FlightControllerState flightControllerState) {
//Check GPS level
}
}
mFlightController.setHomeLocationUsingAircraftCurrentLocation( ... );
2. Check Batter status :
getProductInstance().getBattery()
setStateCallback(new BatteryState.Callback() {
@Override
public void onUpdate(BatteryState djiBatteryState) { ... } ;
});
3. initialize Mission Manager :
mMissionManager = new WapointMissionOperator();
mMissionManager.addListener( listener );
//LIstener does a couple calculations when reaching a waypoint.
4. Camera :
mCamera = getProductInstance().getCamera();
mCamera.setMode(SettingsDefinitions.CameraMode.RECORD_VIDEO, ... );
mCamera.setSystemStateCallback(new SystemState.Callback() { ... });
5. Creating waypoint mission Builder :
WaypointMission.Builder builder = new WaypointMission.Builder();
builder.autoFlightSpeed( value );
builder.maxFlightSpeed( value );
builder.setExitMissionOnRCSignalLostEnabled(false);
builder.finishedAction(WaypointMissionFinishedAction.AUTO_LAND);
builder.flightPathMode(WaypointMissionFlightPathMode.NORMAL);
builder.gotoFirstWaypointMode(WaypointMissionGotoWaypointMode.SAFELY);
builder.headingMode(WaypointMissionHeadingMode.USING_WAYPOINT_HEADING);
builder.setGimbalPitchRotationEnabled(true);
6. Creating waypoints :
for (int i = 0; i < waypointCount; i++) {
dji.common.mission.waypoint.Waypoint djiwp = new dji.common.mission.waypoint.Waypoint(lat, lon, alt);
djiwp.heading = 0; //facing true north
djiwp.addAction(new WaypointAction(WaypointActionType.STAY, 0)); //just passby
builder.addWaypoint(djiwp);
}
7. finishing up with builder:
WaypointMission mission = builder.build();
8. starting mission :
mMissionManager.loadMission(mission);
if (WaypointMissionState.READY_TO_RETRY_UPLOAD.equals(mMissionManager.getCurrentState())
|| WaypointMissionState.READY_TO_UPLOAD.equals(mMissionManager.getCurrentState())) {
mMissionManager.uploadMission(new CommonCallbacks.CompletionCallback() { ... } );
}
mFlightController.setHomeLocationUsingAircraftCurrentLocation( ... ); //redo just to check.
mFlightController.setConnectionFailSafeBehavior(ConnectionFailSafeBehavior.GO_HOME, ...);
mMissionManager.startMission(new CommonCallbacks.CompletionCallback() { ... });