Payload-SDK Editing Waypoint Files

Editing Waypoint Files

Open kkishore9891 opened this issue 8 months ago • 3 comments

Hello, I am trying to edit waypoint files in real time during flight so that I can checkpoint a particular mission and resume it later from half the way as suggested here: https://github.com/dji-sdk/Payload-SDK/issues/171

Let's say I have a waypoint mission KMZ file 1 with its wpml file being:

<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.5">
  <Document>
    <wpml:missionConfig>
      <wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
      <wpml:finishAction>goHome</wpml:finishAction>
      <wpml:exitOnRCLost>executeLostAction</wpml:exitOnRCLost>
      <wpml:executeRCLostAction>goBack</wpml:executeRCLostAction>
      <wpml:takeOffSecurityHeight>20</wpml:takeOffSecurityHeight>
      <wpml:globalTransitionalSpeed>6.70570850372314</wpml:globalTransitionalSpeed>
      <wpml:droneInfo>
        <wpml:droneEnumValue>67</wpml:droneEnumValue>
        <wpml:droneSubEnumValue>1</wpml:droneSubEnumValue>
      </wpml:droneInfo>
      <wpml:payloadInfo>
        <wpml:payloadEnumValue>53</wpml:payloadEnumValue>
        <wpml:payloadSubEnumValue>0</wpml:payloadSubEnumValue>
        <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
      </wpml:payloadInfo>
    </wpml:missionConfig>
    <Folder>
      <wpml:templateId>0</wpml:templateId>
      <wpml:executeHeightMode>relativeToStartPoint</wpml:executeHeightMode>
      <wpml:waylineId>0</wpml:waylineId>
      <wpml:distance>63.4997634887695</wpml:distance>
      <wpml:duration>46.82470703125</wpml:duration>
      <wpml:autoFlightSpeed>2.23523616790771</wpml:autoFlightSpeed>
      <Placemark>
        <Point>
          <coordinates>
            18.0648833227148,59.3520630245224
          </coordinates>
        </Point>
        <wpml:index>0</wpml:index>
        <wpml:executeHeight>57.3335762023926</wpml:executeHeight>
        <wpml:waypointSpeed>2.23523616790771</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
          <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
          <wpml:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
          <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <wpml:useStraightLine>1</wpml:useStraightLine>
        <wpml:waypointGimbalHeadingParam>
          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
        </wpml:waypointGimbalHeadingParam>
        <wpml:isRisky>0</wpml:isRisky>
      </Placemark>
      <Placemark>
        <Point>
          <coordinates>
            18.0648711087943,59.3519900857892
          </coordinates>
        </Point>
        <wpml:index>1</wpml:index>
        <wpml:executeHeight>57.3335762023926</wpml:executeHeight>
        <wpml:waypointSpeed>2.23523616790771</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
          <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
          <wpml:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
          <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <wpml:useStraightLine>1</wpml:useStraightLine>
        <wpml:waypointGimbalHeadingParam>
          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
        </wpml:waypointGimbalHeadingParam>
        <wpml:isRisky>0</wpml:isRisky>
      </Placemark>
      <Placemark>
        <Point>
          <coordinates>
            18.0647745995331,59.351949647703
          </coordinates>
        </Point>
        <wpml:index>2</wpml:index>
        <wpml:executeHeight>57.3335762023926</wpml:executeHeight>
        <wpml:waypointSpeed>2.23523616790771</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
          <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
          <wpml:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
          <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <wpml:useStraightLine>1</wpml:useStraightLine>
        <wpml:waypointGimbalHeadingParam>
          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
        </wpml:waypointGimbalHeadingParam>
        <wpml:isRisky>0</wpml:isRisky>
      </Placemark>
      <Placemark>
        <Point>
          <coordinates>
            18.0646019551606,59.3519441830862
          </coordinates>
        </Point>
        <wpml:index>3</wpml:index>
        <wpml:executeHeight>57.3335762023926</wpml:executeHeight>
        <wpml:waypointSpeed>2.23523616790771</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
          <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
          <wpml:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
          <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <wpml:useStraightLine>1</wpml:useStraightLine>
        <wpml:waypointGimbalHeadingParam>
          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
        </wpml:waypointGimbalHeadingParam>
        <wpml:isRisky>0</wpml:isRisky>
      </Placemark>
      <Placemark>
        <Point>
          <coordinates>
            18.0644947226768,59.3520272451001
          </coordinates>
        </Point>
        <wpml:index>4</wpml:index>
        <wpml:executeHeight>57.3335762023926</wpml:executeHeight>
        <wpml:waypointSpeed>2.23523616790771</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
          <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
          <wpml:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
          <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <wpml:useStraightLine>1</wpml:useStraightLine>
        <wpml:waypointGimbalHeadingParam>
          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
        </wpml:waypointGimbalHeadingParam>
        <wpml:isRisky>0</wpml:isRisky>
      </Placemark>
      <Placemark>
        <Point>
          <coordinates>
            18.0645494112785,59.3521185037344
          </coordinates>
        </Point>
        <wpml:index>5</wpml:index>
        <wpml:executeHeight>57.3335762023926</wpml:executeHeight>
        <wpml:waypointSpeed>2.23523616790771</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
          <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
          <wpml:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
          <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <wpml:useStraightLine>1</wpml:useStraightLine>
        <wpml:waypointGimbalHeadingParam>
          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
        </wpml:waypointGimbalHeadingParam>
        <wpml:isRisky>0</wpml:isRisky>
      </Placemark>
      <Placemark>
        <Point>
          <coordinates>
            18.0646802349397,59.3521474660272
          </coordinates>
        </Point>
        <wpml:index>6</wpml:index>
        <wpml:executeHeight>57.3335762023926</wpml:executeHeight>
        <wpml:waypointSpeed>2.23523616790771</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
          <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
          <wpml:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
          <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <wpml:useStraightLine>1</wpml:useStraightLine>
        <wpml:waypointGimbalHeadingParam>
          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
        </wpml:waypointGimbalHeadingParam>
        <wpml:isRisky>0</wpml:isRisky>
      </Placemark>
      <Placemark>
        <Point>
          <coordinates>
            18.0648221683054,59.3521171690377
          </coordinates>
        </Point>
        <wpml:index>7</wpml:index>
        <wpml:executeHeight>57.3335762023926</wpml:executeHeight>
        <wpml:waypointSpeed>2.23523616790771</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
          <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
          <wpml:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
          <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <wpml:useStraightLine>1</wpml:useStraightLine>
        <wpml:waypointGimbalHeadingParam>
          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
        </wpml:waypointGimbalHeadingParam>
        <wpml:isRisky>0</wpml:isRisky>
      </Placemark>
    </Folder>
  </Document>
</kml>

Let's say I want to create a new mission using the 2nd half of this mission where we start from the waypoint index 4 (5th waypoint) and continue till waypoint index 7 (8th waypoint). Thus, the new mission has 4 waypoints. To represent this I just edited my waypoint mission in the RC and created a new KMZ file with the waylines.wpml content as:

<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.5">
  <Document>
    <wpml:missionConfig>
      <wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
      <wpml:finishAction>goHome</wpml:finishAction>
      <wpml:exitOnRCLost>executeLostAction</wpml:exitOnRCLost>
      <wpml:executeRCLostAction>goBack</wpml:executeRCLostAction>
      <wpml:takeOffSecurityHeight>20</wpml:takeOffSecurityHeight>
      <wpml:globalTransitionalSpeed>6.70570850372314</wpml:globalTransitionalSpeed>
      <wpml:droneInfo>
        <wpml:droneEnumValue>67</wpml:droneEnumValue>
        <wpml:droneSubEnumValue>1</wpml:droneSubEnumValue>
      </wpml:droneInfo>
      <wpml:payloadInfo>
        <wpml:payloadEnumValue>53</wpml:payloadEnumValue>
        <wpml:payloadSubEnumValue>0</wpml:payloadSubEnumValue>
        <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
      </wpml:payloadInfo>
    </wpml:missionConfig>
    <Folder>
      <wpml:templateId>0</wpml:templateId>
      <wpml:executeHeightMode>relativeToStartPoint</wpml:executeHeightMode>
      <wpml:waylineId>0</wpml:waylineId>
      <wpml:distance>27.4170398712158</wpml:distance>
      <wpml:duration>20.1444892883301</wpml:duration>
      <wpml:autoFlightSpeed>2.23523616790771</wpml:autoFlightSpeed>
      <Placemark>
        <Point>
          <coordinates>
            18.0644947226768,59.3520272451001
          </coordinates>
        </Point>
        <wpml:index>0</wpml:index>
        <wpml:executeHeight>57.3335762023926</wpml:executeHeight>
        <wpml:waypointSpeed>2.23523616790771</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
          <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
          <wpml:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
          <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <wpml:useStraightLine>1</wpml:useStraightLine>
        <wpml:waypointGimbalHeadingParam>
          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
        </wpml:waypointGimbalHeadingParam>
        <wpml:isRisky>0</wpml:isRisky>
      </Placemark>
      <Placemark>
        <Point>
          <coordinates>
            18.0645494112785,59.3521185037344
          </coordinates>
        </Point>
        <wpml:index>1</wpml:index>
        <wpml:executeHeight>57.3335762023926</wpml:executeHeight>
        <wpml:waypointSpeed>2.23523616790771</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
          <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
          <wpml:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
          <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <wpml:useStraightLine>1</wpml:useStraightLine>
        <wpml:waypointGimbalHeadingParam>
          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
        </wpml:waypointGimbalHeadingParam>
        <wpml:isRisky>0</wpml:isRisky>
      </Placemark>
      <Placemark>
        <Point>
          <coordinates>
            18.0646802349397,59.3521474660272
          </coordinates>
        </Point>
        <wpml:index>2</wpml:index>
        <wpml:executeHeight>57.3335762023926</wpml:executeHeight>
        <wpml:waypointSpeed>2.23523616790771</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
          <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
          <wpml:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
          <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <wpml:useStraightLine>1</wpml:useStraightLine>
        <wpml:waypointGimbalHeadingParam>
          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
        </wpml:waypointGimbalHeadingParam>
        <wpml:isRisky>0</wpml:isRisky>
      </Placemark>
      <Placemark>
        <Point>
          <coordinates>
            18.0648221683054,59.3521171690377
          </coordinates>
        </Point>
        <wpml:index>3</wpml:index>
        <wpml:executeHeight>57.3335762023926</wpml:executeHeight>
        <wpml:waypointSpeed>2.23523616790771</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
          <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
          <wpml:waypointPoiPoint>0.000000,0.000000,0.000000</wpml:waypointPoiPoint>
          <wpml:waypointHeadingAngleEnable>0</wpml:waypointHeadingAngleEnable>
          <wpml:waypointHeadingPoiIndex>0</wpml:waypointHeadingPoiIndex>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <wpml:useStraightLine>1</wpml:useStraightLine>
        <wpml:waypointGimbalHeadingParam>
          <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
          <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
        </wpml:waypointGimbalHeadingParam>
        <wpml:isRisky>0</wpml:isRisky>
      </Placemark>
    </Folder>
  </Document>
</kml>

I did manage to write a python script which is capable of getting a KMZ file and the waypoint index at which I can clip the mission to generate a new KMZ file. The problem I had howevever is that I am not sure how to calculate the values:

      <wpml:distance>27.4170398712158</wpml:distance>
      <wpml:duration>20.1444892883301</wpml:duration>

I am assuming the RC uses some kind of logic to compute those values. I would also like to know if the drone would fly properly if those two values were wrong.

Jun 13 '24 11:06 kkishore9891

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Editing Waypoint Files

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