如何使用 DJI Windows SDK 将航点列表导入无人机

Question

I created a Polygon in a GIS application. I can export the Polygon to a KML or any other required format.

I need to define a mission's Waypoints for my drone based on the Polygon that I have.

Is there a simple way to directly feed the Polygon missions Waypoints to a Drone without a MapView?

I have to use DJI Windows SDK, but I saw this sample that interacts with the user to define a mission's Waypoints in a MapView. My scenario is different. I already have Waypoints, and I just need to import them.

Update 1: Please note that DJI SDK for iOS and Android are very mature, feature-rich and proven tested. However, it is not the same with DJU Windows SDK. The SDK target platform is vague, but reading its example, I think it runs only on UWP platform. That is why the question mentions DJI Windows SDK explicitly. I know the SDK for Android or iOS provides much higher quality and features.

Answer 1

You can simply add them to the list using the Latitude and Longitude. You also need the altitude for each point. Make a for loop for all the points that you need or do this code once, use the config dialog then upload and start the mission.

// Create a waypoint instance
Waypoint mWaypoint1 = new Waypoint(Latitude, Longitude, altitude);

//check if the mission's builder is null
if (waypointMissionBuilder != null) {
  if (waypointList.size() > 2)
    configWayPointMission();

  waypointList.add(mWaypoint1);
  waypointMissionBuilder.waypointList(waypointList).waypointCount(waypointList.size());
}
else {
  waypointMissionBuilder = new WaypointMission.Builder();
  waypointList.add(mWaypoint1);
  waypointMissionBuilder.waypointList(waypointList).waypointCount(waypointList.size());
}

Answer 2

So, I haven't used the Windows SDK, but I imagine it is similar to the Mobile SDK. For mobile, you would just put the waypoints in an array/arraylist and load them into the mission all at once.

I'm not sure if you need to convert the KML into waypoints or if you already have the waypoints. In the former case, you would need to parse the KML. Assuming you have the waypoints parse, then you need to use WaypointMissionManager and WaypointMissionHandler to load the mission and then start the mission.

You can use the load/upload mission functions. The paramater of load mission is WaypointMission where you can set the number of waypoints and other related info.

For example in Android, I do the following:

    ArrayList<Waypoint> waypoints = new ArrayList<>();
    for(int i = 0; i < wplist.size(); i++) {
        double lat = wplist.get(i).latitude;
        double lon = wplist.get(i).longitude;
        //each dji waypoint corresponds to the predetermined waypoints
        Waypoint djiWaypoint = new Waypoint(lat, lon, altitude);
        //Point Gimbal down for each waypoint
        djiWaypoint.gimbalPitch = gimbalPitchDown;
        //add waypoint to waypoints array
        waypoints.add(djiWaypoint);
    }

    //initiate builder and add waypoints to it- not yet built
    waypointMissionBuilder = new WaypointMission.Builder();
    waypointMissionBuilder.waypointList(waypoints).waypointCount(waypoints.size());
    totalNumberOfWaypointsInMission = waypointMissionBuilder.getWaypointCount();

    //Prepare mission by updating configure and instantiate waypointMissionBuilder
    configWayPointMission();
    //upload Mission
    uploadWaypointMission();