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ウェイポイントミッションを作成しようとしたときにミッションマネージャーが「実行できませんでした」というエラーが表示される理由を理解できるように、いつか静かに苦労しました。私が作業しているワークフローを添付していますが、実際に見ていただければ幸いです。djiエラー：実行を実行できませんでした
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() { ... });