DJI MSDK Waypoint 任务未跟随航点

Question

问题

开始新的航点任务时，无人机最多起飞 2 米，并一直悬停在该位置。此外，当这种情况发生时，我只能将无人机抬高或降低（最多 2 米）。

预期行为

开始新的航点任务时，无人机会完成任务指定的路径。

环境

• Phantom 4 Pro 和 Phantom 4 Pro v2（均具有最新固件和飞行安全数据库）
• MSDK 4.14.1 和 4.15
• Zenfone ZE620KL 搭载 Android 11（自定义 ROM - DroidOS 5.1）和 Galaxy Tab S3 搭载 Android 9（Stock ROM）

测试过的低血压

• 启用和禁用回避系统
• 多云和晴天
• 不同的位置和任务配置
• 不同的应用程序：这里我用的是荔枝，类似的任务发生没有问题

更多信息

我的应用日志和 DJI 日志没有显示任何错误、异常或类似情况。

如有需要，我可以提供飞行记录。

WaypointMission 对象

{
   "autoFlightSpeed":0.0,
   "finishedAction":"GO_HOME",
   "flightPathMode":"CURVED",
   "gotoFirstWaypointMode":"SAFELY",
   "headingMode":"AUTO",
   "maxFlightSpeed":15.0,
   "missionID":8,
   "pointOfInterest":null,
   "repeatTimes":1,
   "waypointCount":8,
   "waypointList":[
      {
         "actionRepeatTimes":1,
         "actionTimeoutInSeconds":999,
         "altitude":30.0,
         "coordinate":{
            "latitude":-23.16001469396617,
            "longitude":-45.79311885279432,
            "valid":true
         },
         "cornerRadiusInMeters":0.2,
         "gimbalPitch":0.0,
         "heading":0,
         "isUseCustomDirection":false,
         "shootPhotoDistanceInterval":0.0,
         "shootPhotoTimeInterval":0.0,
         "speed":12.5,
         "turnMode":"CLOCKWISE",
         "waypointActions":[
            
         ],
         "headingInner":0
      },
      {
         "actionRepeatTimes":1,
         "actionTimeoutInSeconds":999,
         "altitude":26.325867,
         "coordinate":{
            "latitude":-23.159431407395395,
            "longitude":-45.79282463259898,
            "valid":true
         },
         "cornerRadiusInMeters":0.2,
         "gimbalPitch":0.0,
         "heading":0,
         "isUseCustomDirection":false,
         "shootPhotoDistanceInterval":0.0,
         "shootPhotoTimeInterval":0.0,
         "speed":12.5,
         "turnMode":"CLOCKWISE",
         "waypointActions":[
            
         ],
         "headingInner":0
      },
      {
         "actionRepeatTimes":1,
         "actionTimeoutInSeconds":999,
         "altitude":27.596802,
         "coordinate":{
            "latitude":-23.1596132304213,
            "longitude":-45.79270070336531,
            "valid":true
         },
         "cornerRadiusInMeters":0.2,
         "gimbalPitch":0.0,
         "heading":0,
         "isUseCustomDirection":false,
         "shootPhotoDistanceInterval":0.0,
         "shootPhotoTimeInterval":0.0,
         "speed":12.5,
         "turnMode":"CLOCKWISE",
         "waypointActions":[
            
         ],
         "headingInner":0
      },
      {
         "actionRepeatTimes":1,
         "actionTimeoutInSeconds":999,
         "altitude":31.782654,
         "coordinate":{
            "latitude":-23.160196385773006,
            "longitude":-45.792994857230866,
            "valid":true
         },
         "cornerRadiusInMeters":0.2,
         "gimbalPitch":0.0,
         "heading":0,
         "isUseCustomDirection":false,
         "shootPhotoDistanceInterval":0.0,
         "shootPhotoTimeInterval":0.0,
         "speed":12.5,
         "turnMode":"CLOCKWISE",
         "waypointActions":[
            
         ],
         "headingInner":0
      },
      {
         "actionRepeatTimes":1,
         "actionTimeoutInSeconds":999,
         "altitude":33.06659,
         "coordinate":{
            "latitude":-23.160295942933544,
            "longitude":-45.79282943102868,
            "valid":true
         },
         "cornerRadiusInMeters":0.2,
         "gimbalPitch":0.0,
         "heading":0,
         "isUseCustomDirection":false,
         "shootPhotoDistanceInterval":0.0,
         "shootPhotoTimeInterval":0.0,
         "speed":12.5,
         "turnMode":"CLOCKWISE",
         "waypointActions":[
            
         ],
         "headingInner":0
      },
      {
         "actionRepeatTimes":1,
         "actionTimeoutInSeconds":999,
         "altitude":28.96344,
         "coordinate":{
            "latitude":-23.15979505344721,
            "longitude":-45.79257677379519,
            "valid":true
         },
         "cornerRadiusInMeters":0.2,
         "gimbalPitch":0.0,
         "heading":0,
         "isUseCustomDirection":false,
         "shootPhotoDistanceInterval":0.0,
         "shootPhotoTimeInterval":0.0,
         "speed":12.5,
         "turnMode":"CLOCKWISE",
         "waypointActions":[
            
         ],
         "headingInner":0
      },
      {
         "actionRepeatTimes":1,
         "actionTimeoutInSeconds":999,
         "altitude":30.748169,
         "coordinate":{
            "latitude":-23.159976876473113,
            "longitude":-45.79245284388858,
            "valid":true
         },
         "cornerRadiusInMeters":0.2,
         "gimbalPitch":0.0,
         "heading":0,
         "isUseCustomDirection":false,
         "shootPhotoDistanceInterval":0.0,
         "shootPhotoTimeInterval":0.0,
         "speed":12.5,
         "turnMode":"CLOCKWISE",
         "waypointActions":[
            
         ],
         "headingInner":0
      },
      {
         "actionRepeatTimes":1,
         "actionTimeoutInSeconds":999,
         "altitude":32.18518,
         "coordinate":{
            "latitude":-23.160136265174536,
            "longitude":-45.792533242035404,
            "valid":true
         },
         "cornerRadiusInMeters":0.2,
         "gimbalPitch":0.0,
         "heading":0,
         "isUseCustomDirection":false,
         "shootPhotoDistanceInterval":0.0,
         "shootPhotoTimeInterval":0.0,
         "speed":12.5,
         "turnMode":"CLOCKWISE",
         "waypointActions":[
            
         ],
         "headingInner":0
      }
   ],
   "exitMissionOnRCSignalLostEnabled":false,
   "gimbalElevationOptimizeEnabled":false,
   "gimbalPitchRotationEnabled":false
}

更新 1

我刚刚做了以下测试：

1. 在我的应用中开始飞行
2. 开启GO4

从那里，我可以看到我所有的航路点都正确加载，但速度设置为 0。一旦我拉动滑块以增加速度，飞机开始移动并按照预期的方式跟随航路点，但我不知道为什么这正在发生。

Answer 1

如 WaypointMission 对象所示，autoFlightSpeed 设置为 0。我已通过将 autoFlightSpeed 从 0 更改为第一个航路点中定义的速度来解决此问题，现在一切正常预计。

根据docs，当autoFlightSpeed设置为0时，“实际速度仅由遥控器操纵杆控制”，这很奇怪，因为这是我一个月前的相同代码，我不用碰操纵杆也能飞。这就解释了为什么我认为我唯一能做的就是“让无人机飞得更高或更低”。可能如果我继续向前推动左操纵杆，飞机就会完成它的路径。剩下的唯一问题是：为什么我一个月前的代码可以在不接触操纵杆的情况下工作。