# dj-uav **Repository Path**: 5201314.com/dj-uav ## Basic Information - **Project Name**: dj-uav - **Description**: No description available - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: main - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2025-07-11 - **Last Updated**: 2025-09-03 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README [![Typing SVG](https://readme-typing-svg.demolab.com?font=Fira+Code&weight=600&pause=1000&color=F70E34&width=435&lines=%E5%A6%82%E6%9E%9C%E8%AF%A5%E9%A1%B9%E7%9B%AE%E5%AF%B9%E4%BD%A0%E6%9C%89%E5%B8%AE%E5%8A%A9%E7%9A%84%E8%AF%9D%EF%BC%8C%E6%AC%A2%E8%BF%8E%E7%82%B9%E4%B8%AA+star+%EF%BC%81)](https://git.io/typing-svg) ![1941756096460_ pic](https://github.com/user-attachments/assets/e8283bea-a338-4e2e-a50b-b6597844da78) ## 实现效果 ### KMZ 文件结构 ![kmz-01.gif](https://s2.loli.net/2024/11/19/kznUqoeSa7CbBAX.gif) ### template.kml 文件内容 ![kmz-02.png](https://s2.loli.net/2024/11/19/tDBySCuWoM3mUpf.png) ## 特点 ### 1、航线 KMZ 文件生成 基于大疆最新航线文件格式标准 v1.11.3 版本开发，生成符合大疆标准的 KMZ 航线文件，可直接导入到 DJI Pilot 2 或机场等地面站软件中使用。 支持灵活配置各种航线参数，包括： * 航线结束动作： 自定义航线飞行结束后无人机的行为（例如：悬停、返航、降落）。 * 失控动作： 设置无人机在失去遥控信号时的应对措施（例如：自动返航、悬停）。 * 飞行高度和速度： 精确控制航线飞行的高度和速度，确保飞行安全和效率。 * 航点转弯模式： 选择合适的转弯方式（例如：直线飞行、曲线飞行），优化飞行轨迹。 * 偏航角模式： 控制无人机在航点之间的偏航角度，满足不同的拍摄需求。 * 航点动作： 为每个航点单独设置动作，例如拍照、录像、悬停等，实现复杂的飞行任务。 ### 2、航线 KMZ 文件解析 支持解析已有的 KMZ 航线文件，方便用户导入、查看和编辑航线数据，提高航线管理的效率和灵活性。 ### 3、易于使用和扩展 提供结构清晰、注释完善完整的 Demo 代码，帮助用户快速上手，进行二次开发。 ## 代码分支 * waypoint：航点飞行是目前使用最多的场景，因此单独维护该分支，仅支持生成和解析航点飞行模板功能。 * main：主分支，在 waypoint 分支的基础上，实现更多功能，目前开发建图航拍等模板的生成和解析功能。 ## 目录结构 * file/kmz：存放生成的 KMZ 文件 * domain/kml：XStream 注解的 Java Bean * domain/*.Req：前端请求参数对象 * enums：航线文件元素标签取值枚举 * util/RouteFileUtils：生成和解析 KMZ 航线文件的代码都在这个工具类里 ## 接口参数示例 ### 生成航线 KMZ 文件 ```json { "templateType": "mapping2d", "takeOffRefPoint": "22.581115,113.940282,16.035026", "droneType": 91, "subDroneType": 1, "payloadType": 81, "payloadPosition": 0, "imageFormat": "visable,ir", "finishAction": "autoLand", "exitOnRcLostAction": "goBack", "globalHeight": 100, "autoFlightSpeed": 10, "waypointHeadingReq": { "waypointHeadingMode": "followWayline" }, "waypointTurnReq": { "waypointTurnMode": "toPointAndStopWithDiscontinuityCurvature" }, "gimbalPitchMode": "usePointSetting", "mappingTypeReq": { "collectionMethod": "camera", "lensType": "ortho", "overlapH": 80, "overlapW": 70, "elevationOptimizeEnable": 1, "shootType": "time", "direction": 89, "margin": 0, "coordinates": [ { "longitude": 113.940334790292, "latitude": 22.5798256945836, "height": 0 }, { "longitude": 113.943015351291, "latitude": 22.5798490554135, "height": 0 }, { "longitude": 113.942911397786, "latitude": 22.5816299613237, "height": 0 }, { "longitude": 113.940344598963, "latitude": 22.5816387784883, "height": 0 } ] }, "startActionList": [ { "actionIndex": 0, "gimbalYawRotateAngle": -90 }, { "actionIndex": 1, "hoverTime": 0.5 } ], "routePointList": [ { "routePointIndex": 0, "longitude": 113.940343144377, "latitude": 22.5813699888658, "timeInterval": 2, "endIntervalRouteIndex": 10, "actions": [ { "actionIndex": 0, "takePhotoType": 0, "useGlobalImageFormat": 1 } ] }, { "routePointIndex": 1, "longitude": 113.942924142576, "latitude": 22.5814115656784 }, { "routePointIndex": 2, "longitude": 113.942943025065, "latitude": 22.5810880647388 }, { "routePointIndex": 3, "longitude": 113.940341392538, "latitude": 22.5810461555712 }, { "routePointIndex": 4, "longitude": 113.940339640707, "latitude": 22.5807223222765 }, { "routePointIndex": 5, "longitude": 113.942961907465, "latitude": 22.5807645637969 }, { "routePointIndex": 6, "longitude": 113.942980789776, "latitude": 22.5804410628529 }, { "routePointIndex": 7, "longitude": 113.940337888885, "latitude": 22.5803984889819 }, { "routePointIndex": 8, "longitude": 113.940336137071, "latitude": 22.5800746556873 }, { "routePointIndex": 9, "longitude": 113.942997724328, "latitude": 22.5801175305482 }, { "routePointIndex": 10, "longitude": 113.942999671999, "latitude": 22.5801175619067 }, { "routePointIndex": 11, "longitude": 113.941647829558, "latitude": 22.580729324342 } ] } ``` ### 编辑航线 KMZ 文件 ```json { "templateType": "mapping2d", "takeOffRefPoint": "22.581115,113.940282,16.035026", "droneType": 91, "subDroneType": 1, "payloadType": 81, "payloadPosition": 0, "imageFormat": "visable,ir", "finishAction": "autoLand", "exitOnRcLostAction": "goBack", "globalHeight": 100, "autoFlightSpeed": 10, "waypointHeadingReq": { "waypointHeadingMode": "followWayline" }, "waypointTurnReq": { "waypointTurnMode": "toPointAndStopWithDiscontinuityCurvature" }, "gimbalPitchMode": "usePointSetting", "mappingTypeReq": { "collectionMethod": "camera", "lensType": "ortho", "overlapH": 80, "overlapW": 70, "elevationOptimizeEnable": 1, "shootType": "time", "direction": 89, "margin": 0, "coordinates": [ { "longitude": 113.940334790292, "latitude": 22.5798256945836, "height": 0 }, { "longitude": 113.943015351291, "latitude": 22.5798490554135, "height": 0 }, { "longitude": 113.942911397786, "latitude": 22.5816299613237, "height": 0 }, { "longitude": 113.940344598963, "latitude": 22.5816387784883, "height": 0 } ] }, "startActionList": [ { "actionIndex": 0, "gimbalYawRotateAngle": -90 }, { "actionIndex": 1, "hoverTime": 0.5 } ], "routePointList": [ { "routePointIndex": 0, "longitude": 113.940343144377, "latitude": 22.5813699888658, "timeInterval": 2, "endIntervalRouteIndex": 10, "actions": [ { "actionIndex": 0, "takePhotoType": 0, "useGlobalImageFormat": 1 } ] }, { "routePointIndex": 1, "longitude": 113.942924142576, "latitude": 22.5814115656784 }, { "routePointIndex": 2, "longitude": 113.942943025065, "latitude": 22.5810880647388 }, { "routePointIndex": 3, "longitude": 113.940341392538, "latitude": 22.5810461555712 }, { "routePointIndex": 4, "longitude": 113.940339640707, "latitude": 22.5807223222765 }, { "routePointIndex": 5, "longitude": 113.942961907465, "latitude": 22.5807645637969 }, { "routePointIndex": 6, "longitude": 113.942980789776, "latitude": 22.5804410628529 }, { "routePointIndex": 7, "longitude": 113.940337888885, "latitude": 22.5803984889819 }, { "routePointIndex": 8, "longitude": 113.940336137071, "latitude": 22.5800746556873 }, { "routePointIndex": 9, "longitude": 113.942997724328, "latitude": 22.5801175305482 }, { "routePointIndex": 10, "longitude": 113.942999671999, "latitude": 22.5801175619067 }, { "routePointIndex": 11, "longitude": 113.941647829558, "latitude": 22.580729324342 } ] } ``` ## Star History [![Star History Chart](https://api.star-history.com/svg?repos=SongJian-99/dj-uav&type=Date)](https://star-history.com/#SongJian-99/dj-uav&Date)