Path Planning Parameters (Fixed-wing aircraft)

PathPlanningParameter

Description: Fixed-wing aircraft path planning parameters

class PathPlanningParameter {
    /**
     * Basic information for path planning parameters
     */
    private IntroInfo introInfo;
    /**
     * Information related to takeoff and departure routes
     */
    private LaunchInfo launchInfo;
    /**
     * Information related to approach and landing routes
     */
    private LandInfo landInfo;
    /**
     * Information related to forced landing routes (currently unused)
     */
    private ArrayList<ForceLandInfo> forceLandInfo;
    /**
     * Information related to mission routes
     */
    private ArrayList<MissionInfo> missionInfo;
    /**
     * Algorithm return error code
     */
    private ErrorCode errorCode;
}   

IntroInfo

Description: Basic route information

class IntroInfo {
    /**
     * Bitwise value representing the validity of this structure:
     * bit1: LAUNCH
     * bit2: LANDING
     * bit3: FORCELAND
     * bit4: MISSION
     * Example for route containing takeoff, landing and mission:
     *  MISSION    LANDING   LAUNCH
     * -----------------------------
     * 1 << 3   | 1 << 2   |  1      = 11
     */
    private int planningType;
    /**
     * Number of valid sub-missions in the operation task
     */
    private int subMisNum;
    /**
     * Number of valid forced landing points
     */
    private int forceLandNum;
    /**
     * Initial position latitude
     */
    private double initLat;
    /**
     * Initial position longitude
     */
    private double initLon;
    /**
     * Initial position altitude
     */
    private float initAlt;
    /**
     * Minimum turning radius
     */
    private float MinRadius = 100;
    /**
     * Maximum vertical speed
     */
    private float MaxVz = 3;
    /**
     * Route cycle mode: -1: infinite loop; 0: no loop; n: loop n times
     */
    private int CycleMode;
    /**
     * Starting sub-task for route cycle
     */
    private int StartSubID = 1;
    /**
     * Starting waypoint for route cycle
     */
    private float StartWPID = 1;
    /**
     * Ending sub-task for route cycle
     */
    private int EndSubID = 1;
    /**
     * Ending waypoint for route cycle
     */
    private float EndWPID = 1;
}   

LaunchInfo

Description: Information related to takeoff point

class LaunchInfo {
    /**
     * Takeoff point latitude
     */
    private double launchLat;
    /**
     * Takeoff point longitude
     */
    private double launchLon;
    /**
     * Takeoff point absolute altitude (above sea level)
     */
    private float launchAlt;
    /**
     * Departure loiter point latitude
     */
    private double departureLat;
    /**
     * Departure loiter point longitude
     */
    private double departureLon;
    /**
     * Departure loiter point altitude
     */
    private float departureAlt;
    /**
     * Departure loiter point altitude type 1: Absolute altitude (ASL); 2: Relative altitude
     */
    private int altType;
    /**
     * Departure loiter radius
     */
    private float departureR;
    /**
     * Departure flight speed
     */
    private float departureVel;
    /**
     * Vertical takeoff relative altitude
     */
    private float transAlt;
}

LandInfo

Description: Information related to approach and landing point

class LandInfo {
    /**
     * Approach point latitude
     */
    private double approachLat;
    /**
     * Approach point longitude
     */
    private double approachLon;
    /**
     * Approach point altitude
     */
    private float approachAlt;
    /**
     * Approach point altitude type 1: Absolute altitude (ASL); 2: Relative altitude
     */
    private int altType = 2;
    /**
     * Approach loiter radius
     */
    private float approachR;
    /**
     * Approach flight speed
     */
    private float approachVel = 20;
    /**
     * Landing point latitude
     */
    private double homeLat;
    /**
     * Landing point longitude
     */
    private double homeLon;
    /**
     * Landing point altitude
     */
    private float homeAlt;
    /**
     * Landing point altitude type 1: Absolute altitude (ASL); 2: Relative altitude
     */
    private int homeAltType = 2;
    /**
     * Landing transition relative altitude
     */
    private float transAlt;
}

ErrorCode

Description: Error codes

enum class ErrorCode {
    /**
     * Number of polygon vertices in survey area exceeds limit
     */
    CODE_10001(CodeType.NEW_ROUTE, 1),
    /**
     * Number of Mission Items generated from normal waypoints exceeds limit
     */
    CODE_10002(CodeType.NEW_ROUTE, 2),
    /**
     * Number of Mission Items generated from sub-tasks exceeds limit
     */
    CODE_10003(CodeType.NEW_ROUTE, 4),
    /**
     * Number of Mission Items exceeds limit when constructing landing module
     */
    CODE_10004(CodeType.NEW_ROUTE, 8),
    /**
     * Number of Mission Items generated from sub-tasks exceeds limit
     */
    CODE_10005(CodeType.NEW_ROUTE, 16),
    /**
     * Number of Mission Items exceeds limit when constructing landing module
     */
    CODE_10006(CodeType.NEW_ROUTE, 32),
    /**
     * Unsupported PlanningType
     */
    CODE_10007(CodeType.NEW_ROUTE, 64),
    /**
     * Unsupported SubMissionType
     */
    CODE_10008(CodeType.NEW_ROUTE, 128),
    /**
     * Number of 2D blocks exceeds limit
     */
    CODE_10009(CodeType.NEW_ROUTE, 256),
    /**
     * Number of 3D blocks exceeds limit
     */
    CODE_10010(CodeType.NEW_ROUTE, 512),
    /**
     * Number of route sampling points exceeds limit (route over 100km)
     */
    CODE_10011(CodeType.NEW_ROUTE, 1024),
    /**
     * Two consecutive sampling points have identical latitude and longitude
     */
    CODE_10012(CodeType.NEW_ROUTE, 2048),
    /**
     * Invalid combination of adjacent points
     */
    CODE_10013(CodeType.NEW_ROUTE, 4096),
    /**
     * Less than 2 anchor points in observation path
     */
    CODE_20001(CodeType.INSPECTION, 1),
    /**
     * More than 1000 anchor points in observation path
     */
    CODE_20002(CodeType.INSPECTION, 2),
    /**
     * Generated waypoints fewer than anchor points due to wide strip width and sharp bends
     */
    CODE_20003(CodeType.INSPECTION, 4),
    /**
     * Cannot generate route due to observation path reverse fold
     */
    CODE_20004(CodeType.INSPECTION, 8),
    /**
     * More than 10000 sampling points when sampling terrain
     */
    CODE_20005(CodeType.INSPECTION, 16),
    /**
     * Internal algorithm waypoint groups exceed 1000
     */
    CODE_20006(CodeType.INSPECTION, 32),
    /**
     * Waypoints within algorithm group exceed 100
     */
    CODE_20007(CodeType.INSPECTION, 64),
    /**
     * Invalid camera FOV, negative or over 180 degrees
     */
    CODE_20008(CodeType.INSPECTION, 128),
    /**
     * Target width polygon generation failed due to ring formation
     */
    CODE_20009(CodeType.INSPECTION, 256),
    /**
     * Route generation failed due to inability to calculate line offset
     */
    CODE_20010(CodeType.INSPECTION, 512),
    /**
     * Invalid home point coordinates or loiter points
     */
    CODE_90001(CodeType.COMMON, 90001),
    /**
     * Waypoint mission is null
     */
    CODE_90002(CodeType.COMMON, 90002),
    /**
     * Rectangle or polygon mission is null
     */
    CODE_90003(CodeType.COMMON, 90003),
    /**
     * Inspection mission is null
     */
    CODE_90004(CodeType.COMMON, 90004),

    UNKNOWN(CodeType.UNKNOWN, -1);
}

MissionInfo

Description: Mission information

class MissionInfo {
    /**
     * Mission finish action: 1.LOITER; 2.GOHOME
     */
    private int FinishMove;
    /**
     * Mission lost link action: 1.LOITER; 2.GOHOME
     */
    private int LinkLostMove;
    /**
     * Mission type 1: Free waypoint route 2: Area survey route 3: Figure-8 loiter route
     */
    private int subMissionType;
    /**
     * Sub-mission route information
     */
    private SubMissionInfo subMissionInfo;
    /**
     * Sub-mission waypoint information
     */
    private ArrayList<WPInfo> wpInfo;
    /**
     * Number of sub-mission waypoints
     */
    private int WPNum;
    /**
     * Interest areas
     */
    private ArrayList<InterestArea> InterestArea;
    /**
     * Number of interest areas
     */
    private int IANum;
}

WPInfo

Description: Waypoint information

class WPInfo {
    /**
     * Waypoint index
     */
    private short wpIndex;
    /**
     * Waypoint latitude
     */
    private double wpLat;
    /**
     * Waypoint longitude
     */
    private double wpLon;
    /**
     * Waypoint altitude
     */
    private float wpAlt;
    /**
     * 1: Absolute altitude (ASL) 2: Relative altitude
     */
    private int wpAltType = 2;
    /**
     * Waypoint type 4: Normal waypoint 5: Survey corner point
     */
    private int wpType = 4;
    /**
     * Waypoint speed
     */
    private float wpVel = 20;
    /**
     * Waypoint turn radius
     */
    private float wpRadius = 200;
    /**
     * Turn mode 1: Early turn 2: Turn at point 3: Timed loiter 4: Count loiter 
     * 5: Figure-8 loiter 6: Infinite loiter 7: Alpha turn 8: Strip inspection U-turn
     */
    private int wpTurnMode = 2;
    /**
     * Loiter parameters - Figure-8 reference heading [-180°,180°]
     */
    private float wpTurnParam1;
    /**
     * Climb mode 1: Normal 2: Fast
     */
    private int wpClimbMode = 1;
    /**
     * Payload action 0: No action 1: Take photo 2: Timed photo 3: Distance photo 4: Record video
     */
    private int payloadAction = 1;
    /**
     * Payload parameter
     */
    private float actionParam1;
    /**
     * Gimbal pitch angle [-120, 20]
     */
    private float gimbalPitch;
    /**
     * Gimbal relative yaw angle [-180, 180]
     */
    private float gimbalYaw;
    /**
     * Reserved parameter - Figure-8 reference distance in meters [205,10000]
     */
    private float wpReserved1;
}

InterestArea

Description: Interest area information

class InterestArea {
    /**
     * Interest area latitude
     */
    private double ip_lat_deg;
    /**
     * Interest area longitude
     */
    private double ip_lon_deg;
    /**
     * Interest area altitude (ASL)
     */
    private float ip_alt_m;
    /**
     * Interest area radius
     */
    private float ip_radius_m;
    /**
     * Interest area type
     */
    private int ip_type;
    /**
     * Number of valid connected points
     */
    private int valid_cpt_num;
    /**
     * Connected point indices
     */
    private int[] ip_connectPt;
}

SubMissionInfo

Description: Sub-mission route information

class SubMissionInfo {
    /**
     * Lens focal length in mm
     */
    private float focalLength;
    /**
     * Sensor size X in mm
     */
    private float sensorSizeX;
    /**
     * Sensor size Y in mm
     */
    private float sensorSizeY;
    /**
     * Pixel count X
     */
    private int pixNumX;
    /**
     * Pixel count Y
     */
    private int pixNumY;
    /**
     * Camera mount orientation 1: Horizontal 2: Vertical
     */
    private int sensorOrient = 1;
    /**
     * Route angle [0°,360°]
     */
    private float airLineDir;
    /**
     * Base surface altitude (ASL)
     */
    private float baseAlt;
    /**
     * Ground resolution in cm/pixel
     */
    private float resolution;
    /**
     * Side overlap percentage [0, 100]
     */
    private int overlapSide;
    /**
     * Forward overlap percentage [0, 100]
     */
    private int overlapAlong;
}

ForceLandInfo

Description: Forced landing point information

class ForceLandInfo {
    /**
     * Forced landing approach point latitude
     */
    private double approachLat;
    /**
     * Forced landing approach point longitude
     */
    private double approachLon;
    /**
     * Forced landing approach point altitude
     */
    private float approachAlt;
    /**
     * Approach point altitude type 1: Absolute altitude (ASL) 2: Relative altitude
     */
    private int altType;
    /**
     * Approach point loiter radius
     */
    private float approachR;
    /**
     * Approach speed
     */
    private float approachVel;
    /**
     * Forced landing point latitude
     */
    private double landLat;
    /**
     * Forced landing point longitude
     */
    private double landLon;
    /**
     * Forced landing point altitude
     */
    private float landAlt;
    /**
     * Landing point altitude type 1: Absolute altitude (ASL) 2: Relative altitude
     */
    private int landAltType;
    /**
     * Landing transition relative altitude
     */
    private float transAlt;
}