Common Elements

2022-06-23
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Common Element Introduction

<wpml:droneInfo>

ElementNameTypeunitValueIs it required (default)Product Support
wpml:droneEnumValuedrone typeint-60 (M300RTK),
67(M30 Series)
YesM300RTK,M30 Series
wpml:droneSubEnumValuedrone sub typeint-when droneEnumValue is 67(M30 Series):
0(M30),
1(M30T)
Note: This element is required when droneEnumValue is 67(M30 Series).M300RTK,M30 Series

<wpml:payloadInfo>

ElementNameTypeunitValueIs it required (default)Product Support
wpml:payloadEnumValuepayload typeint-42(H20),
43(H20T),
50(P1),
52(M30),
53(M30T),
61(H20N),
90742(L1)
YesM300RTK,M30 Series
wpml:payloadSubEnumValuepayload sub typeint-ZENMUSE_P1:
0(LENS_24mm),
1(LENS_35mm),
2(LENS_50mm)
YesM300RTK,M30 Series
wpml:payloadPositionIndexThe position where the payload is mountedint-0: Mount position of 1. The M300RTK model corresponds to the front left of the drone. Other models, corresponding to the main gimbal.
1: Mount position of 2. The M300RTK model corresponds to the front right of the drone.
2: Mount position of 3. The M300RTK model corresponds to the top of the drone.
YesM300RTK,M30 Series

<wpml:waylineCoordinateSysParam>

ElementNameTypeunitValueIs it required (default)Product Support
wpml:coordinateModeLatitude and longitude coordinate systemenum-WGS84:Current fixed use
WGS84
YesM300RTK,M30 Series
wpml:heightModeReference plane for waypoint elevationenum-EGM96: Use the altitude editor.
relativeToStartPoint: Editing with relative point heights.
aboveGroundLevel: Using topographic data, editing under AGL.
YesM300RTK,M30 Series
wpml:positioningTypeLatitude and longitude and altitude data sourcesenum-GPS: Location data is collected from GPS/BDS/GLONASS/GALILEO etc.
RTKBaseStation: When collecting location data, use RTK base station for differential positioning.
QianXun: When collecting location data, use Qianxun Network RTK for differential positioning.
Custom : When collecting location data, use custom RTK for differential positioning.
No
Note:This element is only used to mark the source of the location data and does not affect the actual route execution.
M300RTK,M30 Series
wpml:globalShootHeightHeight of the aircraft above the subject surface (relative to ground height)
Note: Only available for template types mapping2d, mapping3d, mappingStrip.
floatmUsed to calculate photo spacing and GSDYesM300RTK,M30 Series
wpml:surfaceFollowModeEnableWhether or not to start the surface following mode flight.
Note: Only available for template types mapping2d, mapping3d, mappingStrip.
bool-0: disable
YesM300RTK,M30 Series
wpml:surfaceRelativeHeightSurface following mode flight height above the ground (high relative to the ground).
Note: Only available for template types mapping2d, mapping3d, mappingStrip.
floatm-Yes
Note: Required if wpml:surfaceFollowModeEnable is 1.
M300RTK,M30 Series

<wpml:payloadParam>

ElementNameTypeunitValueIs it required (default)Product Support
wpml:payloadPositionIndexThe position where the payload is mountedint-0: Mount position of 1. The M300RTK model corresponds to the front left of the drone. Other models, corresponding to the main gimbal.
1: Mount position of 2. The M300RTK model corresponds to the front right of the drone.
2: Mount position of 3. The M300RTK model corresponds to the top of the drone.
YesM300RTK,M30 Series
wpml:focusModefocus modeenum-firstPoint: The first waypoint autofocus.
custom: Calibrate the focus value to focus
Yes
Note: This parameter is required when the payload is P1.
M300RTK
wpml:meteringModepayoad metering modeenum-average: Global metering.
spot: spot metering.
Yes
Note: This parameter is required when the payload is P1.
M300RTK
wpml:dewarpingEnable是否开启畸变矫正bool-0: disable
1: enable
Yes
Note: This parameter is required when the payload is P1.
M300RTK
wpml:returnModeLidar echo modeenum-singleReturnStrongest
dualReturn
tripleReturn
Yes
Note: This parameter is required when the payload is L1.
M300RTK
wpml:samplingRatePayload sampling rate.intHz60000,
80000,
120000,
160000,
180000,
240000
Yes
Note: This parameter is required when the payload is L1.
M300RTK
wpml:scanningModepayload scan modeenum-repetitive
nonRepetitive
Yes
Note: This parameter is required when the payload is L1.
M300RTK
wpml:modelColoringEnablemodel coloringbool0: disable
1: enable
Yes
Note: This parameter is required when the payload is L1.
M300RTK
wpml:imageFormatList of image formatsenumwide: Store wide-angle lens photos
zoom: Store zoom lens photos.
ir: Store infrared lens photos
*Note: Store multiple lens photos. The format is as follows. “<payloadLensIndex>wide,ir</payloadLensIndex>
YesM300RTK,M30 Series

<wpml:overlap>

ElementNameTypeunitValueIs it required (default)Product Support
wpml:orthoLidarOverlapHLaser course overlap ratio (ortho)int%[0, 100]-M300RTK,M30 Series
wpml:orthoLidarOverlapWLaser lateral overlap ratio (ortho)int%[0, 100]-M300RTK,M30 Series
wpml:orthoCameraOverlapHVisible light course overlap ratio (ortho)int%[0, 100]-M300RTK,M30 Series
wpml:orthoCameraOverlapWLateral overlap rate of visible light (orthography)int%[0, 100]-M300RTK,M30 Series
wpml:inclinedLidarOverlapHLaser course overlap ratio (inclined)int%[0, 100]-M300RTK,M30 Series
wpml:inclinedLidarOverlapWLaser lateral overlap ratio (inclined)int%[0, 100]-M300RTK,M30 Series
wpml:inclinedCameraOverlapHVisible light course overlap (inclined)int%[0, 100]-M300RTK,M30 Series
wpml:inclinedCameraOverlapWVisible light lateral overlap (inclined)int%[0, 100]-M300RTK,M30 Series

<wpml:waypointHeadingParam> & <wpml:globalWaypointHeadingParam>

ElementNameTypeunitValueIs it required (default)Product Support
wpml:waypointHeadingModeheading modeenum-followWayline:Along course direction. The nose of the aircraft follows the course direction to the next waypoint.
manually: The user can manually control the nose orientation of the aircraft during the flight to the next waypoint.
fixed: The nose of the aircraft maintains the yaw angle of the aircraft to the next waypoint after the waypoint manoeuvre has been performed.
·smoothTransition·: Customised. The target yaw angle for a waypoint is given by "wpml:waypointHeadingAngle" and transitions evenly to the target yaw angle of the next waypoint during the flight segment.
YesM300RTK,M30 Series
wpml:waypointHeadingAngleYaw Angle of aircraftint°The target yaw angle for a given waypoint and a uniform transition to the target yaw angle for the next waypoint over the course of the flight segment.Yes
Note: Required if "wpml:waypointHeadingMode" is "smoothTransition".
M300RTK,M30 Series
wpml:waypointHeadingYawPathModeDirection of rotation of the aircraft yaw angleenum-clockwise
counterClockwise
followBadArc: Rotation of the aircraft yaw angle along the shortest path.
YesM300RTK,M30 Series

<wpml:waypointTurnParam>

ElementNameTypeunitValueIs it required (default)Product Support
wpml:waypointTurnModewaypoint turn modeenum-coordinateTurn: Coordinated turns, no dips, early turns.
toPointAndStopWithDiscontinuityCurvature: Fly in a straight line and the aircraft stops at the point.
toPointAndStopWithContinuityCurvature: Fly in a curve and the aircraft stops at the point.
toPointAndPassWithContinuityCurvature: Fly in a curve and the aircraft will not stop at the point.
YesM300RTK,M30 Series
wpml:waypointTurnDampingDistwaypoint turn damping distancefloatm(0, 航段最大长度]
* 注:两航点间航段长度必需大于两行点航点转弯截距之和。此元素定义了飞行器在距离该航点若干米前,提前多少距离转弯。
Yes
Required if "wpml:waypointTurnMode" is "coordinateTurn", "wpml:waypointTurnMode" is "toPointAndPassWithContinuityCurvature" and "wpml:useStraightLine" is 1
M300RTK,M30 Series

Placemark(Point)

ElementNameTypeunitValueIs it required (default)Product Support
PointThe format is as follows.<Point> <coordinates> Longitude, Latitude </coordinates> </Point>float°,°[-90,90],[-180,180]YesM300RTK,M30 Series
wpml:indexWaypoint number.
Note: This ID is unique within a route. The sequence number must be monotonously and continuously increasing from 0.
int-[0, 65535]YesM300RTK,M30 Series
wpml:useGlobalHeightWhether to use global heightbool-0, 1YesM300RTK,M30 Series
wpml:ellipsoidHeightWayline height (WGS84 ellipsoid height)
Note: This element is used in conjunction with "WPML:height", which is an expression of the reference plane at the same position with different elevations.
floatm-Yes
*Note: Required if and only if "wpml:useGlobalHeight" is 0.
M300RTK,M30 Series
wpml:heightWayline height(EGM96 altitude/relative to take-off /AGL relative to ground)
Note: This element is used in conjunction with "wpml:ellipsoidHeight", which is an expression of a different elevation reference plane at the same location.
floatm-Yes
Note: Required if and only if "wpml:useGlobalHeight" is 0.
M300RTK,M30 Series
wpml:executeHeightExecution altitude of waypoint.
Note: This element is only used in waylines.wpml. The specific elevation reference plane is declared in "wpml:executeHeightMode".
floatm-YesM300RTK,M30 Series
wpml:useGlobalSpeedWhether to use global flight speed
Note: The global flight speed is "wpml:autoFlightSpeed".
bool-0: Do not use
1: use
YesM300RTK,M30 Series
wpml:waypointSpeedWaypoint flight speedfloatm/s(0, Maximum flight speed of this drone]
Note: Maximum flight speed varies between drones
Yes
Note: Required if "wpml:useGlobalSpeed" is 0.
M300RTK,M30 Series
wpml:useGlobalHeadingParamWhether to use the global yaw mode parameterbool-0: do not use
1: use
YesM300RTK,M30 Series
wpml:waypointHeadingParamwaypoint heading param---Yes
Note: Required if “wpml:useGlobalHeadingParam” is 0.
M300RTK,M30 Series
wpml:useGlobalTurnParamWhether to use global waypoint type (Global waypoint turn mode)bool-0: do not use
1: use
YesM300RTK,M30 Series
wpml:waypointTurnParamwaypoint turn param---Yes
Note: Required if “wpml:useGlobalTurnParam” is 0.
M300RTK,M30 Series
wpml:useStraightLineWhether the segment fits a straight linebool-0: The whole trajectory of the segment is curved
1: The segment trajectory is as close to the line of two points as possible.
Yes
Note: Required if "waypointTurnMode" in "wpml:waypointTurnParam" is set to "toPointAndStopWithContinuityCurvature" or "toPointAndPassWithContinuityCurvature". If this element is set, local definitions override global definitions.
M30 Series
wpml:gimbalPitchAnglegimbal pitch anglefloat°The gimbal can be rotated to match the model.Yes
Note: Required if “wpml:gimbalPitchMode” is “usePointSetting”.
M300RTK,M30 Series

<wpml:actionGroup>

ElementNameTypeunitValueIs it required (default)Product Support
wpml:actionGroupIdaction group Id
Note: The ID is unique within a kmz file. It is recommended that it be monotonically and continuously incremented from 0.
int-[0, 65535]YesM300RTK,M30 Series
wpml:actionGroupStartIndexWaypoints where the action group starts to take effect.int-[0, 65535]YesM300RTK,M30 Series
wpml:actionGroupEndIndexWaypoints where the action group stop to take effect.
* Note: When the actionGroupStartIndex is the same as the actionGroupEndIndex, it means that the action group is only valid at that waypoint.
int-[0, 65535]
Note: This element must be less than or equal to "actionGroupStartIndex".
YesM300RTK,M30 Series
wpml:actionGroupModeaction group modeenum-sequence: This means that the actions within the action group are executed sequentially.YesM300RTK,M30 Series
wpml:actionTriggeraction trigger----M300RTK,M30 Series
wpml:actionaction list----M300RTK,M30 Series

<wpml:actionTrigger>

ElementNameTypeunitValueIs it required (default)Product Support
wpml:actionTriggerTypetrigger typeenum-reachPoint: Executed on arrival at the waypoint.
multipleTiming: Same time trigger.
multipleDistance: Same distance trigger.
YesM300RTK,M30 Series
wpml:actionTriggerParamtrigger paramfloats or m> 0
Note:When "actionTriggerType" is "multipleTiming", this element indicates the interval time in s. When "actionTriggerType" is "multipleDistance", this element indicates the interval distance in m. actionTriggerType" is "multipleDistance", this element indicates the interval distance in m.
-M300RTK,M30 Series

<wpml:action>

ElementNameTypeunitValueIs it required (default)Product Support
wpml:actionIdaction id
Note:The ID is unique within an action group. It is recommended that it be monotonically and continuously incremented from 0.
int-[0, 65535]YesM300RTK,M30 Series
wpml:actionActuatorFuncaction typeenum-takePhoto
startRecord
stopRecord
focus
zoom
customDirName: Create new folder.
gimbalRotate:
rotateYaw: Drone rotation.
hover
YesM300RTK,M30 Series
wpml:actionActuatorFuncParamaction param----M300RTK,M30 Series

<wpml:actionActuatorFuncParam>

takePhoto

ElementNameTypeunitValueIs it required (default)Product Support
wpml:payloadPositionIndexThe position where the payload is mountedint-0: Mount position of 1. The M300RTK model corresponds to the front left of the drone. Other models, corresponding to the main gimbal.
1: Mount position of 2. The M300RTK model corresponds to the front right of the drone.
2: Mount position of 3. The M300RTK model corresponds to the top of the drone.
YesM300RTK,M30 Series
wpml:fileSuffixThe file suffixstring-This suffix is appended to the name of the generated media file.YesM300RTK,M30 Series

startRecord

ElementNameTypeunitValueIs it required (default)Product Support
wpml:payloadPositionIndexThe position where the payload is mountedint-0: Mount position of 1. The M300RTK model corresponds to the front left of the drone. Other models, corresponding to the main gimbal.
1: Mount position of 2. The M300RTK model corresponds to the front right of the drone.
2: Mount position of 3. The M300RTK model corresponds to the top of the drone.
YesM300RTK,M30 Series
wpml:fileSuffixThe file suffixstring-This suffix is appended to the name of the generated media file.YesM300RTK,M30 Series

stopRecord

ElementNameTypeunitValueIs it required (default)Product Support
wpml:payloadPositionIndexThe position where the payload is mountedint-0: Mount position of 1. The M300RTK model corresponds to the front left of the drone. Other models, corresponding to the main gimbal.
1: Mount position of 2. The M300RTK model corresponds to the front right of the drone.
2: Mount position of 3. The M300RTK model corresponds to the top of the drone.
YesM300RTK,M30 Series

focus

ElementNameTypeunitValueIs it required (default)Product Support
wpml:payloadPositionIndexThe position where the payload is mountedint-0: Mount position of 1. The M300RTK model corresponds to the front left of the drone. Other models, corresponding to the main gimbal.
1: Mount position of 2. The M300RTK model corresponds to the front right of the drone.
2: Mount position of 3. The M300RTK model corresponds to the top of the drone.
YesM300RTK,M30 Series
wpml:isPointFocusWhether to focusbool-0: Area Focusing.YesM300RTK,M30 Series
wpml:focusXFocal positionfloat-[0, 1]
Note: The upper left corner of the focus point or focus area is at the X-axis (width) coordinates of the screen. 0 is the leftmost and 1 is the rightmost.
YesM300RTK,M30 Series
wpml:focusYFocal positionfloat-[0, 1]
Note: The upper left corner of the focus point or focus area is at the X-axis (width) coordinates of the screen. 0 is the leftmost and 1 is the rightmost.
YesM300RTK,M30 Series
wpml:focusRegionWidthFocusing region width ratiofloat-[0, 1]
Note: The size of the focus area as a proportion of the overall picture, this is the width ratio.
Yes
Note: Required if "isPointFocus" is "0" (area focus).
M300RTK,M30 Series
wpml:focusRegionHeightFocusing region height ratiofloat-[0, 1]
Note: The size of the focus area as a proportion of the overall picture, this is the height ratio.
Yes
Note: Required if "isPointFocus" is "0" (area focus).
M300RTK,M30 Series

zoom

ElementNameTypeunitValueIs it required (default)Product Support
wpml:payloadPositionIndexThe position where the payload is mountedint-0: Mount position of 1. The M300RTK model corresponds to the front left of the drone. Other models, corresponding to the main gimbal.
1: Mount position of 2. The M300RTK model corresponds to the front right of the drone.
2: Mount position of 3. The M300RTK model corresponds to the top of the drone.
YesM300RTK,M30 Series
wpml:focalLengthfocal lengthintmm> 0YesM300RTK,M30 Series

customDirName

ElementNameTypeunitValueIs it required (default)Product Support
wpml:payloadPositionIndexThe position where the payload is mountedint-0: Mount position of 1. The M300RTK model corresponds to the front left of the drone. Other models, corresponding to the main gimbal.
1: Mount position of 2. The M300RTK model corresponds to the front right of the drone.
2: Mount position of 3. The M300RTK model corresponds to the top of the drone.
YesM300RTK,M30 Series
wpml:directoryNameThe name of the new folderstring--YesM300RTK,M30 Series

gimbalRotate

ElementNameTypeunitValueIs it required (default)Product Support
wpml:payloadPositionIndexThe position where the payload is mountedint-0: Mount position of 1. The M300RTK model corresponds to the front left of the drone. Other models, corresponding to the main gimbal.
1: Mount position of 2. The M300RTK model corresponds to the front right of the drone.
2: Mount position of 3. The M300RTK model corresponds to the top of the drone.
YesM300RTK,M30 Series
wpml:gimbalHeadingYawBasegimbal yaw angle rotation coordinate systemenum-north: Relative geographic north.
aircraft: Relative to the nose of drone.
YesM300RTK,M30 Series
wpml:gimbalRotateModegimbal rotation modeenum-relativeAngle
absoluteAngle
YesM300RTK,M30 Series
wpml:gimbalPitchRotateEnableWhether to enable pitch rotation of the gimbal.bool-0: disable
1: enable
YesM300RTK,M30 Series
wpml:gimbalPitchRotateAnglePitch rotation anglefloat-Note: Different gimbals can be turned in different ranges.YesM300RTK,M30 Series
wpml:gimbalRollRotateEnableWhether to enable roll rotation of the gimbal.bool-0: disable
1: enable
YesM300RTK,M30 Series
wpml:gimbalRollRotateAngleroll rotation anglefloat-Note: Different gimbals can be turned in different ranges.YesM300RTK,M30 Series
wpml:gimbalYawRotateEnableWhether to enable yaw rotation of the gimbal.bool-0: disable
1: enable
YesM300RTK,M30 Series
wpml:gimbalYawRotateAngleyaw rotation anglefloat-Note: Different gimbals can be turned in different ranges.YesM300RTK,M30 Series
wpml:gimbalRotateTimeEnableWhether to turn on the gimbal rotation timebool-0: disable
1: enable
YesM300RTK,M30 Series
wpml:gimbalRotateTimeTime to complete rotation of the gimbal.floats-YesM300RTK,M30 Series

rotateYaw

ElementNameTypeunitValueIs it required (default)Product Support
wpml:aircraftHeadingDrone target yaw angle (relative to geographic north)float°[-180, 180]
0° is due north. 90° is due east. -90° is due west. -180°/180° is due south.
YesM300RTK,M30 Series
wpml:aircraftPathModeYaw rotation mode of droneenum-clockwise
counterClockwise
YesM300RTK,M30 Series

hover

ElementNameTypeunitValueIs it required (default)Product Support
wpml:hoverTimehover timefloats> 0YesM300RTK,M30 Series