Template.kml

template.kml Introduction

The template.kml file consists of three parts:

Creation information: It mainly contains the information of the route file itself, such as the creation and update time of the file.
Mission information: mainly includes the wpml:missionConfig element, which defines the global parameters of the route mission, etc.
Template information: It mainly contains the Folder element, which defines the template information of the route (such as waypoint flight, map-building aerial photography, oblique photography, and flight with flight path, etc.). Different route template types contain different elements.

The example file of template.kml is as follows (take the waypoint flight template as an example):

<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.0">
<Document>

  <!-- Step 1: Implement File Creation Information -->
  <wpml:author>Name</wpml:author>
  <wpml:createTime>1637600807044</wpml:createTime>
  <wpml:updateTime>1637600875837</wpml:updateTime>
 
  <!-- Step 2: Setup Mission Configuration -->
  <wpml:missionConfig>
    <wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
    <wpml:finishAction>goHome</wpml:finishAction>
    <wpml:exitOnRCLost>goContinue</wpml:exitOnRCLost>
    <wpml:takeOffSecurityHeight>20</wpml:takeOffSecurityHeight>
    <wpml:globalTransitionalSpeed>10</wpml:globalTransitionalSpeed>
    <wpml:droneInfo>
      <!-- Declare drone model with M30 -->
      <wpml:droneEnumValue>67</wpml:droneEnumValue>
      <wpml:droneSubEnumValue>0</wpml:droneSubEnumValue>
    </wpml:droneInfo>
    <wpml:payloadInfo>
      <!-- Declare payload model with M30 -->
      <wpml:payloadEnumValue>52</wpml:payloadEnumValue>
      <wpml:payloadSubEnumValue>0</wpml:payloadSubEnumValue>
      <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
    </wpml:payloadInfo>
  </wpml:missionConfig>
 
  <!-- Step 3: Setup A Folder for Waypoint Template -->
  <Folder>
    <wpml:templateType>waypoint</wpml:templateType>
    <wpml:useGlobalTransitionalSpeed>0</wpml:useGlobalTransitionalSpeed>
    <wpml:templateId>0</wpml:templateId>
    <wpml:waylineCoordinateSysParam>
      <wpml:coordinateMode>WGS84</wpml:coordinateMode>
      <wpml:heightMode>EGM96</wpml:heightMode>
      <wpml:ellipsoidHeight>100</wpml:ellipsoidHeight>
      <wpml:height>100</wpml:height>
      <wpml:positioningType>GPS</wpml:positioningType>
    </wpml:waylineCoordinateSysParam>
    <wpml:autoFlightSpeed>7</wpml:autoFlightSpeed>
    <wpml:transitionalSpeed>7</wpml:transitionalSpeed>
    <wpml:gimbalPitchMode>usePointSetting</wpml:gimbalPitchMode>
    <wpml:globalWaypointHeadingParam>
      <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
    </wpml:globalWaypointHeadingParam>
    <wpml:globalWaypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:globalWaypointTurnMode>
    <Placemark>
      <Point>
        <!-- Fill longitude and latitude here -->
        <coordinates>
          longitude,latitude
        </coordinates>
      </Point>
      <wpml:index>0</wpml:index>
      <wpml:ellipsoidHeight>90.2</wpml:ellipsoidHeight>
      <wpml:height>100</wpml:height>
      <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
      <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
      <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
      <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
      <wpml:gimbalPitchAngle>0</wpml:gimbalPitchAngle>
    </Placemark>
    <Placemark>
      <Point>
        <!-- Fill longitude and latitude here -->
        <coordinates>
          longitude,latitude
        </coordinates>
      </Point>
      <wpml:index>1</wpml:index>
      <wpml:ellipsoidHeight>90.2</wpml:ellipsoidHeight>
      <wpml:height>100</wpml:height>
      <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
      <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
      <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
      <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
      <wpml:gimbalPitchAngle>0</wpml:gimbalPitchAngle>
      <!-- Declare action group for waypoint 1# -->
      <wpml:actionGroup>
        <wpml:actionGroupId>0</wpml:actionGroupId>
        <wpml:actionGroupStartIndex>1</wpml:actionGroupStartIndex>
        <wpml:actionGroupEndIndex>1</wpml:actionGroupEndIndex>
        <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
        <wpml:actionTrigger>
          <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
        </wpml:actionTrigger>
        <!-- Declare the 1st action: rotate gimbal -->
        <wpml:action>
          <wpml:actionId>0</wpml:actionId>
          <wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>
          <wpml:actionActuatorFuncParam>
            <wpml:gimbalRotateMode>absoluteAngle</wpml:gimbalRotateMode>
            <wpml:gimbalPitchRotateEnable>0</wpml:gimbalPitchRotateEnable>
            <wpml:gimbalPitchRotateAngle>0</wpml:gimbalPitchRotateAngle>
            <wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>
            <wpml:gimbalRollRotateAngle>0</wpml:gimbalRollRotateAngle>
            <wpml:gimbalYawRotateEnable>1</wpml:gimbalYawRotateEnable>
            <wpml:gimbalYawRotateAngle>30</wpml:gimbalYawRotateAngle>
            <wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable>
            <wpml:gimbalRotateTime>0</wpml:gimbalRotateTime>
            <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
          </wpml:actionActuatorFuncParam>
        </wpml:action>
        <!-- Declare the 2nd action: take photo -->
        <wpml:action>
          <wpml:actionId>1</wpml:actionId>
          <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
          <wpml:actionActuatorFuncParam>
            <wpml:fileSuffix>point1</wpml:fileSuffix>
            <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
          </wpml:actionActuatorFuncParam>
        </wpml:action>
      </wpml:actionGroup>
    </Placemark>
  </Folder>
 
</Document>
</kml>

Element Description

Create information (parent element: `<Document>`)

Element	Description	Type	Unit	Value	Is it required (default)	Product Support
wpml:author	Author	String	-	-	None, not required	M300RTK, M30 Series
wpml:createTime	File creation time (Unix Timestamp)	Integer	ms	-	None, not required	M300RTK, M30 Series
wpml:updateTime	File update time (Unix Timestamp)	Integer	ms	-	None, not required	M300RTK, M30 Series

Mission information (parent element: `<wpml:missionConfig>`)

Element	Description	Type	Unit	Value	Is it required (default)	Product Support
`wpml:flyToWaylineMode`	Fly to first waypoint mode	string enumerate	-	`safely`: The aircraft in safe mode (M300) takes off, ascends to the altitude of the first waypoint, and then flies level to the first waypoint. If the first waypoint is lower than the take-off point, after takeoff, it will level fly to the top of the first waypoint and then descend. (M30) The aircraft takes off, rises to the altitude of the first waypoint, and then flies level to the first waypoint. If the first waypoint is lower than the "safe take-off altitude", after taking off to the "safe take-off altitude", level flight to the first waypoint and then descend. Note that the "safe takeoff altitude" only takes effect when the aircraft is not taking off. `pointToPoint`: In tilt flight mode (M300), after the aircraft takes off, it tilts to the first waypoint. (M30) The aircraft takes off to the "safe take-off altitude", and then ramps to the first waypoint. If the altitude of the first waypoint is lower than the "safe take-off altitude", it will first level flight and then descend.	Required	M300RTK, M30 Series
`wpml:finishAction`	The action when finish mission	string enumerate	-	`goHome`: After the aircraft completes the route task, exit the route mode and return to home. noAction: After the aircraft completes the route task, it exits the route mode. `autoLand`: After the aircraft completes the route task, it exits the route mode and lands on the spot. `gotoFirstWaypoint`: After the aircraft completes the route task, it will immediately fly to the starting point of the route, and exit route mode when it arrives. Note: During the execution of the above actions, if the aircraft exits the route mode and enters the runaway state, the runaway action will be executed first.	Required	M300RTK, M30 Series
wpml:exitOnRCLost	Whether to continue to execute the route out of control	string enumerate	-	goContinue：继续执行航线 executeLostAction：退出航线，执行失控动作 `goContinue`: Continue to execute the route `executeLostAction`: Exit the route and execute the runaway action	Required	M300RTK, M30 Series
wpml:executeRCLostAction	Type of disconnect action	string enumerate	-	`goBack`: Go back. The aircraft is flying from the out-of-control position to the take-off point `landing`: landing. The aircraft landed in place from an out-of-control position `hover`: hover. The aircraft is hovering from an out-of-control position	goBack	M300RTK, M30 Series
wpml:takeOffSecurityHeight	Safe takeoff altitude	Float	m	[1.5, 1500] (Altitude mode: relative to takeoff point altitude) Note: After the aircraft takes off, climb to this altitude first, and then fly to the first waypoint according to the setting of "Fly to the first waypoint mode". This element only takes effect when the aircraft is not taking off.	1.5	M30 Series
wpml:globalTransitionalSpeed	Global route transition speed	Float	m/s	> 0 Note: The speed at which the aircraft flies to the first waypoint of each route. When the route mission is interrupted, the speed of the aircraft recovering from the current position to the interruption point.	Required	M300RTK, M30 Series
wpml:takeOffRefPoint<x,y,z>	reference take-off point	Float	°,°,m	[-90,90],[-180,180],unlimited Note: "Reference Takeoff Point" is only for reference of route planning. When the aircraft executes the route, the actual takeoff point of the aircraft shall prevail, and the height of the ellipsoid shall be used.	None，Not Required	M30 Series
wpml:takeOffRefPointAGLHeight	The altitude of the reference take-off point	Float	m	Note: The altitude of "reference take-off point" corresponds to the ellipsoid height in "reference take-off point".	None，Not Required	M30 Series
wpml:droneInfo	Aircraft type information	-	-	-	-	M300RTK, M30 Series
wpml:payloadInfo	Payload information	-	-	-	-	M300RTK, M30 Series

Template information (parent element: `<Folder>`)

Template common elements（parent element：`<Folder>`）

Element	Description	Type	Unit	Value	Is it required (default)	Product Support
wpml:templateType	Predefined Template Type Note: Templates provide users with a solution for quickly generating routes. The user fills in the template Element, and then imports the DJI support client (such as DJI Pilot) to quickly generate an executable mapping/inspection route.	string enumerate	-	`waypoint` `mapping2d` `mapping3d` `mappingStrip`	Required	M300RTK, M30 Series
wpml:templateId	Template ID Note: This ID is unique within a kmz file. It is recommended to start monotonically and continuously increase from 0. In the template.kml and waylines.wpml files, this id will be used to associate the template with the generated executable routes.	Integer	-	[0, 65535]	Required	M300RTK, M30 Series
wpml:autoFlightSpeed	Global flight speed	Float	m/s	(0, the maximum flight speed] Note: The maximum flight speed of different models is different. This Element defines the target flight speed of the aircraft in the entire route generated by this template. If an additional The Element of the waypoint, the local definition will override the global definition.	Required	M300RTK, M30 Series
wpml:waylineCoordinateSysParam	Coordinate system parameters	-	-	-	-	M300RTK, M30 Series
wpml:payloadParam	Payload parameters	-	-	-	-	M300RTK, M30 Series

Waypoint Flight Template Element (Parent Element: `<Folder>`)

Element	Description	Type	Unit	Value	Is it required (default)	Product Support
wpml:globalWaypointTurnMode	Global Waypoint Type (Global Waypoint Turn Mode)	string enumerate	-	`coordinateTurn`: Coordinate turn, but point, turn ahead `toPointAndStopWithDiscontinuityCurvature`: Fly in a straight line, the aircraft will stop at the point `toPointAndStopWithContinuityCurvature`: curve flight, the aircraft will stop at the point `toPointAndPassWithContinuityCurvature`: Curve flight, the aircraft will stop at the point	Required	M300RTK, M30 Series
wpml:globalUseStraightLine	Whether the global segment trajectory is as close to a straight line as possible	Boolean		0: The trajectory of the flight segment is a curve in the whole process 1: The trajectory of the flight segment should be as close as possible to the line connecting the two points	Required Note: Required if and only if "wpml:globalWaypointTurnMode" is set to "toPointAndStopWithContinuityCurvature" or "toPointAndPassWithContinuityCurvature". If the Element of a waypoint is additionally defined, the local definition will override the global definition.	M30 Series
wpml:gimbalPitchMode	Gimbal Pitch Control Mode	string enumerate	-	`manual`: Manual control. When the aircraft is flying from one waypoint to the next, the user can manually control the pitch angle of the gimbal; if there is no user control, the gimbal pitch angle when flying away from the waypoint is maintained. `usePointSetting`: Set according to each waypoint. When the aircraft flies from one waypoint to the next, the pitch angle of the gimbal transitions evenly to the pitch angle of the next waypoint.	Required	M300RTK, M30 Series
wpml:ellipsoidHeight	Global route height (ellipsoid height) Note: This Element is used in conjunction with "wpml:height", which are expressions of different elevation reference planes at the same location.	Float	m	-	Required	M300RTK, M30 Series
wpml:height	Global route height (EGM96 altitude/relative take-off point height/AGL relative ground height) Note: This Element is used in conjunction with "wpml:ellipsoidHeight", which are expressions of different elevation reference planes at the same location.	Float	m	-	Required	M300RTK, M30 Series
wpml:globalWaypointHeadingParam	Global yaw angle mode parameters	-	-	-	-	M300RTK, M30 Series
Placemark(Point)	Waypoint information (including waypoint latitude, longitude and altitude, etc.)	-	-	-	-	M300RTK, M30 Series

Mapping Aerial Template Element (Parent Element: `<Placemark>`)

Element	Description	Type	Unit	Value	Is it required (default)	Product Support
wpml:caliFlightEnable	Whether to enable calibration flight * Note: only applicable to M300RTK and L1 models	Boolean	-	0: Disable 1: Enable, the inertial navigation calibration is automatically performed on the route to ensure the accuracy of the model. At the end of the route, there will be three acceleration and deceleration flights, and the curve of the route will automatically expand outward for acceleration and deceleration flight. If the route is too long, the acceleration and deceleration will be evenly inserted, and the flight time will not exceed 100s after each calibration.	-	M300RTK
wpml:elevationOpimizeEnable	Whether to enable elevation optimization	Boolean	-	0: Disable 1: Enable, the aircraft will fly to the center of the survey area to collect a set of tilted photos after the flight route is completed to optimize the elevation accuracy.	Required	M300RTK, M30 Series
wpml:smartObliqueEnable	Whether to enable Smart Posing Note: Only applicable to M300RTK and P1 models	Boolean	-	0: Disabled 1: Enabled, the aircraft can take orthophoto and oblique photos by swinging the gimbal during a single aerial photography task.	-	M300RTK
wpml:smartObliqueGimbalPitch	Smart Pose Shooting Pitch Angle Note: Only applicable to M300RTK and P1 models. The recommended input range of the P1 model gimbal is [-90, -45].	Integer	°	Corresponding model gimbal swivel range	-	M300RTK
wpml:shootType	Photo mode (timed or fixed distance)	string enumerate	-	time: take photos at equal time distance: take photos at equal intervals Note: It is recommended to use "time" to take photos at equal time. Define "photographing mode", "overlap rate" and "flying speed" in the template.kml file, and write the interval time or interval distance after calculation into wayslines.wpml.	Required	M300RTK, M30 Series
wpml:direction	route direction	Integer	°	[0, 360]	Required	M300RTK, M30 Series
wpml:margin	Expansion distance outside the survey area	Integer	m	-	Required	M300RTK, M30 Series
wpml:overlap	Overlap rate parameter	-	-	-	-	M300RTK, M30 Series
wpml:ellipsoidHeight	Global route height (ellipsoid height) Note: This Element is used in conjunction with "wpml:height", which are expressions of different elevation reference planes at the same location.	Float	m	-	Required	M300RTK, M30 Series
wpml:height	Global route height (EGM96 altitude/relative take-off point height/AGL relative ground height) Note: This Element is used in conjunction with "wpml:ellipsoidHeight", which are expressions of different elevation reference planes at the same location.	Float	m	-	Required	M300RTK, M30 Series
Polygon	Survey area polygon Note: The format here is "`<Polygon> <outerBoundaryIs> <LinearRing> <coordinates> longitude,latitude,0 longitude,latitude,0 longitude,latitude,0 </coordinates> </LinearRing> </outerBoundaryIs> </Polygon>`”	-	-	-	-	M300RTK, M30 Series

Oblique Photography Template Element (Parent Element: `<Placemark>`)

Element	Description	Type	Unit	Value	Is it required (default)	Product Support
wpml:caliFlightEnable	Whether to enable calibration flight Note: only applicable to M300RTK and L1 models	Boolean	-	0: Disable 1: Enable, the inertial navigation calibration is automatically performed on the route to ensure the accuracy of the model. At the end of the route, there will be three acceleration and deceleration flights, and the curve of the route will automatically expand outward for acceleration and deceleration flight. If the route is too long, the acceleration and deceleration will be evenly inserted, and the flight time will not exceed 100s after each calibration.	-	M300RTK
wpml:inclinedGimbalPitch	Gimbal pitch angle (tilt)	Integer	°	Note: The rotation range of different gimbal is different. The oblique photography template will be generated with five routes, one of which captures orthophoto images and four of which capture oblique images. This Element is used to set the tilt angle of the gimbal during oblique image capture.	Required	M300RTK, M30 Series
wpml:inclinedFlightSpeed	route flight speed (tilt)	Float	m/s	(0, the maximum flight speed of this aircraft ] Note: The maximum flight speed of different aircraft types is different. The oblique photography template will generate five routes, of which 1 captures orthophoto images and 4 captures oblique images. Element is used to set the flying target speed during oblique image acquisition.	Required	M300RTK, M30 Series
wpml:shootType	Photo mode (timed or fixed distance)	string enumerate	-	time: take photos at equal time distance: take photos at equal intervals Note: It is recommended to use "time" to take photos at equal time. Define "photographing mode", "overlap rate" and "flying speed" in the template.kml file, and write the interval time or interval distance after calculation into wayslines.wpml.	Required	M300RTK, M30 Series
wpml:direction	route direction	Integer	°	[0, 360]	Required	M300RTK, M30 Series
wpml:margin	Expansion distance outside the survey area	Integer	m	-	Required	M300RTK, M30 Series
wpml:overlap	Overlap rate parameter	-	-	-	-	M300RTK, M30 Series
wpml:ellipsoidHeight	Global route height (ellipsoid height) Note: This Element is used in conjunction with "wpml:height", which are expressions of different elevation reference planes at the same location.	Float	m	-	Required	M300RTK, M30 Series
wpml:height	Global route height (EGM96 altitude/relative take-off point height/AGL relative ground height) Note: This Element is used in conjunction with "wpml:ellipsoidHeight", which are expressions of different elevation reference planes at the same location.	Float	m	-	Required	M300RTK, M30 Series
Polygon	Survey area polygon Note: The format here is "`<Polygon> <outerBoundaryIs> <LinearRing> <coordinates> longitude,latitude,0 longitude,latitude,0 longitude,latitude,0 </coordinates> </LinearRing> </outerBoundaryIs> </Polygon>`”	-	-	-	-	M300RTK, M30 Series

Strip Flight Template Element (Parent Element: `<Placemark>`)

Element	Description	Type	Unit	Value	Is it required (default)	Product Support
wpml:caliFlightEnable	Whether to enable calibration flight	Boolean	-	0：Disable 1：Enable	Required	M300RTK, M30 Series
wpml:shootType	Photo mode (timed or fixed distance)	string enumerate	-	`time`: take photos at equal time `distance`: take photos at equal intervals* Note: It is recommended to use "time" to take photos at equal time. Define "photographing mode", "overlap rate" and "flying speed" in the template.kml file, and write the interval time or interval distance after calculation into wayslines.wpml.	Required	M300RTK, M30 Series
wpml:direction	route direction	Integer	°	[0, 360]	Required	M300RTK, M30 Series
wpml:margin	Expansion distance outside the survey area	Float	m	-	Required	M300RTK, M30 Series
wpml:singleLineEnable	Whether to enable single route flight	Boolean	-	0：disable 1：enable	Required	M300RTK, M30 Series
wpml:cuttingDistance	Route length of each sub strip	Float	m	-	Required	M300RTK, M30 Series
wpml:boundaryOptimEnable	Whether to enable edge optimization	Boolean	-	0：disable 1：enable	Required	M300RTK, M30 Series
wpml:leftExtend	Extending distance on the left side of the strip flight	Integer	m	-	Required	M300RTK, M30 Series
wpml:rightExtend	Extending distance on the right side of the strip flight	Integer	m	-	Required	M300RTK, M30 Series
wpml:includeCenterEnable	whether to include centerline	Boolean	-	0：not include 1：include	Required	M300RTK, M30 Series
wpml:overlap	Overlap rate parameter	-	-	-	-	M300RTK, M30 Series
wpml:ellipsoidHeight	Global route height (ellipsoid height) Note: This Element is used in conjunction with "wpml:height", which are expressions of different elevation reference planes at the same location.	Float	m	-	Required	M300RTK, M30 Series
wpml:height	Global route height (EGM96 altitude/relative take-off point height/AGL relative ground height) Note: This Element is used in conjunction with "wpml:ellipsoidHeight", which are expressions of different elevation reference planes at the same location.	Float	m	-	Required	M300RTK, M30 Series
LineString	Waypoint information Note: The format here is "`<LineString> <coordinates> longitude,latitude,0 longitude,latitude,0 longitude,latitude,0 </coordinates> </LineString>`"	-	-	-	-	M300RTK, M30 Series

Template.kml

# template.kml Introduction

# Element Description

# Create information (parent element: <Document>)

# Mission information (parent element: <wpml:missionConfig>)

# Template information (parent element: <Folder>)

# Template common elements（parent element：<Folder>）

# Waypoint Flight Template Element (Parent Element: <Folder>)

# Mapping Aerial Template Element (Parent Element: <Placemark>)

# Oblique Photography Template Element (Parent Element: <Placemark>)

# Strip Flight Template Element (Parent Element: <Placemark>)

template.kml Introduction

Element Description

Create information (parent element: `<Document>`)

Mission information (parent element: `<wpml:missionConfig>`)

Template information (parent element: `<Folder>`)

Template common elements（parent element：`<Folder>`）

Waypoint Flight Template Element (Parent Element: `<Folder>`)

Mapping Aerial Template Element (Parent Element: `<Placemark>`)

Oblique Photography Template Element (Parent Element: `<Placemark>`)

Strip Flight Template Element (Parent Element: `<Placemark>`)