template.kml Explanation

File Introduction

The template.kml is a template file that can be parsed by flight planning software to generate the final path and actions for the drone to execute, resulting in the waylines.wpml file. The template.kml file consists of three parts:

1. Creation Information: Primarily contains information about the flight file itself, such as file creation and update times.
2. Mission Information: Mainly includes the wpml:missionConfig element, which defines global parameters for the flight mission.
3. Template Information: Primarily contains the Folder element, which defines the template information for the flight route (e.g., waypoint flight, mapping aerial photography, oblique photography, flight path routes). The elements included in different flight templates vary.

An example template.kml file is shown below (using the waypoint flight template as an example):

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

  <!-- Step 1: Implement File Creation Information -->
  <wpml:author>Name</wpml:author>
  <wpml:createTime>1710925294751</wpml:createTime>
  <wpml:updateTime>1737600875837</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:executeRCLostAction>hover</wpml:executeRCLostAction>
    <wpml:takeOffSecurityHeight>20</wpml:takeOffSecurityHeight>
    <wpml:takeOffRefPoint>23.98057,115.987663,100</wpml:takeOffRefPoint>
    <wpml:takeOffRefPointAGLHeight>35</wpml:takeOffRefPointAGLHeight>
    <wpml:globalTransitionalSpeed>8</wpml:globalTransitionalSpeed>
    <wpml:droneInfo>
      <!-- Declare drone model with M4T -->
      <wpml:droneEnumValue>1100</wpml:droneEnumValue>
      <wpml:droneSubEnumValue>0</wpml:droneSubEnumValue>
    </wpml:droneInfo>
    <wpml:payloadInfo>
      <!-- Declare payload model with M4T -->
      <wpml:payloadEnumValue>10052</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:globalShootHeight>50</wpml:globalShootHeight>
      <wpml:positioningType>GPS</wpml:positioningType>
      <wpml:surfaceFollowModeEnable>1</wpml:surfaceFollowModeEnable>
      <wpml:surfaceRelativeHeight>100</wpml:surfaceRelativeHeight>
    </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:waypointHeadingAngle>45</wpml:waypointHeadingAngle>
      <wpml:waypointPoiPoint>24.323345,116.324532,31.000000</wpml:waypointPoiPoint>
      <wpml:waypointHeadingPathMode>clockwise</wpml:waypointHeadingPathMode>
    </wpml:globalWaypointHeadingParam>
    <wpml:globalWaypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:globalWaypointTurnMode>
    <wpml:globalUseStraightLine>0</wpml:globalUseStraightLine>
    <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 Descriptions

Creation Information (Parent Element: <Document>)

Element	Name	Type	Unit	Value and Explanation	Required (Default)	Supported Models
wpml:author	File Creator	String	-	-	None, not required	M4T/M4N
wpml:createTime	File Creation Time（Unix Timestamp）	Integer	ms	-	None, not required	M4T/M4N
wpml:updateTime	File Update Time（Unix Timestamp）	Integer	ms	-	None, not required	M4T/M4N

Template Information (Parent Element: <Folder>)

Element	Name	Type	Unit	Description and Values	Required (Default)	Supported Models
wpml:flyToWaylineMode	Fly to First Waypoint Mode	Enum-string	-	safely: Safe Mode The drone takes off, ascends to the first waypoint height, and then flies level to the first waypoint. If the first waypoint is lower than the "Safe Takeoff Height," it ascends to the "Safe Takeoff Height" before flying level above the waypoint and then descends. Note that "Safe Takeoff Height" only applies when the drone has not yet taken off. pointToPoint: Inclined Flight Mode The drone takes off to the "Safe Takeoff Height," then climbs inclined to the first waypoint. If the first waypoint height is lower than the "Safe Takeoff Height," it flies level first and then descends.	Required Element	M4T/M4N
wpml:finishAction	End Action	Enum-string	-	goHome: After completing the waypoint mission, the drone exits waypoint mode and returns home. noAction: After completing the waypoint mission, the drone exits waypoint mode. autoLand: After completing the waypoint mission, the drone exits waypoint mode and lands in place. gotoFirstWaypoint: After completing the waypoint mission, the drone immediately flies to the starting point of the mission and exits waypoint mode upon arrival. *Note: If the drone exits waypoint mode and enters a state of loss of control during the execution of these actions, the loss of control action will take precedence.	Required Element	M4T/M4N
wpml:exitOnRCLost	Continue Mission on RC Lost	Enum-string	-	goContinue: Continue executing the mission executeLostAction: Exit the mission and execute the loss of control action	Required Element	M4T/M4N
wpml:executeRCLostAction	Loss of Control Action Type	Enum-string	-	goBack: Return home. The drone flies from the lost control position back to the takeoff point. landing: Land. The drone lands in place from the lost control position. hover: Hover. The drone hovers from the lost control position.	Not required; Required if wpml is executeLostAction	M4T/M4N
wpml:takeOffSecurityHeight	Safe Takeoff Height	Float	m	[2, 1500] (Height Mode: Relative to Takeoff Point Height) *Note: After takeoff, the drone ascends to this height before flying to the first waypoint according to the "Fly to First Waypoint Mode" setting. This element only applies when the drone has not yet taken off.	Required Element	M4T/M4N
wpml:globalTransitionalSpeed	Global Transition Speed	Float	m/s	[1, 15] *Note: The speed at which the drone flies to each first waypoint. The speed at which the drone resumes from its current position to the breakpoint when the mission is interrupted.	Required Element	M4T/M4N
wpml:globalRTHHeight	Global Return-to-Home Height	Float	m	*Note: When the drone returns home, it first ascends to this height before returning home.	Required Element	M4T/M4N
wpml:takeOffRefPoint<x,y,z>	Reference Takeoff Point	Float	°, °, m	[-90, 90], [-180, 180], no limit *Note: The "Reference Takeoff Point" is only for planning purposes; the drone will use its actual takeoff point when executing the mission, with height based on ellipsoidal height.	Not required	-
wpml:takeOffRefPointAGLHeight	Reference Takeoff Point AGL Height	Float	m	*Note: The AGL height of the "Reference Takeoff Point" corresponds to the ellipsoidal height in "Reference Takeoff Point."	Not required	-
wpml:droneInfo	Drone Model Information	-	-	Note: Please refer to the Common Elements section for detailed information.	-	M4T/M4N
wpml:payloadInfo	Payload Model Information	-	-	Note: Please refer to the Common Elements section for detailed information.	-	M4T/M4N
wpml:autoRerouteInfo	Route Rerouting	-	-	-	-

Template Information (Parent Element: <Folder>)

Common Elements for Templates (Parent Element: <Folder>)

Element	Name	Type	Unit	Description and Values	Required (Default)	Supported Models
wpml:templateType	Predefined Template Type *Note: The template provides users with a quick way to generate flight paths. Users fill in the template elements and then import them into DJI-supported clients (like DJI Pilot) to quickly create executable mapping/inspection flight paths.	Enum-string	-	waypoint: Waypoint Flight mapping2d: Mapping Aerial Photography mapping3d: Inclined Photography mappingStrip: Strip Flight waypointFormation: Formation Flight	Required Element	M4T/M4N
wpml:templateId	Template ID *Note: This ID is unique within a single .kmz file. It is recommended to start from 0 and increment monotonically. This ID will be used to associate the template with the executable flight path generated in the template.kml and waylines.wpml files.	Integer	-	[0, 65535]	Required Element	M4T/M4N
wpml:autoFlightSpeed	Global Flight Speed	Float	m/s	[1, 15] *Note: This element defines the target flight speed of the drone throughout the entire flight path generated by this template. If this element is additionally defined for a specific waypoint, the local definition will override the global definition.	Required Element	M4T/M4N
wpml:waylineCoordinateSysParam	Coordinate System Parameters	-	-	-	-	M4T/M4N
wpml:payloadParam	Payload Settings	-	-	-	-	M4T/M4N

<wpml:payloadParam>

Element	Name	Type	Unit	Description and Values	Required (Default)	Supported Models
wpml:payloadPositionIndex	Payload Mount Position	Integer	-	0: Drone's Mount Position 1. 1: Drone's Mount Position 2. 2: Drone's Mount Position 3.	Required Element	M4T/M4N
wpml:focusMode	Payload Focus Mode	Enum-string	-	firstPoint: Auto-focus on the first waypoint custom: Focus on a set focus value	-	-
wpml:meteringMode	Payload Metering Mode	Enum-string	-	average: Global metering spot: Spot metering	-	-
wpml:dewarpingEnable	Enable Distortion Correction	Boolean	-	0: Disabled 1: Enabled	-	-
wpml:returnMode	Lidar Return Mode	Enum-string	-	singleReturnStrongest: Single return dualReturn: Dual return tripleReturn: Triple return	-	-
wpml:samplingRate	Payload Sampling Rate	Integer	Hz	60000, 80000, 120000, 160000, 180000, 240000	-	-
wpml:scanningMode	Payload Scanning Mode	Enum-string	-	repetitive: Repetitive scanning nonRepetitive: Non-repetitive scanning	-	-
wpml:modelColoringEnable	True Color Coloring	Boolean		0: No coloring 1: True color coloring	-	-
wpml:imageFormat	Image Format List	Enum-string（List）		wide: Store wide-angle camera images zoom: Store zoom camera images ir: Store infrared camera images narrow_band: Store narrow-band camera images *Note: To store images from multiple cameras, use the format like "<wpml:imageFormat>wide,ir</wpml:imageFormat>"	Required Element	M4T/M4N

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

Element	Name	Type	Unit	Description and Values	Required (Default)	Supported Models
wpml:globalWaypointTurnMode	Global Waypoint Type (Global Waypoint Turn Mode)	Enum-string	-	coordinateTurn: Coordinated turn, bypasses the point, turns in advance toPointAndStopWithDiscontinuityCurvature: Straight flight, drone stops at the point toPointAndStopWithContinuityCurvature: Curved flight, drone stops at the point toPointAndPassWithContinuityCurvature: Curved flight, drone passes the point without stopping	Required element	M4T/M4N
wpml:globalUseStraightLine	Whether the Global Flight Path Should Fit a Straight Line	Boolean	-	0: The flight path is curved throughout 1: The flight path tries to fit the line connecting two points	Required element * Note: This is required only when "wpml" is set to "toPointAndStopWithContinuityCurvature" or "toPointAndPassWithContinuityCurvature." If this element is additionally defined for a waypoint, the local definition will override the global definition.	M4T/M4N
wpml:gimbalPitchMode	Gimbal Pitch Control Mode	Enum-string	-	manual: Manual control. During the flight from one waypoint to the next, the user can manually control the gimbal pitch angle. If no user control is applied, it maintains the gimbal pitch angle from when departing the waypoint. usePointSetting: Use the settings of each waypoint. During the flight from one waypoint to the next, the gimbal pitch angle gradually transitions to the pitch angle of the next waypoint.	Required element	M4T/M4N
wpml:globalHeight	Global Flight Altitude (Relative to Takeoff Point)	Float	m	-	Required element	M4T/M4N
wpml:globalWaypointHeadingParam	Global Heading Mode Parameter	-	-	-	-	M4T/M4N
Placemark(Point)	Waypoint Information (Includes Waypoint Latitude, Longitude, and Altitude)	-	-	-	-	M4T/M4N

Mapping Aerial Photography Template Elements (Parent Element: <Placemark>)

Element	Name	Type	Unit	Description and Values	Required (Default)	Supported Models
wpml:caliFlightEnable	Calibration Flight Enable	Boolean	-	0: Disabled 1: Enabled, automatic inertial calibration during the flight path to ensure model accuracy. The route will include three acceleration and deceleration flights at the end, with automatic widening and acceleration/deceleration at turns. For long routes, acceleration/deceleration flights are evenly inserted, with each calibration taking no more than 100s.	-	-
wpml:elevationOptimizeEnable	Elevation Optimization Enable	Boolean	-	0: Disabled 1: Enabled, the drone will fly to the center of the survey area after completing the flight path to collect a set of oblique photos to optimize elevation accuracy.	Required element	M4T/M4N
wpml:smartObliqueEnable	Smart Oblique Enable	Boolean	-	0: Disabled 1: Enabled, during a single mapping aerial photography task, the drone can perform both orthophoto and oblique photo shooting through gimbal movement.	-	-
wpml:smartObliqueGimbalPitch	Smart Oblique Shooting Pitch Angle	Integer	-	The gimbal rotation range corresponding to the drone model	-	-
wpml:shootType	Shooting Mode (Timed or Distance Interval)	Enum-string	-	time: Timed shooting distance: Distance interval shooting * Note: It is recommended to use "time" for timed shooting. In the template.kml file, define the "shooting mode," "overlap rate," and "flight speed," and calculate the interval time or distance, which is then written into waylines.wpml.	Required element	M4T/M4N
wpml:direction	Flight Line Direction	Integer	-	[0, 360]	Required element	M4T/M4N
wpml:margin	Survey Area Expansion Distance	Integer	m	-	Required element	M4T/M4N
wpml:overlap	Overlap Parameter	-	-	-	-	M4T/M4N
wpml:ellipsoidHeight	Global Wayline Height (Ellipsoidal Height) * Note: If wpml:height is used for Relative to Takeoff Point Height, then wpml:ellipsoidHeight and wpml:height are the same; if wpml:height is used for EGM96 elevation or AGL Relative Ground Height, then wpml:ellipsoidHeight is converted accordingly from wpml:height.	Float	m	-	Required element	M4T/M4N
wpml:height	Global Wayline Height (EGM96 Elevation/Relative to Takeoff Point Height/AGL Relative Ground Height) * Note: This element is used in conjunction with wpml:ellipsoidHeight, both expressing the same position in different elevation reference planes.	Float	m	-	Required element	M4T/M4N
Polygon	Survey Area Polygon * Note: The format should be "<Polygon> <outerBoundaryIs> <LinearRing> <coordinates> longitude,latitude,0 longitude,latitude,0 longitude,latitude,0 </coordinates> </LinearRing> </outerBoundaryIs> </Polygon>"	-	-	-	-	M4T/M4N
wpml:mappingHeadingParam	Mapping Aerial Photography Drone Heading Parameter	-	-	-	-	M4T/M4N
wpml:gimbalPitchMode	Gimbal Pitch Control Mode	Enum-string	-	manual: Manual gimbal pitch control fixed: Fixed to the user-specified pitch angle	-	M4T/M4N
wpml:gimbalPitchAngle	Gimbal Pitch Angle	°	-	[-90, -30]	*Note: Required when wpml:gimbalPitchMode is "fixed"	M4T/M4N

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

Element	Name	Type	Unit	Description and Values	Required (Default)	Supported Models
wpml:caliFlightEnable	Enable Calibration Flight	Boolean	-	0: Disabled 1: Enabled, automatic inertial calibration during the flight to ensure model accuracy. The route will include three acceleration and deceleration flights at the end, with automatic widening and acceleration/deceleration at turns. For long routes, acceleration/deceleration flights are evenly inserted, with each calibration taking no more than 100s.	-	-
wpml:inclinedGimbalPitch	Gimbal Pitch Angle (Oblique)	Integer	°	* Note: Different gimbals have different rotation ranges. The oblique photography template generates five flight paths: one for orthophoto collection and four for oblique image collection. This element sets the gimbal pitch angle for oblique image collection.	Required element	M4T/M4N
wpml:inclinedFlightSpeed	Flight Speed (Oblique)	Float	m/s	[1,15] * Note: The oblique photography template generates five flight paths: one for orthophoto collection and four for oblique image collection. This element sets the target speed for oblique image collection.	Required element	M4T/M4N
wpml:shootType	Shooting Mode (Timed or Distance Interval)	Enum-string	-	time: Timed shooting distance: Distance interval shooting * Note: It is recommended to use "time" for timed shooting. In the template.kml file, define the "shooting mode," "overlap rate," and "flight speed," and calculate the interval time or distance, which is then written into waylines.wpml.	Required element	M4T/M4N
wpml:direction	Flight Line Direction	Integer	°	[0, 360]	Required element	M4T/M4N
wpml:margin	Survey Area Expansion Distance	Integer	m	-	Required element	M4T/M4N
wpml:overlap	Overlap Parameter	-	-	-	-	M4T/M4N
wpml:ellipsoidHeight	Global Flight Line Height (Ellipsoidal Height) *Note: This element is used together with "wpml:height", representing the same position in different elevation reference planes.	Float	m	-	Required element	M4T/M4N
wpml:height	Global Flight Altitude (EGM96 Altitude / Relative Takeoff Height / AGL Relative Ground Height) *Note: This element is used together with "wpml:height", representing the same position in different elevation reference planes.	Float	m	-	Required element	M4T/M4N
Polygon	Survey Area Polygon * Note: The format should be "<Polygon> <outerBoundaryIs> <LinearRing> <coordinates> longitude,latitude,0 longitude,latitude,0 longitude,latitude,0 </coordinates> </LinearRing> </outerBoundaryIs> </Polygon>"	-	-	-	-	M4T/M4N

Waypoint Information (Parent Element: <Placemark>)

Element	Name	Type	Unit	Description and Values	Required (Default)	Supported Models
Point	Waypoint Latitude and Longitude <Longitude,Latitude> * Note: The format should be "<Point> <coordinates> longitude,latitude </coordinates> </Point>"	Float	°,°	[-90,90],[-180,180]	Required element	M4T/M4N
wpml:index	Waypoint Index * Note: This ID must be unique within a single flight path. The index must start from 0 and increase monotonically.	Integer	-	[0, 65535]	Required element	M4T/M4N
wpml:useGlobalHeight	Use Global Height	Boolean	-	0, 1	Required element	M4T/M4N
wpml:ellipsoidHeight	Waypoint Altitude (WGS84 Ellipsoid Height) * Note: This element, along with "wpml:height", represents the same position with different altitude reference planes.	Float	m	-	Required * Note: Required when "wpml:useGlobalHeight" is "0"	M4T/M4N
wpml:height	Waypoint Altitude (EGM96 Geoid Height / Relative to Takeoff Point / AGL Above Ground Level) * Note: This element, along with "wpml:ellipsoidHeight", represents the same position with different altitude reference planes.	Float	m	-	Required * Note: Required when "wpml:useGlobalHeight" is "0"	M4T/M4N
wpml:useGlobalSpeed	Use Global Flight Speed * Note: The global flight speed refers to "wpml".	Boolean	-	0: Do not use global setting 1: Use global setting	Required element	M4T/M4N
wpml:waypointSpeed	Waypoint Flight Speed	Float	m/s	[1,15]	Required * Note: Required when "wpml:useGlobalSpeed" is "0"	M4T/M4N
wpml:useGlobalHeadingParam	Use Global Heading Mode Parameter	Boolean	-	0: Do not use global setting 1: Use global setting	Required element	M4T/M4N
wpml:waypointHeadingParam	Heading Mode Parameter	-	-	-	Required * Note: Required when "wpml:useGlobalHeadingParam" is "0"	M4T/M4N
wpml:useGlobalTurnParam	Use Global Waypoint Type (Global Waypoint Turn Mode)	Boolean	-	0: Do not use global setting 1: Use global setting	Required element	M4T/M4N
wpml:waypointTurnParam	Waypoint Type (Waypoint Turn Mode)	-	-	-	Required * Note: Required when "wpml:useGlobalTurnParam" is "0"	M4T/M4N
wpml:useStraightLine	Whether the Flight Path Segment Should Fit a Straight Line	Boolean	-	0: The flight path is curved throughout 1: The flight path tries to fit the line connecting two points	Required * Note: Required when "waypointTurnMode" inside "wpml:waypointTurnParam" is set to "toPointAndStopWithContinuityCurvature" or "toPointAndPassWithContinuityCurvature". If set, local definition overrides global definition.	M4T/M4N
wpml:gimbalPitchAngle	Gimbal Pitch Angle at Waypoint	Float	°	Corresponding to the gimbal rotation range of the drone model	Required * Note: Required when "wpml:gimbalPitchMode" is "usePointSetting"	M4T/M4N
wpml:formationInfo	Flight Formation Information			* Note: Please refer to the Common Elements section for detailed information.	-	M4T/M4N

Coordinate System Parameter Information (Parent Element: <wpml:waylineCoordinateSysParam>)

Element	Name	Type	Unit	Description and Values	Required (Default)	Supported Models
wpml:coordinateMode	Coordinate System	Enum-string	-	WGS84: Currently fixed WGS84 Coordinate System	Required element	M4T/M4N
wpml:heightMode	Waypoint Elevation Reference Plane	Enum-string	-	EGM96: Use altitude editing relativeToStartPoint: Use relative point height for editing aboveGroundLevel: Use terrain data, edit under AGL (supported only on Skynavigator 2 platform) realTimeFollowSurface: Use real-time surface following mode (only for mapping aerial photography templates), supported only on M3E/M3T/M3M models	Required element	M4T/M4N
wpml:positioningType	Source of Latitude, Longitude, and Elevation Data	Enum-string	-	GPS: Position data sourced from GPS/BDS/GLONASS/GALILEO, etc. RTKBaseStation: Uses RTK base station for differential positioning when collecting position data QianXun: Uses Qianxun Network RTK for differential positioning when collecting position data Custom: Uses custom network RTK for differential positioning when collecting position data	Not required * Note: This element only indicates the source of position data and does not affect the actual execution of the flight path.	M4T/M4N
wpml:globalShootHeight	Drone Height Above Target Surface (Relative Ground Height) * Note: Applicable only for template types mapping2d, mapping3d, and mappingStrip	Float	m	Used to calculate shooting interval and GSD	Required element	M4T/M4N
wpml:surfaceFollowModeEnable	Enable Surface Following Mode * Note: Applicable only for template types mapping2d, mapping3d, and mappingStrip	Boolean	-	0: Disabled 1: Enabled	Required element	M4T/M4N
wpml:surfaceRelativeHeight	Surface Following Height (Relative Ground Height) * Note: Applicable only for template types mapping2d, mapping3d, and mappingStrip	Float	m	-	Required * Note: Required when "wpml:surfaceFollowModeEnable" is "1"	M4T/M4N

Overlap Rate Information (Parent Element: <wpml:overlap>)

Element	Name	Type	Unit	Description and Values	Required (Default)	Supported Models
wpml:orthoLidarOverlapH	Lidar Forward Overlap Rate (Orthophoto)	Integer	Percent	[0, 100]	-	-
wpml:orthoLidarOverlapW	Lidar Side Overlap Rate (Orthophoto)	Integer	Percent	[0, 100]	-	-
wpml:orthoCameraOverlapH	Visible Light Forward Overlap Rate (Orthophoto)	Integer	Percent	[0, 100]	-	M4T/M4N
wpml:orthoCameraOverlapW	Visible Light Side Overlap Rate (Orthophoto)	Integer	Percent	[0, 100]	-	M4T/M4N
wpml:inclinedLidarOverlapH	Lidar Forward Overlap Rate (Oblique)	Integer	Percent	[0, 100]	-	-
wpml:inclinedLidarOverlapW	Lidar Side Overlap Rate (Oblique)	Integer	Percent	[0, 100]	-	-
wpml:inclinedCameraOverlapH	Visible Light Forward Overlap Rate (Oblique)	Integer	Percent	[0, 100]	-	M4T/M4N
wpml:inclinedCameraOverlapW	Visible Light Side Overlap Rate (Oblique)	Integer	Percent	[0, 100]	-	M4T/M4N

Mapping Aerial Photography Drone Heading Parameter (Parent Element <wpml:mappingHeadingParam>)

Element	Name	Type	Unit	Description and Values	Required (Default)	Supported Models
wpml:mappingHeadingMode	Drone Heading Mode	Enum-string	-	fixed: Fixed to the user-specified heading followWayline: Heading follows the route	-	M4T/M4N
wpml:mappingHeadingAngle	Drone Heading Angle	Integer	°	[0, 360]	*Note: Required when "wpml:mappingHeadingMode" is "fixed"	M4T/M4N