template.kml

File Introduction

template.kml is a template file that can be parsed by route planning software to generate the final paths and actions to be executed by drones, namely the waylines.wpml file. The template.kml file consists of three parts:

1. Creation Information: Mainly contains information about the route file itself, such as the file's creation and update times.
2. Mission Information: Mainly contains the wpml:missionConfig element, which defines the global parameters of the route mission.
3. Template Information: Mainly contains the Folder element, which defines the route's template information (such as waypoint flight, mapping aerial photography, oblique photography, strip flight, etc.). Different route template types contain different elements.

Example File

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

<?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>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: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>67</wpml:droneEnumValue>
      <wpml:droneSubEnumValue>0</wpml:droneSubEnumValue>
    </wpml:droneInfo>
    <wpml:payloadInfo>
      <!-- Declare payload model with M4T -->
      <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: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	Description and Values	Required (Default)	Supported Models
wpml:author	File Creator	String	-	-	No, optional	M4T/M4N
wpml:createTime	File Creation Time (Unix Timestamp)	Integer	ms	-	No, optional	M4T/M4N
wpml:updateTime	File Update Time (Unix Timestamp)	Integer	ms	-	No, optional	M4T/M4N

Mission Information (Parent Element: <wpml:missionConfig>)

Element	Name	Type	Unit	Description and Values	Required (Default)	Supported Models
wpml:flyToWaylineMode	Mode to Fly to First Waypoint	Enum-string	-	safely: Safe mode pointToPoint: Direct flight mode	Required	M4T/M4N
wpml:finishAction	Finish Action	Enum-string	-	goHome: Return home after mission noAction: No action after mission autoLand: Auto land after mission gotoFirstWaypoint: Fly to the first waypoint after mission	Required	M4T/M4N
wpml:exitOnRCLost	Continue Mission if RC is Lost	Enum-string	-	goContinue: Continue executeLostAction: Execute lost action	Required	M4T/M4N
wpml:executeRCLostAction	Lost Action Type	Enum-string	-	goBack: Return home landing: Land hover: Hover	Required if wpml:exitOnRCLost is executeLostAction	M4T/M4N
wpml:takeOffSecurityHeight	Safety Take-off Height	Float	m	[2, 1500] (Height Mode: Relative to takeoff point)	Required	M4T/M4N
wpml:globalTransitionalSpeed	Global Wayline Transition Speed	Float	m/s	[1,15]	Required	M4T/M4N
wpml:globalRTHHeight	Global Return-to-Home Height	Float	m	Note: The aircraft ascends to this height before returning home	Required	M4T/M4N
wpml:takeOffRefPoint<x,y,z>	Reference Takeoff Point	Float	°, °, m	[-90,90],[-180,180], No limit	No, optional	-
wpml:takeOffRefPointAGLHeight	Reference Takeoff Point Elevation	Float	m	Note: Elevation of the "reference takeoff point" corresponding to the ellipsoid height.	No, optional	-
wpml:droneInfo	Drone Model Information	-	-	See detailed information in the "Common Elements" section	-	M4T/M4N
wpml:payloadInfo	Payload Model Information	-	-	See detailed information in the "Common Elements" section	-	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	Enum-string	-	waypoint: Waypoint flight mapping2d: Mapping aerial photography mapping3d: Oblique photography mappingStrip: Strip flight waypointFormation: Formation flight	Required	M4T/M4N
wpml:templateId	Template ID	Integer	-	[0, 65535]	Required	M4T/M4N
wpml:autoFlightSpeed	Global Flight Speed of the Wayline	Float	m/s	[1,15]	Required	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 Mounting Position	Integer	-	0: Position 1 on the aircraft 1: Position 2 on the aircraft 2: Position 3 on the aircraft	Required	M4T/M4N
wpml:focusMode	Payload Focus Mode	Enum-string	-	firstPoint: Auto-focus at the first waypoint custom: Use calibrated focus value	-	-
wpml:meteringMode	Payload Metering Mode	Enum-string	-	average: Average metering spot: Spot metering	-	-
wpml:dewarpingEnable	Enable Distortion Correction	Boolean	-	0: Disable 1: Enable	-	-
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	List of Image Formats	Enum-string (List)	-	wide: Store wide-angle lens photos zoom: Store zoom lens photos ir: Store infrared lens photos narrow_band: Store narrow-band lens photos * Note: To store multiple lens photos, format like "<wpml:imageFormat>wide,ir</wpml:imageFormat>"	Required	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, turning in advance without stopping at the point. toPointAndStopWithDiscontinuityCurvature: Straight flight, the aircraft stops at the point. toPointAndStopWithContinuityCurvature: Curved flight, the aircraft stops at the point. toPointAndPassWithContinuityCurvature: Curved flight, the aircraft does not stop at the point.	Required	M4T/M4N
wpml:globalUseStraightLine	Global Segment Trajectory to Follow Straight Line as Much as Possible	Boolean	-	0: The segment trajectory is entirely curved. 1: The segment trajectory tries to follow a straight line between two points.	Required, when "wpml:globalWaypointTurnMode" is set to "toPointAndStopWithContinuityCurvature" or "toPointAndPassWithContinuityCurvature". Local definitions may override this global setting.	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's pitch angle. If there is no user control, maintain the gimbal pitch angle when leaving the waypoint. usePointSetting: According to each waypoint setting. The gimbal's pitch angle smoothly transitions to the next waypoint's pitch angle during the flight from one waypoint to the next.	Required	M4T/M4N
wpml:globalHeight	Global Wayline Height (Relative to Takeoff Point Height)	Float	m	-	Required	M4T/M4N
wpml:globalWaypointHeadingParam	Global Yaw Mode Parameters	-	-	-	-	M4T/M4N
Placemark(Point)	Waypoint Information (including latitude, longitude, and height)	-	-	-	-	M4T/M4N

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

Element	Name	Type	Unit	Description and Values	Required (Default)	Supported Models
wpml:caliFlightEnable	Enable Calibration Flight	Boolean	-	0: Disable 1: Enable, automatically perform inertial navigation calibration during the flight line to ensure model accuracy. Calibration flights at the beginning and end of the line include three acceleration and deceleration flights; automatic expansion at turns for acceleration and deceleration flights. Calibration flights are inserted evenly for long lines, with each calibration not exceeding 100s of flight time.	-	-
wpml:elevationOptimizeEnable	Enable Elevation Optimization	Boolean	-	0: Disable 1: Enable, the aircraft will fly to the center of the measurement area after completing the flight line to collect a set of oblique photos, optimizing elevation accuracy.	Required	M4T/M4N
wpml:smartObliqueEnable	Enable Smart Oblique Shooting	Boolean	-	0: Disable 1: Enable, the aircraft can complete orthographic and oblique photo shooting during a single mapping aerial photography mission by swaying the gimbal.	-	-
wpml:smartObliqueGimbalPitch	Smart Oblique Shooting Gimbal Pitch Angle	Integer	-	Corresponds to the gimbal's rotatable range.	-	-
wpml:shootType	Shooting Mode (Timed or Distance-based)	Enum-string	-	time: Timed shooting distance: Interval shooting * Note: Timed shooting is recommended. In the template.kml file, define "shooting mode", "overlap rate", and "flight speed", and calculate the interval time or distance to be written into the waylines.wpml file.	Required	M4T/M4N
wpml:direction	Flight Line Direction	Integer	-	[0, 360]	Required	M4T/M4N
wpml:margin	Extension Distance of the Measurement Area	Integer	m	-	Required	M4T/M4N
wpml:overlap	Overlap Parameters	-	-	-	-	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	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	M4T/M4N
Polygon	Measurement Area Polygon * Note: The format here is like "<Polygon> <outerBoundaryIs> <LinearRing> <coordinates> longitude,latitude,0 longitude,latitude,0 longitude,latitude,0 </coordinates> </LinearRing> </outerBoundaryIs> </Polygon>"	-	-	-	-	M4T/M4N
wpml:mappingHeadingParam	Mapping Aerial Photography Aircraft Orientation Parameters	-	-	-	-	M4T/M4N
wpml:gimbalPitchMode	Gimbal Pitch Mode	Enum-string	-	manual: Manual control of gimbal pitch angle fixed: Fixed to user-set 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: Disable 1: Enable, automatically perform inertial navigation calibration throughout the flight to ensure model accuracy. The calibration includes three acceleration and deceleration flights at the beginning and end, automatic expansion at turns, and evenly distributed calibration flights for long lines, ensuring that each calibration flight does not exceed 100 seconds.	-	-
wpml:inclinedGimbalPitch	Gimbal Pitch Angle for Oblique Photography	Integer	°	*Note: Different gimbals have different rotatable ranges. The oblique photography template generates five flight lines, one for orthographic imaging and four for oblique imaging. This element sets the gimbal pitch angle for oblique imaging.	Required	M4T/M4N
wpml:inclinedFlightSpeed	Flight Speed for Oblique Lines	Float	m/s	[1,15] *Note: The oblique photography template generates five flight lines, one for orthographic imaging and four for oblique imaging. This element sets the target flight speed for oblique imaging.	Required	M4T/M4N
wpml:shootType	Shooting Mode (Timed or Distance-based)	Enum-string	-	time: Timed shooting distance: Distance-based shooting *Note: Timed shooting is recommended. Definitions for "shooting mode", "overlap rate", and "flight speed" are made in the template.kml file, and the calculated interval time or distance is written into the waylines.wpml file.	Required	M4T/M4N
wpml:direction	Flight Line Direction	Integer	°	[0, 360]	Required	M4T/M4N
wpml:margin	Measurement Area Extension Distance	Integer	m	-	Required	M4T/M4N
wpml:overlap	Overlap Parameters	-	-	-	-	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	M4T/M4N
wpml:height	Global Flight Line 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 location in different elevation reference planes.	Float	m	-	Required	M4T/M4N
Polygon	Measurement Area Polygon *Note: The format here is "<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	Values and Definitions	Required (Default)	Supported Aircraft Models
Point	Waypoint Coordinates * Note: The format here is like "<Point> <coordinates> longitude, latitude </coordinates> </Point>"	Float	°,°	[-90,90],[-180,180]	Required	M4T/M4N
wpml:index	Waypoint Index * Note: Unique within a route. Must start from 0 and increment monotonically within the same route.	Integer	-	[0, 65535]	Required	M4T/M4N
wpml:useGlobalHeight	Whether to Use Global Altitude	Boolean	-	0, 1	Required	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	Whether to Use Global Flight Speed * Note: Global flight speed here refers to "wpml:autoFlightSpeed"	Boolean	-	0: Do not use global settings 1: Use global settings	Required	M4T/M4N
wpml:waypointSpeed	Waypoint Flight Speed	Float	m/s	[1,15]	Required * Note: Required when "wpml:useGlobalSpeed" is "0"	M4T/M4N
wpml:useGlobalHeadingParam	Whether to Use Global Heading Mode Parameters	Boolean	-	0: Do not use global settings 1: Use global settings	Required	M4T/M4N
wpml:waypointHeadingParam	Heading Mode Parameters	-	-	-	Required * Note: Required when "wpml:useGlobalHeadingParam" is "0"	M4T/M4N
wpml:useGlobalTurnParam	Whether to Use Global Waypoint Type (Global Waypoint Turn Mode)	Boolean	-	0: Do not use global settings 1: Use global settings	Required	M4T/M4N
wpml:waypointTurnParam	Waypoint Type (Waypoint Turn Mode)	-	-	-	Required * Note: Required when "wpml:useGlobalTurnParam" is "0"	M4T/M4N
wpml:useStraightLine	Whether the Segment Should Follow a Straight Line	Boolean	-	0: Segment trajectory is entirely curved 1: Segment trajectory tries to follow a straight line between 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	Waypoint Gimbal Pitch Angle	Float	°	Corresponding to the range of gimbal movement for the aircraft model	Required * Note: Required when "wpml:gimbalPitchMode" is "usePointSetting"	M4T/M4N
wpml:formationInfo	Route Formation Information			Note: Read detailed information in the Shared Elements section	-	M4T/M4N

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

Element	Name	Type	Unit	Values and Definitions	Required (Default)	Supported Aircraft Models
wpml:coordinateMode	Longitude and Latitude Coordinate System	Enum-string	-	WGS84: Currently fixed to use WGS84 coordinate system	Required	M4T/M4N
wpml:heightMode	Waypoint Altitude Reference Plane	Enum-string	-	EGM96: Altitude edited using geoid height relativeToStartPoint: Altitude edited using height relative to a point aboveGroundLevel: Edited using terrain data, AGL editing (only supported for SIKON2 platform) realTimeFollowSurface: Using real-time terrain following mode (only for mapping drone templates), supported for M3E/M3T/M3M aircraft models only	Required	M4T/M4N
wpml:positioningType	Source of Longitude, Latitude, and Altitude Data	Enum-string	-	GPS: Position data acquisition source is GPS/BDS/GLONASS/GALILEO RTKBaseStation: Use RTK base station for differential positioning during position data acquisition QianXun: Use QianXun network RTK for differential positioning during position data acquisition Custom: Use custom network RTK for differential positioning during position data acquisition	Not required, *Note: This element is only used to mark the position data source and does not affect the actual route execution.	M4T/M4N
wpml:globalShootHeight	Aircraft Height from Captured Surface (Above Ground)	Float	m	Used for calculating photo intervals and GSD	Required	M4T/M4N
wpml:surfaceFollowModeEnable	Whether to Enable Terrain Following Flight	Boolean	-	0: Disabled 1: Enabled	Required	M4T/M4N
wpml:surfaceRelativeHeight	Terrain Following Flight Height (Above Ground)	Float	m	-	Required * Note: Required when "wpml:surfaceFollowModeEnable" is "1"	M4T/M4N

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

Element	Name	Type	Unit	Values and Definitions	Required (Default)	Supported Aircraft Models
wpml:orthoLidarOverlapH	Lidar Along-track Overlap (Ortho)	Integer	Percentage	[0, 100]	-	-
wpml:orthoLidarOverlapW	Lidar Across-track Overlap (Ortho)	Integer	Percentage	[0, 100]	-	-
wpml:orthoCameraOverlapH	Camera Along-track Overlap (Ortho)	Integer	Percentage	[0, 100]	-	M4T/M4N
wpml:orthoCameraOverlapW	Camera Across-track Overlap (Ortho)	Integer	Percentage	[0, 100]	-	M4T/M4N
wpml:inclinedLidarOverlapH	Lidar Along-track Overlap (Inclined)	Integer	Percentage	[0, 100]	-	-
wpml:inclinedLidarOverlapW	Lidar Across-track Overlap (Inclined)	Integer	Percentage	[0, 100]	-	-
wpml:inclinedCameraOverlapH	Camera Along-track Overlap (Inclined)	Integer	Percentage	[0, 100]	-	M4T/M4N
wpml:inclinedCameraOverlapW	Camera Across-track Overlap (Inclined)	Integer	Percentage	[0, 100]	-	M4T/M4N

Mapping Aerial Vehicle Heading Parameters (Parent Element: <wpml:mappingHeadingParam>)

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