waylines.wpml

File Introduction

waylines.wpml is a file directly executed by the aircraft, defining explicit instructions for drone flight and payload actions. These instructions are generated by route planning software and can also be edited and developed directly by developers. The waylines.wpml file consists of two parts:

Mission Information: Primarily includes the <wpml:missionConfig> element, defining the global parameters of the flight mission.
Wayline Information: Mainly comprises the <Folder> element, defining detailed information about the flight route (path definition, action definition, etc.). Each <Folder> represents an executable flight route. Specifically, when using the "Tilt Photography" template, five executable flight routes will be generated, corresponding to the five <Folder> elements within waylines.wpml.

Example File

waylines.wpmlHere is the example file：

<?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: 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:globalTransitionalSpeed>10</wpml:globalTransitionalSpeed>
      <!-- Declare drone model with M4T -->
      <wpml:droneInfo>
        <wpml:droneEnumValue>67</wpml:droneEnumValue>
        <wpml:droneSubEnumValue>0</wpml:droneSubEnumValue>
      </wpml:droneInfo>
      <!-- Declare drone model with M4T -->
      <wpml:payloadInfo>
        <wpml:payloadEnumValue>52</wpml:payloadEnumValue>
        <wpml:payloadSubEnumValue>0</wpml:payloadSubEnumValue>
        <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
      </wpml:payloadInfo>
    </wpml:missionConfig>

    <!-- Step 2: Setup A Folder for Waypoint Template -->
    <Folder>
      <wpml:templateId>0</wpml:templateId>
      <wpml:executeHeightMode>WGS84</wpml:executeHeightMode>
      <wpml:waylineId>0</wpml:waylineId>
      <wpml:autoFlightSpeed>10</wpml:autoFlightSpeed>
      <Placemark>
        <Point>
          <coordinates>
            longitude,latitude
          </coordinates>
        </Point>
        <wpml:index>0</wpml:index>
        <wpml:executeHeight>116.57</wpml:executeHeight>
        <wpml:waypointSpeed>10</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
      </Placemark>
      <Placemark>
        <Point>
          <coordinates>
            longitude,latitude
          </coordinates>
        </Point>
        <wpml:index>1</wpml:index>
        <wpml:executeHeight>116.57</wpml:executeHeight>
        <wpml:waypointSpeed>7</wpml:waypointSpeed>
        <wpml:waypointHeadingParam>
          <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
        </wpml:waypointHeadingParam>
        <wpml:waypointTurnParam>
          <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
          <wpml:waypointTurnDampingDist>0</wpml:waypointTurnDampingDist>
        </wpml:waypointTurnParam>
        <!-- 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

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

Element	Name	Type	Unit	Values and Interpretation	Required (Default Value)	Supported Models
wpml:flyToWaylineMode	Fly to Wayline Mode	Enum-string	-	safely: Safe mode. The aircraft takes off, ascends to the first waypoint altitude, and then flies horizontally to the first waypoint. If the altitude of the first waypoint is lower than the "safe takeoff height", the aircraft ascends to the "safe takeoff height" first and then descends to the top of the first waypoint. Note: "Safe takeoff height" only takes effect when the aircraft has not taken off. pointToPoint: Tilt flight mode. The aircraft takes off to the "safe takeoff height", then tilts to climb to the first waypoint. If the altitude of the first waypoint is lower than the "safe takeoff height", it flies horizontally first and then descends.	Required Element	M4T/M4N
wpml:finishAction	Finish Action	Enum-string	-	goHome: After completing the flight route task, the aircraft exits the route mode and returns home. noAction: After completing the flight route task, the aircraft exits the route mode. autoLand: After completing the flight route task, the aircraft exits the route mode and lands in place. gotoFirstWaypoint: After completing the flight route task, the aircraft immediately flies to the starting point of the route, and exits the route mode upon arrival. * Note: During the execution of the above actions, if the aircraft exits the route mode and enters a lost control state, the lost control action will be executed first.	Required Element	M4T/M4N
wpml:exitOnRCLost	Continue on Lost Control	Enum-string	-	goContinue: Continue the route execution. executeLostAction: Exit the route and execute the lost control action.	Required Element	M4T/M4N
wpml:executeRCLostAction	Lost Control Action Type	Enum-string	-	goBack: Return home. The aircraft flies from the lost control position to the takeoff point. landing: Land. The aircraft lands in place from the lost control position. hover: Hover. The aircraft hovers from the lost control position.	Required when wpml:exitOnRCLost is executeLostAction	M4T/M4N
wpml:takeOffSecurityHeight	Safe Takeoff Height	Float	m	[2, 1500] (Height mode: relative to takeoff point height) * Note: After the aircraft takes off, it first climbs to this height, and then flies to the first waypoint according to the setting of "Fly to Wayline Mode". This element only takes effect when the aircraft has not taken off.	Required Element	M4T/M4N
wpml:globalTransitionalSpeed	Global Wayline Transitional Speed	Float	m/s	[1,15] * Note: The speed at which the aircraft flies to each waypoint of the route. When the route task is interrupted, the aircraft resumes from the current position to the speed at the breakpoint.	Required Element	M4T/M4N
wpml:globalRTHHeight	Global Return-to-Home Height	Float	m	* Note: When the aircraft returns home, it first climbs to this height, and then returns home.	Required Element	M4T/M4N
wpml:droneInfo	Aircraft Model Information	-	-	* Note: Please refer to the detailed information in the "Common Elements" section.	-	M4T/M4N
wpml:payloadInfo	Payload Model Information	-	-	* Note: Please refer to the detailed information in the "Common Elements" section.	-	M4T/M4N
wpml:autoRerouteInfo	Route Rerouting	-	-	-	-	-

Wayline Information (Parent Element: `<Folder>`)

Element	Name	Type	Unit	Values and Interpretation	Required (Default Value)	Supported Models
wpml:templateId	Template ID * Note: Unique within a kmz file. It is recommended to start from 0 and increase monotonically. This ID will be used to associate the template with the generated executable waylines in the template.kml and waylines.wpml files.	Integer	-	[0, 65535]	Required Element	M4T/M4N
wpml:waylineId	Wayline ID * Note: Unique within a wayline. It is recommended to start from 0 and increase monotonically.	Integer	-	[0, 65535]	Required Element	M4T/M4N
wpml:autoFlightSpeed	Global Wayline Flight Speed	Float	m/s	[1,15] * Note: This element defines the target flight speed of the aircraft in the entire segment of wayline generated by this template. If this element is additionally defined for a certain waypoint, the local definition will override the global definition.	Required Element	M4T/M4N
wpml:executeHeightMode	Execution Height Mode * Note: This element is only used in waylines.wpml.	Enum-string	-	WGS84: Ellipsoidal height mode relativeToStartPoint: Relative to the takeoff point height mode realTimeFollowSurface: Use real-time follow-ground mode, Not supported yet.	Required Element	M4T/M4N
Placemark(Point)	Waypoint Information (including waypoint longitude, latitude, and altitude)	-	-	Please refer to the document content, Wayline File Format > template.kml Description > Placemark	-	M4T/M4N
wpml:startActionGroup	Initial Wayline Action * Note: This element is used to plan a series of initial actions to be executed before the wayline starts. When the wayline is interrupted and resumed, the initial actions are executed first, followed by the waypoint actions.	-	-	Further Reading: `<wpml:actionGroup>` in Common Elements Information	-	M4T/M4N

Waypoint Information (`<Placemark>`)

Element	Name	Type	Unit	Values and Interpretation	Required (Default Value)	Supported Models
Point	Waypoint Longitude and Latitude * Note: The format here is like `<Point><coordinates>longitude,latitude</coordinates></Point>`	Float	°,°	[-90,90],[-180,180]	Required Element	M4T/M4N
wpml:index	Waypoint Index * Note: Unique within a wayline. The index must start from 0 and increase monotonically.	Integer	-	[0, 65535]	Required Element	M4T/M4N
wpml:executeHeight	Waypoint Execution Height * Note: This element is only used in waylines.wpml. The specific elevation reference plane is declared in "wpml:executeHeightMode".	Float	m	-	Required Element	M4T/M4N
wpml:waypointSpeed	Waypoint Flight Speed, the speed from the current waypoint to the next waypoint	Float	m/s	[1, 15]	Required Element * Note: Required only when "wpml:useGlobalSpeed" is "0"	M4T/M4N
wpml:waypointHeadingParam	Yaw Angle Mode Parameter	-	-	-	Required Element * Note: Required only when "wpml:useGlobalHeadingParam" is "0"	M4T/M4N
wpml:waypointTurnParam	Waypoint Type (Waypoint Turn Mode)	-	-	-	Required Element * Note: Required only when "wpml:useGlobalTurnParam" is "0"	M4T/M4N
wpml:useStraightLine	Whether the Waypoint Segment Fits a Straight Line	Boolean	-	0: The segment trajectory is a curve 1: The segment trajectory attempts to fit the line connecting the two points	Required Element * Note: Required only when "wpml:waypointTurnParam" inside "waypointTurnMode" is set to "toPointAndStopWithContinuityCurvature" or "toPointAndPassWithContinuityCurvature". If this element is set, the local definition will override the global definition.	M4T/M4N
wpml:formationInfo	Waypoint Formation Information	-	-	Note: Please refer to the detailed information in the Common Elements* section*	-	M4T/M4N

File Introduction​

Example File​

Element Description​

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

Wayline Information (Parent Element: <Folder>)​