# 计划文件格式 计划文件以JSON文件格式存储，包含任务项和（可选）地理围栏和集结点。 您可以在下面看到Plan文件的顶级格式 地理围栏“多边形”计划格式的版本号。 记录的版本是2。 :::tip **提示：** 这是“接近最小” - 计划必须包含至少一个任务项目。 当没有任务运行时，计划围栏和集结点也用于模式。 The plan fence and rally points are also used in modes when no mission is running. ::: ```json { "fileType": "Plan", "geoFence": { "circles": [], "polygons": [], "version": 2 }, "groundStation": "QGroundControl", "mission": {}, "rallyPoints": { "points": [], "version": 2 }, "version": 1 } ``` 主要领域是： | 键 | 描述 | | ------------------------------ | ------------------------------------------------- | | `version` | 地理围栏计划格式的版本号。 记录的版本是2。 地理围栏“圈子”计划格式的版本号。 记录的版本是1。 | | `fileType` | 必须是“计划”。 | | `groundStation` | 创建此文件的地面站的名称（此处为QGroundControl） | | [`mission`](#mission) | 与此飞行计划相关的任务。 | | [`geoFence`](#geofence) | （可选）此计划的地理围栏信息。 | | [`rallyPoints`](#rally_points) | （可选）此计划的拉力/安全点信息 | ## 使命对象 {#mission} The structure of the mission object is shown below. 任务对象的结构如下所示。 items字段包含以逗号分隔的任务项列表（它必须包含至少一个任务项，如下所示）。 该列表可以是SimpleItem和ComplexItem对象的混合 The list may be a mix of both [SimpleItem](#mission_simple_item) and [ComplexItem](#mission_complex_item) objects. ```json "mission": { "cruiseSpeed": 15, "firmwareType": 12, "globalPlanAltitudeMode": 1, "hoverSpeed": 5, "items": [ { "AMSLAltAboveTerrain": null, "Altitude": 50, "AltitudeMode": 0, "autoContinue": true, "command": 22, "doJumpId": 1, "frame": 3, "params": [ 15, 0, 0, null, 47.3985099, 8.5451002, 50 ], "type": "SimpleItem" } ], "plannedHomePosition": [ 47.3977419, 8.545594, 487.989 ], "vehicleType": 2, "version": 2 }, ``` 需要以下值： | 键 | 描述 | | ------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `version` | 任务对象的版本。 目前的版本是2。 Current version is 2. | | `firmwareType` | 为此任务创建的固件类型。 这是MAV_AUTOPILOT枚举值之一。 This is one of the [MAV_AUTOPILOT](https://mavlink.io/en/messages/common.html#MAV_AUTOPILOT) enum values. | | `globalPlanAltitudeMode` | The global plan-wide altitude mode setting. This is used by plan items that don't specify an `"AltitudeMode"`. | | `vehicleType` | The vehicle type for which this mission was created. This is one of the [MAV_TYPE](https://mavlink.io/en/messages/common.html#MAV_TYPE) enum values. | | `cruiseSpeed` | The default forward speed for Fixed wing or VTOL vehicles (i.e. when moving between waypoints). | | `hoverSpeed` | The default forward speed for multi-rotor vehicles. | | `items` | The list of mission item objects associated with the mission . The list may contain either/both [SimpleItem](#mission_simple_item) and [ComplexItem](#mission_complex_item) objects. | | `plannedHomePosition` | The planned home position is shown on the map and used for mission planning when no vehicle is connected. The array values shown above are (from top): latitude, longitude and AMSL altitude. | 简单和复杂项目的格式如下。 ### SimpleItem - 简单的任务项目 {#mission_simple_item} 一个简单的项表示单个MAVLink MISSION_ITEM命令。 ``` { "AMSLAltAboveTerrain": null, "Altitude": 50, "AltitudeMode": 0, "autoContinue": true, "command": 22, "doJumpId": 1, "frame": 3, "params": [ 15, 0, 0, null, 47.3985099, 8.5451002, 50 ], "type": "SimpleItem" } ``` 字段映射如下所示。 | 键 | 描述 | | --------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `type` | SimpleItem用于简单的项目 | | `AMSLAltAboveTerrain` | 向用户显示的海拔高度值。 | | `Altitude` | | | `AltitudeMode` | | | `autoContinue` | MISSION_ITEM.autoContinue | | `command` | The command ([MAV_CMD](https://mavlink.io/en/messages/common.html#MAV_CMD)) for this mission item - see [MISSION_ITEM](https://mavlink.io/en/messages/common.html#MISSION_ITEM).command. | | `doJumpId` | DO_JUMP命令中当前任务项的目标ID。 这些是从1自动编号。 These are auto-numbered from 1. | | `frame` | [MAV_FRAME](https://mavlink.io/en/messages/common.html#MAV_FRAME) (see [MISSION_ITEM](https://mavlink.io/en/messages/common.html#MISSION_ITEM).frame) | | `params` | MISSION_ITEM.param1,2,3,4，x，y，z（值取决于特定的MAV_CMD）。 | ### 复杂任务项目 {#mission_complex_item} 复杂项是对作为单个实体处理的多个MISSION_ITEM对象的更高级别封装。 目前有三种类型的复杂任务项目： - 调查](#survey) - [走廊扫描](#corridor_scan) - [结构扫描](#structure_scan) #### 调查 - 复杂任务项目 {#survey} 调查复杂任务项目的对象定义如下。 ``` { "TransectStyleComplexItem": { ... }, "angle": 0, "complexItemType": "survey", "entryLocation": 0, "flyAlternateTransects": false, "polygon": [ [ -37.75170619863631, 144.98414811224316 ], ... [ -37.75170619863631, 144.99457681259048 ] ], "type": "ComplexItem", "version": 4 }, ``` 复杂项目具有与之关联的这些值： | 键 | 描述 | | -------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `version` | The version number for this `survey` definition. Current version is 3. | | `type` | ComplexItem（这是一个复杂的项目）。 | | `complexItemType` | `survey` | | [`TransectStyleComplexItem `](#TransectStyleComplexItem) | Survey和CorridorScan复杂项目的通用基础定义。 | | `angle` | 横断面的角度（度数）。 | | `entryLocation` | ? | | `flyAlternateTransects` | 团结积分信息是可选的。 该计划可以包含任意数量的拉力点，每个拉力点具有纬度，经度和高度（高于原始位置）。 如果是，则载具会跳过每个其他横断面，然后在最后返回并飞行这些替代。 This can be used for fixed wing aircraft when the turnaround would be too acute for the vehicle to make the turn. | | `polygon` | The polygon array which represents the polygonal survey area. Each point is a latitude, longitude pair for a polygon vertex. | #### 走廊扫描 {#corridor_scan} CorridorScan复杂任务项的对象定义如下。 ``` { "CorridorWidth": 50, "EntryPoint": 0, "TransectStyleComplexItem": { ... }, }, "complexItemType": "CorridorScan", "polyline": [ [ -37.75234887156983, 144.9893624624168 ], ... [ -37.75491914850321, 144.9893624624168 ] ], "type": "ComplexItem", "version": 2 }, ``` | 键 | 描述 | | -------------------------------------------------------- | -------------------------------------------------- | | `version` | 此CorridorScan定义的版本。 目前的版本是3。 Current version is 3. | | `type` | ComplexItem（这是一个复杂的项目）。 | | `complexItemType` | `CorridorScan` | | `CorridorWidth` | ? | | `EntryPoint` | ? | | [`TransectStyleComplexItem `](#TransectStyleComplexItem) | Survey和CorridorScan复杂项目的通用基础定义。 | | `polyline` | ? | #### 结构扫描 {#structure_scan} StructureScan复杂任务项的对象定义如下。 ```json { "Altitude": 50, "CameraCalc": { "AdjustedFootprintFrontal": 25, "AdjustedFootprintSide": 25, "CameraName": "Manual (no camera specs)", "DistanceToSurface": 10, "DistanceToSurfaceRelative": true, "version": 1 }, "Layers": 1, "StructureHeight": 25, "altitudeRelative": true, "complexItemType": "StructureScan", "polygon": [ [ -37.753184359536355, 144.98879374063998 ], ... [ -37.75408368012594, 144.98879374063998 ] ], "type": "ComplexItem", "version": 2 } ``` | 键 | 描述 | | --------------------------- | --------------------------------------------------- | | `version` | 此StructureScan定义的版本。 目前的版本是2。 Current version is 2. | | `type` | ComplexItem（这是一个复杂的项目）。 | | `complexItemType` | `StructureScan` | | `Altitude` | ? | | [`CameraCalc`](#CameraCalc) | ? | | `Layers` | ? | | `StructureHeight` | ? | | `altitudeRelative` | true: altitude相对于主页，false: altitude是AMSL。 | | `polygon` | ? | #### `TransectStyleComplexItem ` {#TransectStyleComplexItem} TransectStyleComplexItem contains the common base definition for survey and CorridorScan complex items. ```json "TransectStyleComplexItem": { "CameraCalc": { ... }, "CameraTriggerInTurnAround": true, "FollowTerrain": false, "HoverAndCapture": false, "Items": [ ... ], "Refly90Degrees": false, "TurnAroundDistance": 10, "VisualTransectPoints": [ [ -37.75161626657736, 144.98414811224316 ], ... [ -37.75565155437309, 144.99438539496475 ] ], "version": 1 }, ``` | 键 | 描述 | | ---------------------------- | ------------------------------------------------------- | | `version` | 此TransectStyleComplexItem定义的版本。 当前版本为1。 此文件的版本。 当前版本为1。 | | [`CameraCalc`](#CameraCalc) | ? | | `CameraTriggerInTurnAround ` | ? （布尔值） | | `FollowTerrain` | ? （布尔值） | | `HoverAndCapture` | ? （布尔值） | | `Items` | ? | | `Refly90Degrees` | ? （布尔值） | | `TurnAroundDistance` | 在转向下一个横断面之前飞过多边形边缘的距离。 | | `VisualTransectPoints` | ? | ##### CameraCalc {#CameraCalc} CameraCalc包含用于调查，走廊或结构扫描的摄像机信息。 ``` "CameraCalc": { "AdjustedFootprintFrontal": 272.4, "AdjustedFootprintSide": 409.2, "CameraName": "Sony ILCE-QX1", "DistanceToSurface": 940.6896551724138, "DistanceToSurfaceRelative": true, "FixedOrientation": false, "FocalLength": 16, "FrontalOverlap": 70, "ImageDensity": 25, "ImageHeight": 3632, "ImageWidth": 5456, "Landscape": true, "MinTriggerInterval": 0, "SensorHeight": 15.4, "SensorWidth": 23.2, "SideOverlap": 70, "ValueSetIsDistance": false, "version": 1 }, ``` | 键 | 描述 | | --------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `version` | 此CameraCalc定义的版本。 当前版本为1。 此调查定义的版本号。 目前的版本是3。 | | `AdjustedFootprintFrontal` | ? | | `AdjustedFootprintSide` | ? | | `DistanceToSurface` | ? 单位? | | `DistanceToSurfaceRelative` | ? | | `CameraName` | 正在使用的摄像机名称（必须对应于QGroundControl已知的摄像机之一或： Manual (no camera specs) (手动（无摄像机规格）用于手动设置， Custom Camera (自定义摄像机)用于自定义设置。 未在“手动”摄像机定义中指定此点后列出的键。 The keys listed after this point are not specified for a "Manual" camera definition. | | `FixedOrientation` | ? （布尔值） | | `FocalLength` | 相机镜头的焦距，以毫米为单位。 | | `FrontalOverlap` | 正面图像重叠的百分比。 | | `ImageDensity` | ? | | `ImageHeight` | 图像高度以px为单位 | | `ImageWidth` | 图像宽度以px为单位 | | `景观` | true：相机以横向方向安装在载具上，false：相机以纵向方向安装在载具上。 | | `MinTriggerInterval` | ? | | `SensorHeight` | 传感器高度，以毫米为单位。 | | `SensorWidth` | 传感器宽度，以毫米为单位。 | | `SideOverlap` | 侧面图像重叠的百分比。 | | `ValueSetIsDistance` | ? （布尔值） | ## GeoFence (地理围栏) {#geofence} Geofence information is optional. The plan can contain an arbitrary number of geofences defined in terms of polygons and circles. 最小定义如下所示。 ```json "geoFence": { "circles": [ ], "polygons": [ ], "version": 2 }, ``` 主要领域是： | 键 | 描述 | | ------------------------------ | ----------------------------------------------------------------------------- | | `version` | The version number for the geofence plan format. The documented version is 2. | | [`circles`](#circle_geofence) | 包含圆形地理围栏定义的列表（以逗号分隔）。 | | [`polygon`](#polygon_geofence) | 包含多边形地理围栏定义的列表（以逗号分隔）。 | ### Circle Geofence (圆形地理围栏) {#circle_geofence} Each circular geofence is defined in a separate item, as shown below (multiple comma-separated items can be defined). The items define the centre and radius of the circle, and whether or not the specific geofence is activated. ```json { "circle": { "center": [47.39756763610029, 8.544649762407738], "radius": 319.85 }, "inclusion": true, "version": 1 } ``` 主要领域是： | 键 | 描述 | | ----------- | ----------------------------------------------------------------------------------------------------------------------------------------------- | | `version` | The version number for the geofence "circle" plan format. 拉力点计划格式的版本号。 记录的版本是2。 | | `circle` | 圆的定义。 包括 centre (中心)（纬度，经度）和半径，如上所示。 Includes `centre` (latitude, longitude) and `radisu` as shown above. | | `inclusion` | 地理围栏是否已启用（true）或已禁用。 | ### 多边形地理围栏 {#polygon_geofence} Each polygon geofence is defined in a separate item, as shown below (multiple comma-separated items can be defined). The geofence includes a set of points defined with a clockwise winding (i.e. they must enclose an area). ```json { "inclusion": true, "polygon": [ [ 47.39807773798406, 8.543834631785785 ], [ 47.39983519888905, 8.550024648373267 ], [ 47.39641100087146, 8.54499282423751 ], [ 47.395590322265186, 8.539435808992085 ] ], "version": 1 } ], "version": 2 } ``` 这些领域是： | 键 | 描述 | | ----------- | ------------------------------------------------------------------------------------------------------------------------------ | | `version` | The version number for the geofence "polygon" plan format. The documented version is 2. | | `polygon` | A list of points for the polygon. Each point contains a latitude and longitude. The points are ordered in a clockwise winding. | | `inclusion` | 地理围栏是否已启用（true）或已禁用。 | ## 团结积分 {#rally_points} Rally point information is optional. The plan can contain an arbitrary number of rally points, each of which has a latitude, longitude, and altitude (above home position). 有两点的定义如下所示。 ```json
"rallyPoints": { "points": [ [ 47.39760401, 8.5509154, 50 ], [ 47.39902017, 8.54263274, 50 ] ], "version": 2 } ``` 这些领域是： | 键 | 描述 | | --------- | -------------------------------------------------------------------------------- | | `version` | The version number for the rally point plan format. The documented version is 2. | | `points` | 拉力点列表。 |