Waypoint V2 Interval take pictures Problem

[BCoulange]

Hi,I'm trying to program the M300 with Zenmuse H20 with Waypoint V2 so that it takes photos each 3 seconds between two waypoints.(I'm working on the iOS Mobile SDK version 4.14-trial2).

I've tried the following code and sometimes it works, some other times it doesn't work : 

• when it works it takes photos approximately every 3 seconds (from 2 to 4 seconds)
• when it does not work it takes a picture at the start and the two waypoints and nothing in between.

Here is the code I'm using :         

// create a take photo each 3 seconds action        
let ap = DJIWaypointV2Action.init()        
ap.actionId = 9999 // set an unique id        

// create the trigger       
let aptrigger = DJIWaypointV2Trigger.init()        
aptrigger.actionTriggerType = .interval // interval trigger        
// param of the trigger        
let p = DJIWaypointV2IntervalTriggerParam.init()        
p.actionIntervalType = .time // based on time        
p.interval = 3 // each 3 seconds        
p.startIndex = 0 // starting on the first waypoint        
aptrigger.intervalTriggerParam = p // set the param       
ap.trigger = aptrigger // set the trigger        

// create the actuator        
let apactuator = DJIWaypointV2Actuator.init()        
apactuator.actuatorIndex = 0 // index of camera        
apactuator.type = .camera // camera actuator (we want to take pictures)        
let p2 = DJIWaypointV2CameraActuatorParam.init()        
p2.operationType = .takePhoto // take photo as action        
apactuator.cameraActuatorParam = p2 // set the param        
ap.actuator = apactuator // set the actuator

Any idea what can cause this kind of problem?

Some complementary infos that can matter : 

• The waypoints path can be only altitude but since I'm using a time interval type it shouldn't matter
• The path between two waypoints takes approx 10s so I should have at least 3 photos
• I picked 3seconds since the limit for JPEG is 2s, I'm supposed to be large
• The Zenmuse H20 is taking pictures with its two lenses.

Thanks for your help!

[Matheus193dn]

@BCoulange Hi, can you try again with my code? P/S:

• Once you start shooting interval, you can not stop it.
• Remember to removeAllListenters of v2Operator before load new mission. https://github.com/dji-sdk/Mobile-SDK-Android/issues/661

[BCoulange]

@Matheus193dn I don't see any difference between your code and mine, is there something different?

I've also tried to remove all listener with no difference in the behavior

[Matheus193dn]

@BCoulange

• Can you show me your code for missionV2Operator?
• Did you get any debug message in console log?
• Did you set JPEG for photo before flight?

You can replace my worked sample with your code. https://github.com/Matheus193dn/Mobile-SDK-iOS/blob/master/Sample%20Code/SwiftSampleCode/DJISDKSwiftDemo/Camera/fpv/CameraFPVViewController.swift

[BCoulange]

My code is to different from the sample to integrate it, here is the code :

        var missionUploadStarted = false
        var actionUploadStarted = false
        var speed:Float = 2

        let wp1 = DJIWaypointV2.init(
            coordinate: CLLocationCoordinate2D.init(
                 latitude: 50.58001823992862, 
                 longitude: 2.1089524182042974
           )
        )
        wp1.altitude = 20
        wp1.heading = 123
        wp1.headingMode = .waypointCustom
        wp1.isUsingWaypointAutoFlightSpeed = true
        wp1.autoFlightSpeed = speed
        wp1.isUsingWaypointMaxFlightSpeed = true
        wp1.maxFlightSpeed = speed
        wp1.flightPathMode = .goToPointInAStraightLineAndStop

        // note that only the altitude changes
        let wp2 = DJIWaypointV2.init(
            coordinate: CLLocationCoordinate2D.init(
                 latitude: 50.58001823992862, 
                 longitude: 2.1089524182042974
           )
        )
        wp2.altitude = 100
        wp2.heading = 123
        wp2.headingMode = .waypointCustom
        wp2.isUsingWaypointAutoFlightSpeed = true
        wp2.autoFlightSpeed = speed
        wp2.isUsingWaypointMaxFlightSpeed = true
        wp2.maxFlightSpeed = speed
        wp2.flightPathMode = .goToPointInAStraightLineAndStop

        // create a take photo each 3 seconds action
        let ap = DJIWaypointV2Action.init()
        ap.actionId = 9999 // set an unique id
        // create the trigger
        let aptrigger = DJIWaypointV2Trigger.init()
        aptrigger.actionTriggerType = .interval // interval trigger

        // param of the trigger
        let p = DJIWaypointV2IntervalTriggerParam.init()
        p.actionIntervalType = .time // based on time
        p.interval = 3 // each 3 seconds
        p.startIndex = 0 // starting on the first waypoint
        aptrigger.intervalTriggerParam = p // set the param
        ap.trigger = aptrigger // set the trigger

        // create the actuator
        let apactuator = DJIWaypointV2Actuator.init()
       apactuator.actuatorIndex = 0 // index of camera
        apactuator.type = .camera // camera actuator (we want to take pictures)
        let p2 = DJIWaypointV2CameraActuatorParam.init()
        p2.operationType = .takePhoto // take photo as action
        apactuator.cameraActuatorParam = p2 // set the param
        ap.actuator = apactuator // set the actuator        

        // start the mission : 
        DJISDKManager.missionControl()?.unscheduleEverything()
        let wpOperator2 = DJISDKManager.missionControl()?.waypointV2MissionOperator()
        wpOperator2?.removeAllListeners()

       // what is done when the mission is uploaded
      wpOperator2?.addListener(toActionUploadEvent: self, with: nil, andBlock: { (event:DJIWaypointV2MissionActionUploadEvent) in
                if(event.error != nil){
                    print("ERROR UPLOADING ACTIONS:",event.error.debugDescription)
                }
               // if ready to execute, we can start the mission
                if (event.currentState == .readyToExecute) && actionUploadStarted {
                   // Start mission
                    wpOperator2!.startMission { (error:Error?) in
                        if(error == nil){
                            print("Mission Started!")
                        }else{
                            print("Failed starting mission")
                            print(error)
                        }
                    }
                }
            })

            // a waypoint mission
            let wpmiss2 = DJIMutableWaypointV2Mission.init()

            wpmiss2.addWaypoints([wp1,wp2])
            wpmiss2.finishedAction = DJIWaypointV2MissionFinishedAction.noAction // what to do when finished
            wpmiss2.exitMissionOnRCSignalLost = true // stop if lose signal
            wpmiss2.maxFlightSpeed = 15
            // prepare upload mission and actions
            wpOperator2?.addListener(toUploadEvent: self, with: nil, andBlock: { (event:DJIWaypointV2MissionUploadEvent) in
                if event.error != nil {
                   print("upload mission error")
                }

                if((event.currentState == DJIWaypointV2MissionState.readyToExecute) && missionUploadStarted){
                    wpOperator2!.uploadWaypointActions(self.djiWaypoints2Actions, withCompletion: { (e:Error?) in
                        if(e != nil){
                            print("Error uploading actions:",e.debugDescription)
                        }else{
                            actionUploadStarted = true
                        }

                    })
                }
            })

            // load the mission
            wpOperator2!.load(wpmiss2)

            // upload the mission
            wpOperator2?.uploadMission(completion: { (error:Error?) in
                if(error == nil){
                    missionUploadStarted = true
                    print("uploaded mission")
                }else{
                    print("Fail uploading mission")
                    print("current state :",wpOperator2!.currentState.description())
                    print(error.debugDescription)
                }
            })

And finally to start the mission :

                    wpOperator2!.startMission { (error:Error?) in
                        if(error == nil){
                            print("Mission Started!")
                        }else{
                            print("Failed starting mission")
                            print(error)
                        }
                    }

Note that I did some tests in addition of the pure vertical flight :

• Adding 0.00008deg to the latitude of the highest waypoint (approx 0.8m), the setting is always to take photos each 4s : 4 photos, at 0s, 10s, 10s and 8s
• Adding 0.00010deg : 5 photos, at 0s, 8s, 8s, 8s, 6s
• Adding 0.00015deg : 7 photos, at 0s - 8s - 4s - 6s - 4s - 6s - 4s

I feel like there is a bug in the sdk :(

[BCoulange]

@Matheus193dn I'll try to reformat my code to look like the sample code to see if the behavior changes. But don't hesitates if you see any problem in my code

[BCoulange]

Towards your other questions :

• Did you get any debug message in console log? That's the weird point, I have the executing events but no error.

• Did you set JPEG for photo before flight? Can you be more precise? Are you talking about the camera mode in the sdk or a setting of the drone camera?

[BCoulange]

Just tried with a code very similar to the sample, same behavior.

[Matheus193dn]

@BCoulange

• First, try with ap.actionid = 0 instead 9999.
• Second, don't set actuatorIndex, it seems your selected camera was busy at that time.
• Third, did you try with 2 different locations?

Yes, there is a func to set Jpeg, just make sure these pics will be saved correctly.

[BCoulange]

• Did you set JPEG for photo before flight Yes and this returns the JPEG type :

  lens?.getPhotoFileFormat(completion: { (f:DJICameraPhotoFileFormat, e:Error?) in
  f == .JPEG // true
  })

• First, try with ap.actionid = 0 instead 9999.

• Second, don't set actuatorIndex, it seems your selected camera was busy at that time.

Just tried that with the same position but different altitude. I have the same behavior :

the drone flights between the two waypoints but only 2 photos taken instead of each 3s, seems to be the first and second waypoint)

• Third, did you try with 2 different locations?

Yes, I updated the position of the second waypoint by changing the lattitude :

• Adding 0.00008deg to the latitude of the highest waypoint (approx 0.8m), the setting is always to take photos each 4s : 4 photos, at 0s, 10s, 10s and 8s
• Adding 0.00010deg : 5 photos, at 0s, 8s, 8s, 8s, 6s
• Adding 0.00015deg : 7 photos, at 0s - 8s - 4s - 6s - 4s - 6s - 4s

thanks for your help!

[Matheus193dn]

Do you have another drones instead of M300? I think it will work as your expectation. For M300, i still see a lot of bugs from sdk, hope they will fix them soon.

[BCoulange]

Do you know if there are other drones that use WaypointsV2?

[Matheus193dn]

Do you know if there are other drones that use WaypointsV2?

Currently, it only supported M300, but you can test interval shooting with Timeline or WaypointV1

[BCoulange]

Yep I've tested that and it works with Mavic Pro 2, so bad the M300 is basically unusable :(

[federiconicoli]

@dji-dev Hey! Any progress on this issue?

I'm facing a similar behavior but with distance as action interval type. This is how I'm creating the action:

  let cameraActuatorParam = DJIWaypointV2CameraActuatorParam()
  cameraActuatorParam.operationType = .takePhoto

  let waypointActuator = DJIWaypointV2Actuator()
  waypointActuator.type = .camera
  waypointActuator.cameraActuatorParam = cameraActuatorParam

  let cameraTriggerParam = DJIWaypointV2IntervalTriggerParam()
  cameraTriggerParam.actionIntervalType = .distance
  cameraTriggerParam.interval = 1
  cameraTriggerParam.startIndex = 0

  let cameraTrigger = DJIWaypointV2Trigger()
  cameraTrigger.actionTriggerType = .interval
  cameraTrigger.intervalTriggerParam = cameraTriggerParam

  let cameraAction = DJIWaypointV2Action()
  cameraAction.actuator = waypointActuator
  cameraAction.trigger = cameraTrigger
  cameraAction.actionId = 1

The action is uploaded successfully but the drone only takes a couple of photos between waypoint 0 and 1.

DJI SDK: 4.14 Matrice 300 RTK: V02.02.0301 Zenmuse H20: V02.02.0100

[ethanJY]

Yep I've tested that and it works with Mavic Pro 2, so bad the M300 is basically unusable :(

Sorry for the trouble. As far as I know, the most likely reason is that H20 would take several seconds to process the data generated by the shot. So If the amount of data to be processed is large, it may not respond to the shot command during a few seconds. Have you ever tried to increase the interval seconds? That may reduce the probability of this problem.

[ethanJY]

@dji-dev Hey! Any progress on this issue?

I'm facing a similar behavior but with distance as action interval type. This is how I'm creating the action:

  let cameraActuatorParam = DJIWaypointV2CameraActuatorParam()
  cameraActuatorParam.operationType = .takePhoto

  let waypointActuator = DJIWaypointV2Actuator()
  waypointActuator.type = .camera
  waypointActuator.cameraActuatorParam = cameraActuatorParam

  let cameraTriggerParam = DJIWaypointV2IntervalTriggerParam()
  cameraTriggerParam.actionIntervalType = .distance
  cameraTriggerParam.interval = 1
  cameraTriggerParam.startIndex = 0

  let cameraTrigger = DJIWaypointV2Trigger()
  cameraTrigger.actionTriggerType = .interval
  cameraTrigger.intervalTriggerParam = cameraTriggerParam

  let cameraAction = DJIWaypointV2Action()
  cameraAction.actuator = waypointActuator
  cameraAction.trigger = cameraTrigger
  cameraAction.actionId = 1

The action is uploaded successfully but the drone only takes a couple of photos between waypoint 0 and 1.

DJI SDK: 4.14 Matrice 300 RTK: V02.02.0301 Zenmuse H20: V02.02.0100

Hi, I think that 1 second is not enough for H20 to process data generated by last shot. So please try to increase time interval. That may help. Thx