20.template-kml

File Introduction

The template.kml file consists of three parts:

Creation information: It mainly contains the information of the route file itself, such as the creation and update time of the file.
Mission information: mainly includes the wpml:missionConfig element, which defines the global parameters of the route mission, etc.
Template information: It mainly contains the Folder element, which defines the template information of the route (such as waypoint flight, mapping, oblique photography, and linear flight, etc.). Different route template types contain different elements.

File Sample

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

<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.2">
<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 M30 -->
      <wpml:droneEnumValue>67</wpml:droneEnumValue>
      <wpml:droneSubEnumValue>0</wpml:droneSubEnumValue>
    </wpml:droneInfo>
    <wpml:payloadInfo>
      <!-- Declare payload model with M30 -->
      <wpml:payloadEnumValue>52</wpml:payloadEnumValue>
      <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: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 Description

Create information (parent element: `<Document>`)

Element

Description

Type

Unit

Value

Is it required (default)

Product Support

wpml:author

Author

String

None, not required

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:createTime

File creation time (Unix Timestamp)

Integer

None, not required

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:updateTime

File update time (Unix Timestamp)

Integer

None, not required

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

Mission information (parent element: `<wpml:missionConfig>`)

Element

Description

Type

Unit

Value

Is it required (default)

Product Support

wpml:flyToWaylineMode

Fly to first waypoint mode

string enumerate

safely: The aircraft in safe mode (M300) takes off, ascends to the altitude of the first waypoint, and then flies level to the first waypoint. If the first waypoint is lower than the take-off point, after takeoff, it will level fly to the top of the first waypoint and then descend. (M30) The aircraft takes off, rises to the altitude of the first waypoint, and then flies level to the first waypoint. If the first waypoint is lower than the "safe take-off altitude", after taking off to the "safe take-off altitude", level flight to the first waypoint and then descend. Note that the "safe takeoff altitude" only takes effect when the aircraft is not taking off. pointToPoint: In tilt flight mode (M300), after the aircraft takes off, it tilts to the first waypoint. (M30) The aircraft takes off to the "safe take-off altitude", and then ramps to the first waypoint. If the altitude of the first waypoint is lower than the "safe take-off altitude", it will first level flight and then descend.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:finishAction

The action when finish mission

string enumerate

goHome: After the aircraft completes the route task, exit the route mode and return to home. noAction: After the aircraft completes the route task, it exits the route mode. autoLand: After the aircraft completes the route task, it exits the route mode and lands on the spot. gotoFirstWaypoint: After the aircraft completes the route task, it will immediately fly to the starting point of the route, and exit route mode when it arrives. Note: During the execution of the above actions, if the aircraft exits the route mode and enters the runaway state, the runaway action will be executed first.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:exitOnRCLost

Whether to continue to execute the route out of control

string enumerate

goContinue: Continue to execute the wayline executeLostAction: Exit the route and execute the runaway action

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:executeRCLostAction

Type of disconnect action

string enumerate

goBack: Go back. The aircraft is flying from the out-of-control position to the take-off point landing: landing. The aircraft landed in place from an out-of-control position hover: hover. The aircraft is hovering from an out-of-control position

None. When the wpml:exitOnRCLost is executeLostAction, it is required.

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:takeOffSecurityHeight

Safe takeoff altitude

Float

[2, 1500] (Altitude mode: relative to takeoff point altitude) Note: After the aircraft takes off, climb to this altitude first, and then fly to the first waypoint according to the setting of "Fly to the first waypoint mode". This element only takes effect when the aircraft is not taking off.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:globalTransitionalSpeed

Global route transition speed

Float

m/s

> 0 Note: The speed at which the aircraft flies to the first waypoint of each route. When the route mission is interrupted, the speed of the aircraft recovering from the current position to the interruption point.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:takeOffRefPoint<x,y,z>

reference take-off point

Float

°, °, m

[-180,180],[-90,90],unlimited Note: "Reference Takeoff Point" is only for reference of route planning. When the aircraft executes the route, the actual takeoff point of the aircraft shall prevail, and the height of the ellipsoid shall be used.

None, Not Required

M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:takeOffRefPointAGLHeight

The altitude of the reference take-off point

Float

Note: The altitude of "reference take-off point" corresponds to the ellipsoid height in "reference take-off point".

None, Not Required

M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:droneInfo

Aircraft type information

Note: Please read detailed information at Common Elements

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:payloadInfo

Payload information

Note: Please read detailed information at Common Elements

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:autoRerouteInfo

Wayline reroute information

M3D/M3TD

Template information (parent element: `<Folder>`)

Template common elements (parent element: <Folder>)

Element

Description

Type

Unit

Value

Is it required (default)

Product Support

wpml:templateType

Predefined Template Type Note: Templates provide users with a solution for quickly generating routes. The user fills in the template Element and then imports the DJI support client (such as DJI Pilot) to quickly generate an executable mapping/inspection route.

string enumerate

waypoint mapping2d mapping3d mappingStrip

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:templateId

Template ID Note: This ID is unique within a kmz file. It is recommended to start monotonically and continuously increase from 0. In the template.kml and waylines.wpml files, this id will be used to associate the template with the generated executable routes.

Integer

[0, 65535]

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:autoFlightSpeed

Global flight speed

Float

m/s

(0, the maximum flight speed] Note: The maximum flight speed of different models is different. This Element defines the target flight speed of the aircraft in the entire route generated by this template. If an additional The Element of the waypoint, the local definition will override the global definition.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:waylineCoordinateSysParam

Coordinate system parameters

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:payloadParam

Payload parameters

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

`<wpml:payloadParam>`

Element

Name

Type

unit

Value

Is it required (default)

Product Support

wpml:payloadPositionIndex

payload position index

int

0: Mounting position 1 on aircraft. For M300 RTK and M350 RTK models, corresponds to the front left side of the fuselage. For other models, corresponds to the main gimbal. 1: Mounting position 2 on aircraft. For M300 RTK and M350 RTK models, corresponds to the front right side of the fuselage. 2: Mounting position 3 on aircraft. For M300 RTK and M350 RTK models, corresponds to the top of the aircraft.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:focusMode

payload focus mode

enum_string

firstPoint: Auto-focus on the first waypoint custom: Focus using calibrated focus value

M300 RTK, M350 RTK

wpml:meteringMode

payload metering mode

enum_string

average: Global metering spot: Spot metering

M300 RTK, M350 RTK

wpml:dewarpingEnable

dewarping enable

bool

0: Disabled 1: Enabled

M300 RTK, M350 RTK

wpml:returnMode

LiDAR return mode

enum_string

singleReturnStrongest: Single return dualReturn: Dual return tripleReturn: Triple return

M300 RTK, M350 RTK

wpml:samplingRate

sampling rate

int

60000, 80000, 120000, 160000, 180000, 240000

M300 RTK, M350 RTK

wpml:scanningMode

scanning mode

enum_string

repetitive: Repetitive scanning nonRepetitive: Non-repetitive scanning

M300 RTK, M350 RTK

wpml:modelColoringEnable

model coloring enable

bool

0: No coloring 1: True color coloring

M300 RTK, M350 RTK

wpml:imageFormat

image format list

enum_string

wide: Stores wide-angle lens photos zoom: Stores zoom lens photos ir: Stores infrared lens photos narrow_band: Stores narrow-band lens photos visible: Visible light photos * Note: To store photos from multiple lenses, format as "wpml:imageFormatwide,ir</wpml:imageFormat>"

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

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

Element

Description

Type

Unit

Value

Is it required (default)

Product Support

wpml:globalWaypointTurnMode

Global Waypoint Type (Global Waypoint Turn Mode)

string enumerate

coordinateTurn: Coordinate turn, but point, turn ahead toPointAndStopWithDiscontinuityCurvature: Fly in a straight line, the aircraft will stop at the point toPointAndStopWithContinuityCurvature: Curve flight, the aircraft will stop at the point toPointAndPassWithContinuityCurvature: Curve flight, the aircraft will not stop at the point

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:globalUseStraightLine

Whether the global segment trajectory is as close to a straight line as possible

Boolean

0: The trajectory of the flight segment is a curve in the whole process 1: The trajectory of the flight segment should be as close as possible to the line connecting the two points

Yes Note: Required if and only if "wpml:globalWaypointTurnMode" is set to "toPointAndStopWithContinuityCurvature" or "toPointAndPassWithContinuityCurvature". If the Element of a waypoint is additionally defined, the local definition will override the global definition.

M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:gimbalPitchMode

Gimbal Pitch Control Mode

string enumerate

manual: Manual control. When the aircraft is flying from one waypoint to the next, the user can manually control the pitch angle of the gimbal; if there is no user control, the gimbal pitch angle when flying away from the waypoint is maintained. usePointSetting: Set according to each waypoint. When the aircraft flies from one waypoint to the next, the pitch angle of the gimbal transitions evenly to the pitch angle of the next waypoint.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:globalHeight

Global height of flight route(related to the height of takeoff point)

float

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:globalWaypointHeadingParam

Global yaw angle mode parameters

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

Placemark(Point)

Waypoint information (including waypoint latitude, longitude and altitude, etc.)

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

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

Element

Description

Type

Unit

Value

Is it required (default)

Product Support

wpml:caliFlightEnable

Whether to enable calibration flight * Note: only applicable to M300 RTK and M350 RTK models

Boolean

0: Disable 1: Enable, the inertial navigation calibration is automatically performed on the route to ensure the accuracy of the model. At the end of the route, there will be three acceleration and deceleration flights, and the curve of the route will automatically expand outward for acceleration and deceleration flights. If the route is too long, the acceleration and deceleration will be evenly inserted, and the flight time will not exceed 100s after each calibration.

M300 RTK, M350 RTK

wpml:elevationOptimizeEnable

Whether to enable elevation optimization

Boolean

0: Disable 1: Enable, the aircraft will fly to the center of the survey area to collect a set of tilted photos after the flight route is completed to optimize the elevation accuracy.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:smartObliqueEnable

Whether to enable Smart Posing Note: M300 RTK and M350 RTK models only support P1 camera

Boolean

0: Disabled 1: Enabled, the aircraft can take orthophoto and oblique photos by swinging the gimbal during a single aerial photography task.

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:smartObliqueGimbalPitch

Smart Pose Shooting Pitch Angle Note: M300 RTK and M350 RTK models only support P1 camera

Integer

Corresponding model gimbal swivel range

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:shootType

Photo mode (timed or fixed distance)

string enumerate

time: take photos at equal time distance: take photos at equal intervals Note: It is recommended to use "time" to take photos at equal time. Define "photographing mode", "overlap rate" and "flying speed" in the template.kml file, and write the interval time or interval distance after calculation into wayslines.wpml.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:direction

route direction

Integer

[0, 360]

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:margin

Expansion distance outside the survey area

Integer

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:overlap

Overlap rate parameter

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:ellipsoidHeight

Global route height (ellipsoid height) Note: This Element is used in conjunction with "wpml:height", which are expressions of different elevation reference planes at the same location.

Float

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:height

Global route height (EGM96 altitude/relative take-off point height/AGL relative ground height) Note: This Element is used in conjunction with "wpml:ellipsoidHeight", which are expressions of different elevation reference planes at the same location.

Float

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:facadeWaylineEnable

Whether to enable slope * Note: This parameter should be used with "LinearRing". After enabling, the height value will be read in ellipsoid.

Boolean

0: Not enable 1: Enable

M3E/M3T/M3M

Polygon

Measurement Polygon * Note: The format is <Polygon> <outerBoundaryIs> <LinearRing> <coordinates> longitude,latitude,height longitude,latitude,height longitude,latitude,height </coordinates> </LinearRing> </outerBoundaryIs> </Polygon> * Note: When wpml:facadeWaylineEnable is 1, measurement polygon supports aerial plane. For example, <Polygon> <outerBoundaryIs> <LinearRing> <coordinates> longitude,latitude,300 longitude,latitude,200 longitude,latitude,50 </coordinates> </LinearRing> </outerBoundaryIs> </Polygon>. The generated direction of wayline is relative to the endpoint sequence.

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:mappingHeadingParam

Heading parameter of drone in mapping

M3E/M3T/M3M

wpml:gimbalPitchMode

Gimbal pitch angle mode

Enum-string

manual: manually control the gimbal pitch angle fixed: fixed as the pitch angle set by users

M3E/M3T/M3M

wpml:gimbalPitchAngle

Gimbal pitch angle

[-90, -30]

*Note: when wpml:gimbalPitchMode is fixed, this value is required element.

M3E/M3T/M3M

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

Element

Description

Type

Unit

Value

Is it required (default)

Product Support

wpml:caliFlightEnable

Whether to enable calibration flight Note: only applicable to M300 RTK and M350 RTK models

Boolean

0: Disable 1: Enable, the inertial navigation calibration is automatically performed on the route to ensure the accuracy of the model. At the end of the route, there will be three acceleration and deceleration flights, and the curve of the route will automatically expand outward for acceleration and deceleration flight. If the route is too long, the acceleration and deceleration will be evenly inserted, and the flight time will not exceed 100s after each calibration.

M300 RTK, M350 RTK

wpml:inclinedGimbalPitch

Gimbal pitch angle (tilt)

Integer

Note: The rotation range of different gimbal is different. The oblique photography template will be generated with five routes, one of which captures orthophoto images and four of which capture oblique images. This Element is used to set the tilt angle of the gimbal during oblique image capture.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:inclinedFlightSpeed

route flight speed (tilt)

Float

m/s

(0, the maximum flight speed of this aircraft ] Note: The maximum flight speed of different aircraft types is different. The oblique photography template will generate five routes, of which 1 captures orthophoto images and 4 capture oblique images. Element is used to set the flying target speed during oblique image acquisition.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:shootType

Photo mode (timed or fixed distance)

string enumerate

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:direction

route direction

Integer

[0, 360]

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:margin

Expansion distance outside the survey area

Integer

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:overlap

Overlap rate parameter

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:ellipsoidHeight

Global route height (ellipsoid height) Note: This Element is used in conjunction with "wpml:height", which are expressions of different elevation reference planes at the same location.

Float

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:height

Float

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

Polygon

Survey area polygon Note: The format here is "<Polygon> <outerBoundaryIs> <LinearRing> <coordinates> longitude,latitude,0 longitude,latitude,0 longitude,latitude,0 </coordinates> </LinearRing> </outerBoundaryIs> </Polygon>”

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

Waypoint Segment Flight Template Element (Parent Element: <Placemark>)

Element

Description

Type

Unit

Value

Is it required (default)

Product Support

wpml:caliFlightEnable

Whether to enable calibration flight

Boolean

0: Disable 1: Enable

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:shootType

Photo mode (timed or fixed distance)

string enumerate

time: take photos at equal time distance: take photos at equal intervals* Note: It is recommended to use "time" to take photos at equal time. Define "photographing mode", "overlap rate" and "flying speed" in the template.kml file, and write the interval time or interval distance after calculation into wayslines.wpml.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:direction

route direction

Integer

[0, 360]

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:margin

Expansion distance outside the survey area

Float

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:singleLineEnable

Whether to enable single route flight

Boolean

0: disable 1: enable

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:cuttingDistance

Route length of each sub strip

Float

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:boundaryOptimEnable

Whether to enable edge optimization

Boolean

0: disable 1: enable

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:leftExtend

Extending distance on the left side of the waypoint segment flight

Integer

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:rightExtend

Extending distance on the right side of the waypoint segment flight

Integer

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:includeCenterEnable

whether to include centerline

Boolean

0: not include 1: include

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:overlap

Overlap rate parameter

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:ellipsoidHeight

Global route height (ellipsoid height) Note: This Element is used in conjunction with "wpml:height", which are expressions of different elevation reference planes at the same location.

Float

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:height

Float

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:stripUseTemplateAltitude

Whether to open linear flight *Note: This element should be used with "LineString". When it is opened, the value of height will be converted to ellipsoid height.

bool

0: Not open 1: Open

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

LineString

Waypoint information *Note: The format is "<LineString> <coordinates> longitude, latitude, height longitude, latitude, height longitude, latitude, height</coordinates> </LineString>". The value of height will only be read when “wpml:stripUseTemplateAltitude” is opened.

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

Waypoint Info (Parent Element: `<Placemark>`)

Element

Name

Type

unit

Value

Is it required (default)

Product Support

wpml:isRisky

Whether is risky point

bool

0: Normal point, 1: Risky point

M30/M30T, M3D/M3TD

Point

The format is as follows.<Point> <coordinates> Longitude, Latitude </coordinates> </Point>

float

°,°

[-180,180],[-90,90]

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:index

Waypoint number. Note: This ID is unique within a route. The sequence number must be monotonously and continuously increasing from 0.

int

[0, 65535]

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:useGlobalHeight

Whether to use global height

bool

0, 1

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:ellipsoidHeight

Waypoint height (WGS84 ellipsoid height) Note: This element is used in conjunction with "WPML:height", which is an expression of the reference plane at the same position with different elevations.

float

Yes Note: Required if and only if "wpml:useGlobalHeight" is 0.

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:height

Waypoint height(EGM96 altitude/relative to take-off /AGL relative to ground) Note: This element is used in conjunction with "wpml:ellipsoidHeight", which is an expression of a different elevation reference plane at the same location.

float

Yes Note: Required if and only if "wpml:useGlobalHeight" is 0.

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:useGlobalSpeed

Whether to use global flight speed Note: The global flight speed is "wpml:autoFlightSpeed".

bool

0: Do not use 1: use

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:waypointSpeed

Waypoint flight speed

float

m/s

(0, Maximum flight speed of this drone] Note: Maximum flight speed varies between drones

Yes Note: Required if "wpml:useGlobalSpeed" is 0.

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:useGlobalHeadingParam

Whether to use the global yaw mode parameter

bool

0: do not use 1: use

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:waypointHeadingParam

waypoint heading param

Yes Note: Required if “wpml:useGlobalHeadingParam” is 0.

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:useGlobalTurnParam

Whether to use global waypoint type (Global waypoint turn mode)

bool

0: do not use 1: use

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:waypointTurnParam

waypoint turn param

Yes Note: Required if “wpml:useGlobalTurnParam” is 0.

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:useStraightLine

Whether the segment fits a straight line

bool

0: The whole trajectory of the segment is curved 1: The segment trajectory is as close to the line of two points as possible.

Yes Note: Required if "waypointTurnMode" in "wpml:waypointTurnParam" is set to "toPointAndStopWithContinuityCurvature" or "toPointAndPassWithContinuityCurvature". If this element is set, local definitions override global definitions.

M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:gimbalPitchAngle

gimbal pitch angle

float

The gimbal can be rotated to match the model.

Yes Note: Required if “wpml:gimbalPitchMode” is “usePointSetting”.

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

Coordinate Parameter Info (Parent Element: `<wpml:waylineCoordinateSysParam>`)

Element

Name

Type

unit

Value

Is it required (default)

Product Support

wpml:coordinateMode

Latitude and longitude coordinate system

enum

WGS84:Current fixed use WGS84

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:heightMode

Reference plane for waypoint elevation

enum

EGM96: Use the altitude editor. relativeToStartPoint: Editing with relative point heights. aboveGroundLevel: Using topographic data, editing under AGL. (Only supported by FlightHub 2) realTimeFollowSurface: Using real-time follow surface mode.(Only applies for mapping) Only supported by M3E/M3T/M3M.

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:positioningType

Latitude and longitude and altitude data sources

enum

GPS: Location data is collected from GPS/BDS/GLONASS/GALILEO etc. RTKBaseStation: When collecting location data, use RTK base station for differential positioning. QianXun: When collecting location data, use Qianxun Network RTK for differential positioning. Custom : When collecting location data, use custom RTK for differential positioning.

No Note:This element is only used to mark the source of the location data and does not affect the actual route execution.

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:globalShootHeight

Height of the aircraft above the subject surface (relative to ground height) Note: Only available for template types mapping2d, mapping3d, mappingStrip.

float

Used to calculate photo spacing and GSD

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:surfaceFollowModeEnable

Whether or not to start the surface following mode flight. Note: Only available for template types mapping2d, mapping3d, mappingStrip.

bool

0: disable

Yes

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:surfaceRelativeHeight

Surface following mode flight height above the ground (high relative to the ground). Note: Only available for template types mapping2d, mapping3d, mappingStrip.

float

Yes Note: Required if wpml:surfaceFollowModeEnable is 1.

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

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

Element

Name

Type

unit

Value

Is it required (default)

Product Support

wpml:orthoLidarOverlapH

Forward Overlap (LiDAR/Ortho)

Integer

Percentage

[0, 100]

M300 RTK, M350 RTK

wpml:orthoLidarOverlapW

Side Overlap (LiDAR/Ortho)

Integer

Percentage

[0, 100]

M300 RTK, M350 RTK

wpml:orthoCameraOverlapH

Forward Overlap (Visible/Ortho)

Integer

Percentage

[0, 100]

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:orthoCameraOverlapW

Side Overlap (Visible/Ortho)

Integer

Percentage

[0, 100]

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:inclinedLidarOverlapH

Forward Overlap (LiDAR/Oblique)

Integer

Percentage

[0, 100]

M300 RTK, M350 RTK

wpml:inclinedLidarOverlapW

Side Overlap (LiDAR/Oblique)

Integer

Percentage

[0, 100]

M300 RTK, M350 RTK

wpml:inclinedCameraOverlapH

Forward Overlap (Visible/Oblique)

Integer

Percentage

[0, 100]

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

wpml:inclinedCameraOverlapW

Side Overlap (Visible/Oblique)

Integer

Percentage

[0, 100]

M300 RTK, M350 RTK, M30/M30T, M3E/M3T/M3M, M3D/M3TD

Orientation Parameter of Drone in Mapping (Parent Element: <wpml:mappingHeadingParam>)

Element

Name

Type

unit

Value

Is it required (default)

Product Support

wpml:mappingHeadingMode

Yaw angle mode of drone

Enum-string

fixed: fixed as the yaw angle set by users followWayline: yaw angle follows the wayline

M3E/M3T/M3M, M3D/M3TD

wpml:mappingHeadingAngle

Yaw angle of drone

Integer

[0, 360]

*Note: when wpml:mappingHeadingMode is fixed, this value is required.

M3E/M3T/M3M, M3D/M3TD

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File Introduction

File Sample

Element Description

Create information (parent element: <Document>)

Mission information (parent element: <wpml:missionConfig>)

Template information (parent element: <Folder>)

<wpml:payloadParam>

Waypoint Info (Parent Element: <Placemark>)

Coordinate Parameter Info (Parent Element: <wpml:waylineCoordinateSysParam>)

Create information (parent element: `<Document>`)

Mission information (parent element: `<wpml:missionConfig>`)

Template information (parent element: `<Folder>`)

`<wpml:payloadParam>`

Waypoint Info (Parent Element: `<Placemark>`)

Coordinate Parameter Info (Parent Element: `<wpml:waylineCoordinateSysParam>`)