Implement support for DJI Air 3 Drone

drone_flightplan/add_elevation_from_dem.py

@@ -19,6 +19,7 @@
 
 log = logging.getLogger(__name__)
 
+
 def raster_data_format_string(input_datatype: str):
     """
     Returns a format string for unpacking a c-style Struct object based
@@ -126,11 +127,15 @@ def add_elevation_from_dem(raster_file, points, outfile):
                     # It's almost certainly a nodata value, possibly over water
                     elevation = 0
             except Exception as e:
-                log.error(f"Error reading elevation at point ({geom.GetX()}, {geom.GetY()}): {e}")
+                log.error(
+                    f"Error reading elevation at point ({geom.GetX()}, {geom.GetY()}): {e}"
+                )
                 elevation = 0
         else:
             # Point is outside the raster bounds, set elevation to 0 or another fallback value
-            log.info(f"Point ({geom.GetX()}, {geom.GetY()}) is outside the raster bounds.")
+            log.info(
+                f"Point ({geom.GetX()}, {geom.GetY()}) is outside the raster bounds."
+            )
             elevation = 0
 
         # Create a new point with elevation

drone_flightplan/calculate_parameters.py

@@ -1,5 +1,6 @@
 import logging
 import argparse
+from drone_flightplan.drone_type import DroneType
 
 # Configure logging
 logging.basicConfig(level=logging.INFO, format="%(message)s")
@@ -12,6 +13,7 @@ def calculate_parameters(
     agl: float,
     gsd: float = None,
     image_interval: int = 2,
+    drone_type: DroneType = DroneType.DJI_MINI_4_PRO,
 ):
     """
     Parameters
@@ -34,11 +36,11 @@ def calculate_parameters(
     ground speed = forward spacing / image interval = 10
 
     """
-
-    # Constants ( For DJI Mini 4 Pro)
-    VERTICAL_FOV = 0.71
-    HORIZONTAL_FOV = 1.26
-    GSD_to_AGL_CONST = 29.7
+    # Get the drone specifications from the Enum
+    drone_specs = drone_type.value
+    VERTICAL_FOV = drone_specs["VERTICAL_FOV"]
+    HORIZONTAL_FOV = drone_specs["HORIZONTAL_FOV"]
+    GSD_to_AGL_CONST = drone_specs["GSD_to_AGL_CONST"]
 
     if gsd:
         agl = gsd * GSD_to_AGL_CONST
@@ -52,13 +54,13 @@ def calculate_parameters(
     side_spacing = side_photo_width - side_overlap_distance
     ground_speed = forward_spacing / image_interval
 
-    # Cap ground speed at 11.5 m/s to avoid problems with the DJI Mini 4 Pro controller.  
-    # Speeds over 12 m/s cause the controller to change the speed to 2.5 m/s, which is too slow.  
+    # Cap ground speed at 11.5 m/s to avoid problems with the DJI Mini 4 Pro controller.
+    # Speeds over 12 m/s cause the controller to change the speed to 2.5 m/s, which is too slow.
     # Keeping it below 12 m/s ensures the flight plan works correctly.
-    
+
     if ground_speed > 12:
         ground_speed = 11.5
-        
+
     return {
         "forward_photo_height": round(forward_photo_height, 0),
         "side_photo_width": round(side_photo_width, 0),
@@ -114,6 +116,7 @@ def main():
         args.altitude_above_ground_level,
         args.gsd,
         args.image_interval,
+        args.drone_type,
     )
 
     for key, value in results.items():

drone_flightplan/create_flightplan.py

@@ -8,6 +8,7 @@
 from drone_flightplan.add_elevation_from_dem import add_elevation_from_dem
 from drone_flightplan.create_placemarks import create_placemarks
 from drone_flightplan.wpml import create_wpml
+from drone_flightplan.drone_type import DroneType
 
 # Instantiate logger
 log = logging.getLogger(__name__)
@@ -24,7 +25,9 @@ def create_flightplan(
     outfile: str = None,
     generate_each_points: bool = False,
     rotation_angle: float = 0.0,
-    take_off_point: list[float] = None,
+    take_off_point: list[float] = None,    
+    drone_type: DroneType = DroneType.DJI_MINI_4_PRO,
+
 ):
     """
     Arguments:
@@ -40,7 +43,12 @@ def create_flightplan(
     """
 
     parameters = calculate_parameters(
-        forward_overlap, side_overlap, agl, gsd, image_interval
+        forward_overlap,
+        side_overlap,
+        agl,
+        gsd,
+        image_interval,
+        drone_type=drone_type,
     )
 
     waypoints = create_waypoint(
@@ -52,6 +60,7 @@ def create_flightplan(
         rotation_angle,
         generate_each_points,
         take_off_point=take_off_point,
+        drone_type=drone_type,
     )
 
     # Add elevation data to the waypoints
@@ -109,7 +118,14 @@ def main():
         type=float,
         help="The ground sampling distance in cm/px.",
     )
-
+
+    parser.add_argument(
+        "--drone_type",
+        type=lambda dt: DroneType[dt.upper()],
+        default=DroneType.DJI_MINI_4_PRO,
+        help="The type of drone to use, e.g., DJI_MINI_4_PRO.",
+    )
+
     parser.add_argument(
         "--forward_overlap",
         type=float,
@@ -166,6 +182,7 @@ def main():
         args.generate_each_points,
         args.rotation_angle,
         args.take_off_point,
+        args.drone_type,
     )
 
 

drone_flightplan/drone_type.py

@@ -0,0 +1,27 @@
+from enum import Enum
+
+class DroneType(int, Enum):
+    DJI_MINI_4_PRO = {
+        # Constants (For DJI Mini 4 Pro)
+        "VERTICAL_FOV": 0.71,  
+        "HORIZONTAL_FOV": 1.26,  
+        "GSD_to_AGL_CONST": 29.7,
+    }
+
+    DJI_AIR_3 = {
+        # Constants (For DJI Air 3)
+        # Vertical Field of View (FOV):
+        # Formula: Vertical FOV = 2 * tan^(-1)(sensor height / 2 * focal length)
+        # The vertical FOV for DJI Air 3 is calculated as: 2 * tan^(-1)(6.3 / (2 * 19.4)) ≈ 0.3224 radians
+        "VERTICAL_FOV": 0.3224,
+
+        # Horizontal Field of View (FOV):
+        # Formula: Horizontal FOV = 2 * tan^(-1)(sensor width / 2 * focal length)
+        # The horizontal FOV for DJI Air 3 is calculated as: 2 * tan^(-1)(8.4 / (2 * 19.4)) ≈ 0.4269 radians
+        "HORIZONTAL_FOV": 0.4269,
+
+        # Ground Sampling Distance constant (GSD to AGL constant):
+        # GSD = (sensor height / focal length) * AGL
+        # This constant helps in determining the ground resolution per pixel at a given altitude (AGL).
+        "GSD_to_AGL_CONST": 30.5,
+    }

drone_flightplan/terrain_following_waylines.py

@@ -319,4 +319,4 @@ def waypoints2waylines(injson, threshold):
     outgeojson = waypoints2waylines(injson, a.threshold)
 
     with open(a.outfile, "w") as output_file:
-        json.dump(outgeojson, output_file)
+        json.dump(outgeojson, output_file)

drone_flightplan/waypoints.py

@@ -1,6 +1,7 @@
 import logging
 import argparse
 from math import sqrt
+from drone_flightplan.drone_type import DroneType
 import pyproj
 import geojson
 from shapely.geometry import Point, shape, Polygon
@@ -256,6 +257,7 @@ def create_waypoint(
     no_fly_zones: dict = None,
     take_off_point: list[float] = None,
     mode: str = "waylines",
+    drone_type= DroneType.DJI_MINI_4_PRO,
 ) -> str:
     """
     Create waypoints or waylines for a given project area based on specified parameters.
@@ -297,7 +299,9 @@ def create_waypoint(
     }
 
     """
-    parameters = cp(forward_overlap, side_overlap, agl, gsd)
+    parameters = cp(
+        forward_overlap, side_overlap, agl, gsd, drone_type=drone_type
+    )
     side_spacing = parameters["side_spacing"]
     forward_spacing = parameters["forward_spacing"]