@lumikmz/kmz 0.6.1 → 0.6.2

package/dist/index.mjs

@@ -1061,7 +1061,7 @@ function planWaypoint(template) {
 	const placemarks = folder.Placemark.map((p, i) => {
 		const heading = p.useGlobalHeadingParam || p.waypointHeadingParam === void 0 ? folder.globalWaypointHeadingParam : p.waypointHeadingParam;
 		const turn = p.useGlobalTurnParam || p.waypointTurnParam === void 0 ? { waypointTurnMode: folder.globalWaypointTurnMode } : p.waypointTurnParam;
-		const executeHeight = p.useGlobalHeight || p.height === void 0 ? folder.globalHeight : p.height;
+		const executeHeight = folder.waylineCoordinateSysParam.heightMode === "aboveGroundLevel" && p.ellipsoidHeight !== void 0 ? p.ellipsoidHeight : p.useGlobalHeight || p.height === void 0 ? folder.globalHeight : p.height;
 		const waypointSpeed = p.useGlobalSpeed || p.waypointSpeed === void 0 ? folder.autoFlightSpeed : p.waypointSpeed;
 		return {
 			Point: p.Point,
@@ -1090,13 +1090,13 @@ function planWaypoint(template) {
 /**
 * Map a template heightMode to a waylines executeHeightMode.
 * - `EGM96` → `WGS84` (waylines spec doesn't expose EGM96; runtime resolves it).
-* - `aboveGroundLevel` → `realTimeFollowSurface` (closest executable analog).
+* - `aboveGroundLevel` → `WGS84` (waypoint waylines use per-point ellipsoid heights).
 */
 function heightModeToExecuteMode(mode) {
 	switch (mode) {
-		case "EGM96": return "WGS84";
+		case "EGM96":
+		case "aboveGroundLevel": return "WGS84";
 		case "relativeToStartPoint": return "relativeToStartPoint";
-		case "aboveGroundLevel":
 		case "realTimeFollowSurface": return "realTimeFollowSurface";
 	}
 }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@lumikmz/kmz",
-  "version": "0.6.1",
+  "version": "0.6.2",
   "description": "DJI KMZ/WPML domain model + plan() algorithm + validate(), spec-aligned types mirroring docs/kmz/",
   "license": "MIT",
   "type": "module",

package/src/plan/plan-waypoint.ts

@@ -25,7 +25,12 @@ export function planWaypoint(template: WaypointTemplate): Waylines {
         : p.waypointTurnParam;
 
     const executeHeight =
-      p.useGlobalHeight || p.height === undefined ? folder.globalHeight : p.height;
+      folder.waylineCoordinateSysParam.heightMode === "aboveGroundLevel" &&
+      p.ellipsoidHeight !== undefined
+        ? p.ellipsoidHeight
+        : p.useGlobalHeight || p.height === undefined
+          ? folder.globalHeight
+          : p.height;
 
     const waypointSpeed =
       p.useGlobalSpeed || p.waypointSpeed === undefined ? folder.autoFlightSpeed : p.waypointSpeed;
@@ -58,17 +63,17 @@ export function planWaypoint(template: WaypointTemplate): Waylines {
 /**
  * Map a template heightMode to a waylines executeHeightMode.
  * - `EGM96` → `WGS84` (waylines spec doesn't expose EGM96; runtime resolves it).
- * - `aboveGroundLevel` → `realTimeFollowSurface` (closest executable analog).
+ * - `aboveGroundLevel` → `WGS84` (waypoint waylines use per-point ellipsoid heights).
  */
 function heightModeToExecuteMode(
   mode: WaypointFolder["waylineCoordinateSysParam"]["heightMode"],
 ): ExecuteHeightMode {
   switch (mode) {
     case "EGM96":
+    case "aboveGroundLevel":
       return "WGS84";
     case "relativeToStartPoint":
       return "relativeToStartPoint";
-    case "aboveGroundLevel":
     case "realTimeFollowSurface":
       return "realTimeFollowSurface";
   }

package/src/plan/plan.test.ts

@@ -61,6 +61,52 @@ describe("plan", () => {
     expect(waylines.missionConfig).toBe(template.missionConfig);
   });
 
+  it("waypoint aboveGroundLevel uses per-point ellipsoid heights as WGS84 executeHeight", () => {
+    const template: WaypointTemplate = {
+      missionConfig,
+      Folder: {
+        templateType: "waypoint",
+        templateId: 0,
+        waylineCoordinateSysParam: { coordinateMode: "WGS84", heightMode: "aboveGroundLevel" },
+        autoFlightSpeed: metersPerSecond(10),
+        globalWaypointTurnMode: "toPointAndStopWithDiscontinuityCurvature",
+        gimbalPitchMode: "manual",
+        globalHeight: meters(50),
+        globalWaypointHeadingParam: {
+          waypointHeadingMode: "followWayline",
+          waypointHeadingPathMode: "followBadArc",
+        },
+        Placemark: [
+          {
+            Point: { coordinates: { lng: 113.938, lat: 22.5397 } },
+            index: 0,
+            useGlobalHeight: false,
+            height: meters(80),
+            ellipsoidHeight: meters(180),
+            useGlobalSpeed: true,
+            useGlobalHeadingParam: true,
+            useGlobalTurnParam: true,
+          },
+          {
+            Point: { coordinates: { lng: 113.939, lat: 22.5407 } },
+            index: 1,
+            useGlobalHeight: false,
+            height: meters(90),
+            ellipsoidHeight: meters(190),
+            useGlobalSpeed: true,
+            useGlobalHeadingParam: true,
+            useGlobalTurnParam: true,
+          },
+        ],
+      },
+    };
+
+    const waylines = plan(template);
+
+    expect(waylines.Folder[0]!.executeHeightMode).toBe("WGS84");
+    expect(waylines.Folder[0]!.Placemark.map((p) => Number(p.executeHeight))).toEqual([180, 190]);
+  });
+
   it("compiles a mapping2d template into a serpentine scan", () => {
     const template: Mapping2dTemplate = {
       missionConfig,