UAVCsvReader uavCsvReader = new UAVCsvReader(getApplicationContext(), new UAVCsvReader.OnReadUpdateListener() {
  @Override
  public void onUpdate(UAVRecordParameter currentPara, String[] value) {
    //value[i]分别对应csv文件对应列
    currentPara.setUnixTimeStamp(Long.parseLong(value[1]));
    currentPara.setSensorLongitude(Double.parseDouble(value[2]));
    currentPara.setSensorLatitude(Double.parseDouble(value[3]));
    currentPara.setPlatformHeight(Float.parseFloat(value[4]));
    currentPara.setYaw(Float.parseFloat(value[5]));
    currentPara.setPitch(Float.parseFloat(value[6]));
    currentPara.setRoll(Float.parseFloat(value[7]));
    currentPara.setVerticalFOV(Float.parseFloat(value[8]));
    currentPara.setHorizontalFOV(Float.parseFloat(value[9]));
  }
});
ArrayList<UAVRecordParameter> uavRecordParameters = uavCsvReader.readFileFromSdCard(SDCARD + "/SuperMap/UavDemo/record.csv");
uavVideoEffectView.setUavRecordParameters(uavRecordParameters);

uavVideoEffectView.setDataSource(SDCARD + "/SuperMap/UavDemo/record.mp4");

DatasetVector video= (DatasetVector) datasource.getDatasets().get(0);
uavView.setDatasetVector(video);

CameraWindowRenderer renderer = new CameraWindowRenderer(arView,map,CameraWindowRenderer.RenderType.VIDEO_FRAME);
renderer.setEnabled(true);//启用

CameraWindowRenderer renderer = new CameraWindowRenderer(arView,map,CameraWindowRenderer.RenderType.VIDEO_FRAME);
renderer.setEnabled(true);//启用

effectView.innerCaptureScreen();
bitmap = effectView.getInnerCaptureScreenResult();
UAVRecordParameter parameter = effectView.getCurrentUAVRecordParameter();
if (parameter == null){
  return;
}
if (!create) {
  projectionImage = new ProjectionImage(sceneControl.getScene());
  create = true;
}else {
  projectionImage.clear();
}
projectionImage.setHintLineVisible(true);
projectionImage.setHintLineLength(100.0f);
projectionImage.setPosition(new Point3D(parameter.getSensorLongitude(),parameter.getSensorLatitude(),parameter.getPlatformHeight()));
projectionImage.setHeading(parameter.getYaw());
projectionImage.setPitch(parameter.getPitch());
projectionImage.setRoll(parameter.getRoll());
projectionImage.setHorizontalFov(parameter.getHorizontalFOV());
projectionImage.setVerticalFov(parameter.getVerticalFOV());
projectionImage.setImage(bitmap);
projectionImage.build();

viewshed3D = new Viewshed3D(sceneControl.getScene());
viewshed3D.setDistance(500);
viewshed3D.setHiddenAreaColor(new Color(3,218,255,255));
viewshed3D.setVisibleAreaColor(new Color(3,218,255,255));
viewshed3D.setHintLineColor(new Color(0,255,0,255));
viewshed3D.build();

public void updateLookAt(EffectView view, UAVRecordParameter parameter){
  if (isCompleted() && parameter != null){
    LookAt lookAt = getLookAt(view, parameter);
    sceneControl.getScene().setLookAt(lookAt);
  }
}

uavView.getUAVLayers();//获取无人机图层组

mUAVLayers = uavView.getUAVLayers();
/**
* @param workspace 工作空间
* @param index 场景索引
*/
mUAVLayers.fromScene(workspace,0);

DatasetVector region= (DatasetVector) datasource.getDatasets().get(0);
mUAVLayers.add(region);

LayerStyle layerStyle=layer.getLayerStyle();
layerStyle.setAlpha();
layer.setPolygonColor();

String kmlPath= PathConfig.UAV_User_KML+"city.kml";
mUAVLayers.addKmlLayer(kmlPath);

<com.supermap.ar.areffect.uav.map.SceneMapControl
  android:id="@+id/scene_map"
  android:layout_width="1dp"
  android:layout_height="1dp"/>

sceneMapControl = findViewById(R.id.scene_map);
//绑定场景视图
sceneMapControl.bindEffectView(uavVideoEffectView,/*瓦片数量的算术平方根*/5);
//获取地图对象，并打开指定地图
Map map = sceneMapControl.getMap();
map.setWorkspace(DatasetVectorReader.mWorkSpace);
map.open("thMap");
sceneMapControl.setCacheFolderPath(SDCARD+"/000MapCache/map3/map3.sci");
sceneMapControl.setUseCache(true);
sceneMapControl.setRefreshListener(new SceneMapRefreshListener() {
  @Override
  public void onRefresh(RefreshStatus refreshStatus) {
    Log.i(TAG, "onRefresh: " + refreshStatus.toString());
  }
});

uavVideoEffectView.addOnUpdateListener(new EffectView.OnUpdateListener() {
  @Override
  public void onUpdate() {
    UAVRecordParameter currentUAVRecordParameter = uavVideoEffectView.getCurrentUAVRecordParameter();
    if (currentUAVRecordParameter != null){
      sceneMapControl.refresh(uav.getSensorLongitude(),uav.getSensorLatitude(),/*Zoom*/18);
    }
  }
});

mUAVActionControl = uavView.getUAVActionControl();//获取手势控制器
mUAVActionControl.setAction(UAVAction.NONE);

UAVLayers.get(1).UAVBaseLayer.setEditable(true);
mActionControl.setAction(UAVAction.SELECT);
mActionControl.setAction(UAVAction.ADD_NODE);

mUAVActionControl.setAction(UAVAction.MEASURE_AREA);

FlightPathHelper.calculateWayPoints(PathTaskParameter pathTaskParameter);

FlightPathHelper.calculateWayPoints(PathTaskParameter pathTaskParameter, FlightPathHelper.OptimalSetting setting, PathResultCallback callback);

FlightPathHelper.calculateWayPoints(Point3D a, Point3D b, Point3D c, float distance);

overlapParameter = new OverlapParameter(/*横向重叠率*/0.8f,/*纵向重叠率*/0.8f).setFov(/*水平FOV*/73.73f,/*垂直FOV*/53.17f);
//拍照间距（纵向非重叠距离）
ySpaceDistance = overlapParameter.getCaptureSpacing();
//航线间间距（横向非重叠距离）
xSpaceDistance = overlapParameter.getRouteSpacing();

DOUBLE_GRID   双向网格，主方向互相垂直
GRID   网格状（平行四边形的方式构建）

FlightPathHelper.calculateWaypoints(new PathTaskParameter(PathPlanningType.GRID, ps,overlapParameter).setStartPosition(effectView.getCameraPosition()).setEndPosition(effectView.getCameraPosition()),FlightPathHelper.OptimalSetting.MIN_WAYPOINT,pathResult -> {
  //pathResult为路径结果
});

//从计算结果中获取构成航线的点集
ArrayList<Point3D> pointList = pathResult.getPointList();

calculateWaypoints(PathTaskParameter pathTaskParameter, FlightPathHelper.OptimalSetting setting, PathResultCallback callback);

MIN_DISTANCE 最短距离
MIN_WAYPOINT 最少航点数

calculateWayPointTask(DatasetVector datasetVector, Rectangle2D bounds, float height, float hFov, float vFov, Point2D currentPosition);

Dataset dataset = mapControl.getMap().getLayers().get(0).getDataset();
DatasetVector datasetVector = (DatasetVector) dataset;

WayPointTask[] wayPointTasks = FlightPathHelper.calculateWayPointTask(datasetVector, rectangle2D, /*飞行高度*/height, /*水平FOV*/73.73f, /*垂直FOV*/53.17f,/*无人机当前位置*/position);

CapturePose[] getCapturePose()  获取拍照姿态
Point2D getWayPoint()  获取航点坐标

exWaypointMissionManager = ExWaypointMissionManager.getInstance();
//设置航点集
exWaypointMissionManager.setWaypointList(pointList)
//配置任务
exWaypointMissionManager.configMission(effectView);
//开始任务
exWaypointMissionManager.startMission();

exWaypointMissionManager.setOnStateChangeListener(new ExWaypointMissionManager.OnStateChangeListener() {
  @Override
  public void onStateChange(ExWaypointMissionManager.Status status) {
    switch (status){
      case READY:
        //"任务就绪"
      break;
      case EXECUTING:
        // "任务执行中"
      break;
      case EXECUTION_PAUSED:
        // "任务暂停"
      break;
      case NO_ACTION:
        //"任务未开始或已完成"
      break;
    }
  }
  @Override
  public void onSendData(float currentSpeed, float currentYaw, float currentAltitude) {
    //实时数据
  }
  /**
    * 航段更新
    * @param index 对应航点的索引
  */
  @Override
  public void onUpdateWaySegment(int index) {
  }
  @Override
  public void onStartMission() {
  }
  @Override
  public void onStopMission() {
  }
  @Override
  public void onFinishMission() {
  }
});

djiMissionManager = DJIWaypointMissionManager.getInstance();
WaypointMissionState currentState = djiMissionManager.getCurrentState();
if (currentState == WaypointMissionState.NOT_SUPPORTED){
  Toast.makeText(mActivity, "飞行设备不支持", Toast.LENGTH_SHORT).show();
  return;
}
try{
  //此处需要检查，像DJI Air 2s，DJI的MSDK不支持航线规划
  wayPointMission = configWayPointMission();
  DJIError djiError = djiMissionManager.loadWayPointMission(wayPointMission);
  if (djiError==null){
    //成功执行任务
    status = true;
  }
}catch (IllegalArgumentException e){
    //...
}
public WaypointMission configWayPointMission(){
//desc-设置航点
djiMissionManager.setWayPointList(waypoints);
//desc-巡航速度
djiMissionManager.setAutoFlightSpeed(autoSpeed);
djiMissionManager.setMaxFlightSpeed(maxSpeed);
//desc-飞机总是朝向前进方向
djiMissionManager.setHeadingMode(WaypointMissionHeadingMode.AUTO);
//任务完成后，无动作，原地悬停
djiMissionManager.setFinishedAction(WaypointMissionFinishedAction.NO_ACTION);
//desc-创建航点任务
WaypointMission wayPointMission = djiMissionManager.configWayPointMission(getActivity());
DJIError djiError = wayPointMission.checkParameters();
if (djiError != null){
throw new IllegalArgumentException(djiError.getDescription());
}
  return wayPointMission;
}

djiTimeLineMissionManager = DJITimeLineMissionManager.getInstance();
float height = 50.0f;//飞行高度
for (int i = 0; i < point2DS.getCount(); i++) {
  Point2D item = point2DS.getItem(i);
  //构建Action
  GoToAction goToAction = new GoToAction(new LocationCoordinate2D(/*lat*/item.getY(),/*lon*/item.getX()),/*alt*/height);
  goToAction.setFlightSpeed(autoSpeed);
  djiTimeLineMissionManager.addMissionAction(goToAction);
}
//配置任务
djiTimeLineMissionManager.configTimeLineMission();
//执行任务
djiTimeLineMissionManager.startTimeline();

//服务的ws地址，服务的ip地址，服务的端口，iServer的账号，iServer的密码
MediaManager.setInfoPushService(wsAddress,ip,port,username,password);

//无人机视图，rtsp服务器ip地址，rtsp服务器端口号，推流id名称，服务注册回调
MediaManager.setVideoPushService(effectView,ip, port, id, callback)
MediaManager.startPush()  //开始推送视频+姿态
MediaManager.stopPush()  //停止推送