增加：手动飞行控制

liusuyi

2024-10-30 05ba868736725db54db1944ed5cf7a95d14efc37

 ard-work/src/main/java/com/ard/tianyu/controller/UavManualFlyController.java

@@ -1,9 +1,7 @@
package com.ard.tianyu.controller;

import com.ard.common.core.domain.AjaxResult;
import com.ard.tianyu.model.dto.manual.ReturnHomeDTO;
import com.ard.tianyu.model.dto.manual.SwitchUavControlDTO;
import com.ard.tianyu.model.dto.manual.TakeOffDTO;
import com.ard.tianyu.model.dto.manual.*;
import com.ard.tianyu.service.ITyService;
import com.github.xiaoymin.knife4j.annotations.ApiOperationSupport;
import io.swagger.annotations.Api;
@@ -33,6 +31,7 @@
        tyService.switchUavControl(switchUavControlDTO);
        return AjaxResult.success();
    }

    @ApiOperation(value = "起飞", notes = "起飞高度height取值范围:1.2~100,误差：+-0.4米")
    @ApiOperationSupport(order = 2)
    @PostMapping("/takeOff")
@@ -48,4 +47,72 @@
        tyService.returnHome(returnHomeDTO);
        return AjaxResult.success();
    }

    @ApiOperation("取消返航")
    @ApiOperationSupport(order = 4)
    @PostMapping("/returnHomeCancel")
    public AjaxResult returnHomeCancel(@RequestBody ReturnHomeCancelDTO returnHomeCancelDTO) {
        tyService.returnHomeCancel(returnHomeCancelDTO);
        return AjaxResult.success();
    }

    @ApiOperation("降落")
    @ApiOperationSupport(order = 5)
    @PostMapping("/land")
    public AjaxResult land(@RequestBody LandDTO landDTO) {
        tyService.land(landDTO);
        return AjaxResult.success();
    }

    @ApiOperation("取消降落")
    @ApiOperationSupport(order = 6)
    @PostMapping("/landCancel")
    public AjaxResult landCancel(@RequestBody LandCancelDTO landCancelDTO) {
        tyService.landCancel(landCancelDTO);
        return AjaxResult.success();
    }

    @ApiOperation("强制降落")
    @ApiOperationSupport(order = 7)
    @PostMapping("/landForced")
    public AjaxResult landForced(@RequestBody LandForcedDTO landForcedDTO) {
        tyService.landForced(landForcedDTO);
        return AjaxResult.success();
    }

    @ApiOperation(value = "方向控制", notes = "前后速度frSpeed:【前0至30 后0至-30】单位m/s " +
            "左右速度lrSpeed:【右0至30 左0至-30】单位m/s  " +
            "上下速度udSpeed:【上0至5 后0至-5 】单位m/s 偏航角yaw：-150~150 deg/s")
    @ApiOperationSupport(order = 8)
    @PostMapping("/flyControl")
    public AjaxResult flyControl(@RequestBody FlyControlDTO flyControlDTO) {
        tyService.flyControl(flyControlDTO);
        return AjaxResult.success();
    }

    @ApiOperation(value = "开始指点飞行", notes = "速度speed:0~20 单位m/s " +
            "飞行模式flyMode：0-节能模式【飞机直线飞到目标点，需飞机在空中】，" +
            "1-安全模式【飞机飞行至目标点高度再平飞到目标点，飞机可以在地面或空中】 默认为节能模式")
    @ApiOperationSupport(order = 9)
    @PostMapping("/flyPointControl")
    public AjaxResult flyPointControl(@RequestBody FlyPointControlDTO flyPointControlDTO) {
        tyService.flyPointControl(flyPointControlDTO);
        return AjaxResult.success();
    }

    @ApiOperation("停止指点飞行")
    @ApiOperationSupport(order = 10)
    @PostMapping("/flyPointControlCancel")
    public AjaxResult flyPointControlCancel(@RequestBody FlyPointControlCancelDTO flyPointControlCancelDTO) {
        tyService.flyPointControlCancel(flyPointControlCancelDTO);
        return AjaxResult.success();
    }

    @ApiOperation(value = "紧急制动", notes = "动作参数actionParam： 0-解除紧急制动 1-紧急制动")
    @ApiOperationSupport(order = 11)
    @PostMapping("/emeragencyBrake")
    public AjaxResult emeragencyBrake(@RequestBody EmeragencyBrakeDTO emeragencyBrakeDTO) {
        tyService.emeragencyBrake(emeragencyBrakeDTO);
        return AjaxResult.success();
    }
}