1. 修改任务航线业务逻辑，优化写法。

Xiajijian

2026-01-23 1609b77ba4715a7f17030d61d20c8e526861ca1a

 ard-route/src/main/java/com/ard/route/util/InitializationUtils.java

@@ -8,6 +8,7 @@
import java.util.ArrayList;
import java.util.List;

import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK;
import static com.ard.route.util.ToolUtils.getDoublePoint;

/**
@@ -55,8 +56,10 @@
        }
        uavRouteReq.setWaypointTurnReq(waypointTurnReq);
        uavRouteReq.setGimbalPitchMode("usePointSetting");
        // 变焦数值加工
        buildZoom(uavRouteReq);
        if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
            // 变焦数值加工
            buildZoom(uavRouteReq);
        }
        // 修改每个航点的高度
        buildHeight(uavRouteReq);
        // 动作组编号数据加工
@@ -98,11 +101,12 @@
     */
    private void buildZoom(UavRouteReq uavRouteReq){
        for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
            for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
                for (PointActionReq action : actionGroupReq.getActions()) {
                    if (action.getZoom() != null){
                        action.setZoom(multiple_23(action.getZoom()));
                        //action.setZoom(multiple_6(action.getZoom()));
            if (!routePointReq.getActionGroupList().isEmpty()){
                for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
                    for (PointActionReq action : actionGroupReq.getActions()) {
                        if (action.getZoom() != null){
                            action.setZoom(multiple_23(action.getZoom()));
                        }
                    }
                }
            }
@@ -113,16 +117,8 @@
        return zoom * CHANSI_H20T;
    }

    public static Double multiple_6(Double zoom){
        return zoom * CHANSI_H20_FOCUS;
    }

    public static Double divided_23(Double zoom){
        return zoom / CHANSI_H20T;
    }

    public static Double divided_6(Double zoom){
        return zoom / CHANSI_H20_FOCUS;
    }

    /**
@@ -285,8 +281,6 @@
//        ardRoutePoints1.setLon(103.75851462);
//        ardRoutePoints1.setSafeGohomeFlag(0);
//        ardRoutePoints1.setSpeed(8);
//
//
//    }

//    private ArdRouteActions buildArdRouteActions(){