Merge remote-tracking branch 'origin/dev' into dev

zhaowenyu

2026-03-09 3339af3ec5d084083d27ac03f978687ad026b0a5

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

@@ -31,7 +31,7 @@
    public UavRouteReq initialization(UavRouteReq uavRouteReq){
        uavRouteReq.setTemplateType("waypoint");
        // 起始点默认航线第一个点
        if (uavRouteReq.getTakeOffRefPoint().isEmpty()){
        if (uavRouteReq.getTakeOffRefPoint() == null){
            uavRouteReq.setTakeOffRefPoint(
                    uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
                            uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
@@ -56,6 +56,7 @@
        }
        uavRouteReq.setWaypointTurnReq(waypointTurnReq);
        uavRouteReq.setGimbalPitchMode("usePointSetting");
        uavRouteReq.setHeightMode("EGM96");
        if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
            // 变焦数值加工
            buildZoom(uavRouteReq);
@@ -281,8 +282,6 @@
//        ardRoutePoints1.setLon(103.75851462);
//        ardRoutePoints1.setSafeGohomeFlag(0);
//        ardRoutePoints1.setSpeed(8);
//
//
//    }

//    private ArdRouteActions buildArdRouteActions(){