1. 提交细节修改。

Xiajijian

2026-05-27 402fe914957546a820c60731181501c554826fa4

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

@@ -34,7 +34,8 @@
        if (uavRouteReq.getTakeOffRefPoint() == null){
            uavRouteReq.setTakeOffRefPoint(
                    uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
                            uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
                            uavRouteReq.getRoutePointList().get(0).getLongitude() + "," +
                            uavRouteReq.getRoutePointList().get(0).getHeight());
        }
        //uavRouteReq.setDroneType(89);
        uavRouteReq.setSubDroneType(0);
@@ -56,7 +57,6 @@
        }
        uavRouteReq.setWaypointTurnReq(waypointTurnReq);
        uavRouteReq.setGimbalPitchMode("usePointSetting");
        uavRouteReq.setHeightMode("EGM96");
        if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
            // 变焦数值加工
            buildZoom(uavRouteReq);
@@ -91,9 +91,11 @@
     * 根据起飞点高度减去当前航点高度
     */
    public void buildHeight(UavRouteReq uavRouteReq){
        double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt");
        for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
            routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight);
        if (!"EGM96".equals(uavRouteReq.getHeightMode())){
            double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt");
            for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
                routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight);
            }
        }
    }

@@ -106,7 +108,7 @@
                for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
                    for (PointActionReq action : actionGroupReq.getActions()) {
                        if (action.getZoom() != null){
                            action.setZoom(multiple_23(action.getZoom()));
                            action.setZoom(multiple23(action.getZoom()));
                        }
                    }
                }
@@ -114,192 +116,12 @@
        }
    }

    public static Double multiple_23(Double zoom){
    public static Double multiple23(Double zoom){
        return zoom * CHANSI_H20T;
    }

    public static Double divided_23(Double zoom){
    public static Double divided23(Double zoom){
        return zoom / CHANSI_H20T;
    }

    /**
     * 初始化数据
     */
    private void initializationSixHe(){
        ArdRouteChange ardRouteChange = new ArdRouteChange();
        ardRouteChange.setAutoSpeed(8);
        ardRouteChange.setFinishedAction(1);
        ardRouteChange.setHomeHeight(50);
        //ardRouteChange.setInterests(0);
        ardRouteChange.setIsSaveEnergyMode(0);
        ardRouteChange.setLoseAction(0);
        ardRouteChange.setMaxSpeed(15);
        ardRouteChange.setSecurityHeight(50);
        ardRouteChange.setTemplateId(0);

        List<ArdRoutePoints> points = new ArrayList<>();
        //-----------------------------------------------------
        ArdRoutePoints ardRoutePoints00 = new ArdRoutePoints();
        ardRoutePoints00.setDampingDistance(0);
        ardRoutePoints00.setFlightPathMode(1);
        ardRoutePoints00.setGroupIndex(0);
        ardRoutePoints00.setHeading(0);
        ardRoutePoints00.setHeadingMode(0);
        ardRoutePoints00.setHeight(50);
        ardRoutePoints00.setInterestIndex(-1);
        ardRoutePoints00.setLat(31.11339916);
        ardRoutePoints00.setLon(103.75851462);
        ardRoutePoints00.setSafeGohomeFlag(0);
        ardRoutePoints00.setSpeed(8);
        List<ArdRouteActions> actions00 = new ArrayList<>();
        ArdRouteActions ardRouteActions00 = new ArdRouteActions();
        ardRouteActions00.setParam(10);
        ardRouteActions00.setSpeakInfo("");
        ardRouteActions00.setType(1);
        ardRouteActions00.setWaitTime(2);
        ArdRouteActions ardRouteActions01 = new ArdRouteActions();
        ardRouteActions01.setParam(10);
        ardRouteActions01.setSpeakInfo("");
        ardRouteActions01.setType(1);
        ardRouteActions01.setWaitTime(2);
        ArdRouteActions ardRouteActions02 = new ArdRouteActions();
        ardRouteActions02.setParam(10);
        ardRouteActions02.setSpeakInfo("");
        ardRouteActions02.setType(1);
        ardRouteActions02.setWaitTime(2);
        actions00.add(ardRouteActions00);
        actions00.add(ardRouteActions01);
        actions00.add(ardRouteActions02);
        ardRoutePoints00.setActions(actions00);

        //-----------------------------------------------------
        ArdRoutePoints ardRoutePoints10 = new ArdRoutePoints();
        ardRoutePoints10.setDampingDistance(0);
        ardRoutePoints10.setFlightPathMode(1);
        ardRoutePoints10.setGroupIndex(0);
        ardRoutePoints10.setHeading(0);
        ardRoutePoints10.setHeadingMode(0);
        ardRoutePoints10.setHeight(50);
        ardRoutePoints10.setInterestIndex(-1);
        ardRoutePoints10.setLat(31.11339916);
        ardRoutePoints10.setLon(103.75746538);
        ardRoutePoints10.setSafeGohomeFlag(0);
        ardRoutePoints10.setSpeed(8);
        List<ArdRouteActions> actions10 = new ArrayList<>();
        ArdRouteActions ardRouteActions10 = new ArdRouteActions();
        ardRouteActions10.setParam(20);
        ardRouteActions10.setSpeakInfo("");
        ardRouteActions10.setType(9);
        ardRouteActions10.setWaitTime(2);
        ArdRouteActions ardRouteActions11 = new ArdRouteActions();
        ardRouteActions11.setParam(40);
        ardRouteActions11.setSpeakInfo("");
        ardRouteActions11.setType(6);
        ardRouteActions11.setWaitTime(2);
        ArdRouteActions ardRouteActions12 = new ArdRouteActions();
        ardRouteActions12.setParam(40);
        ardRouteActions12.setSpeakInfo("");
        ardRouteActions12.setType(7);
        ardRouteActions12.setWaitTime(2);
        ArdRouteActions ardRouteActions13 = new ArdRouteActions();
        ardRouteActions13.setParam(40);
        ardRouteActions13.setSpeakInfo("");
        ardRouteActions13.setType(8);
        ardRouteActions13.setWaitTime(2);
        actions10.add(ardRouteActions10);
        actions10.add(ardRouteActions11);
        actions10.add(ardRouteActions12);
        ardRoutePoints10.setActions(actions10);

        //-----------------------------------------------------
        ArdRoutePoints ardRoutePoints20 = new ArdRoutePoints();
        ardRoutePoints20.setDampingDistance(0);
        ardRoutePoints20.setFlightPathMode(1);
        ardRoutePoints20.setGroupIndex(0);
        ardRoutePoints20.setHeading(0);
        ardRoutePoints20.setHeadingMode(0);
        ardRoutePoints20.setHeight(50);
        ardRoutePoints20.setInterestIndex(-1);
        ardRoutePoints20.setLat(31.11250084);
        ardRoutePoints20.setLon(103.75746538);
        ardRoutePoints20.setSafeGohomeFlag(0);
        ardRoutePoints20.setSpeed(8);
        List<ArdRouteActions> actions20 = new ArrayList<>();
        ArdRouteActions ardRouteActions20 = new ArdRouteActions();
        ardRouteActions20.setParam(15);
        ardRouteActions20.setSpeakInfo("");
        ardRouteActions20.setType(9);
        ardRouteActions20.setWaitTime(2);
        ArdRouteActions ardRouteActions21 = new ArdRouteActions();
        ardRouteActions21.setParam(3);
        ardRouteActions21.setSpeakInfo("");
        ardRouteActions21.setType(10);
        ardRouteActions21.setWaitTime(2);
        actions20.add(ardRouteActions20);
        actions20.add(ardRouteActions21);
        ardRoutePoints20.setActions(actions20);

        //-----------------------------------------------------
        ArdRoutePoints ardRoutePoints30 = new ArdRoutePoints();
        ardRoutePoints30.setDampingDistance(0);
        ardRoutePoints30.setFlightPathMode(1);
        ardRoutePoints30.setGroupIndex(0);
        ardRoutePoints30.setHeading(0);
        ardRoutePoints30.setHeadingMode(0);
        ardRoutePoints30.setHeight(60);
        ardRoutePoints30.setInterestIndex(-1);
        ardRoutePoints30.setLat(31.11250084);
        ardRoutePoints30.setLon(103.75851462);
        ardRoutePoints30.setSafeGohomeFlag(0);
        ardRoutePoints30.setSpeed(8);
        List<ArdRouteActions> actions30 = new ArrayList<>();
        ArdRouteActions ardRouteActions30 = new ArdRouteActions();
        ardRouteActions30.setParam(1);
        ardRouteActions30.setSpeakInfo("");
        ardRouteActions30.setType(2);
        ardRouteActions30.setWaitTime(2);
        actions30.add(ardRouteActions30);
        ardRoutePoints30.setActions(actions30);

        points.add(ardRoutePoints00);
        points.add(ardRoutePoints10);
        points.add(ardRoutePoints20);
        points.add(ardRoutePoints30);

        ardRouteChange.setPoints(points);
    }

//    private ArdRoutePoints buildArdRoutePoints(){
//        ArdRoutePoints ardRoutePoints1 = new ArdRoutePoints();
//        ardRoutePoints1.setDampingDistance(0);
//        ardRoutePoints1.setFlightPathMode(1);
//        ardRoutePoints1.setGroupIndex(0);
//        ardRoutePoints1.setHeading(0);
//        ardRoutePoints1.setHeadingMode(0);
//        ardRoutePoints1.setHeight(50);
//        ardRoutePoints1.setInterestIndex(0);
//        ardRoutePoints1.setLat(31.11339916);
//        ardRoutePoints1.setLon(103.75851462);
//        ardRoutePoints1.setSafeGohomeFlag(0);
//        ardRoutePoints1.setSpeed(8);
//    }

//    private ArdRouteActions buildArdRouteActions(){
//        ArdRouteActions ardRouteActions0 = new ArdRouteActions();
//        ardRouteActions0.setParam(10);
//        ardRouteActions0.setSpeakInfo("");
//        ardRouteActions0.setType(1);
//        ardRouteActions0.setWaitTime(2);
//        ArdRouteActions ardRouteActions1 = new ArdRouteActions();
//        ardRouteActions1.setParam(10);
//        ardRouteActions1.setSpeakInfo("");
//        ardRouteActions1.setType(1);
//        ardRouteActions1.setWaitTime(2);
//        ArdRouteActions ardRouteActions2 = new ArdRouteActions();
//        ardRouteActions2.setParam(10);
//        ardRouteActions2.setSpeakInfo("");
//        ardRouteActions2.setType(1);
//        ardRouteActions2.setWaitTime(2);
//    }

}