forked from uav/ard-uav-server
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zhaowenyu
2026-01-06 4e8a1c02b45f72f6377603778e8c8746ed82f374 
 ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java


@@ -606,6 +606,10 @@


        if (ardDroneInfo == null) {


            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);


        }


        //打点之前先停止打点


        FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(FlyPointControlCancelDTO.builder().boxSn(boxSn).build());


        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);




        FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);


        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);


        return true;


@@ -974,7 +978,6 @@


                // 处理无人机遥测消息


                UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;


                TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();


                telemetryData.setTimestamp(System.currentTimeMillis());//由于六合提供的状态时间戳不准，先以接收状态作为时间戳


                UavTelemetryDataCache.put(telemetryData);


                //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());


                //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());