Merge branch 'dev' of http://59.110.226.79:18000/r/uav/ard-uav-server into dev

liusuyi

2026-06-11 4fafee90e483bb10e092186a9b07b8cc356dbdb2

 ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java

@@ -2,8 +2,10 @@

import cn.hutool.core.util.SerializeUtil;
import com.ard.common.utils.DateUtils;

import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.cache.UavWaylineCache;
import com.ard.work.domain.dto.UavFlightStateDTO;
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
@@ -77,7 +79,11 @@
                log.debug("设备 {} 当前状态为：{}", boxSn, currentStatus);
                // 只有飞行中才添加缓存
                if (currentStatus == 2) {
                    log.warn("设备 {} 当前状态为飞行中，添加遥测数据到缓存", boxSn);
                    int flightMode = telemetryData.getFlightMode();
                    if (flightMode != 14) {
                        // 非航线模式 → 清理航线缓存，避免手动飞行被错绑 routeId
                        UavWaylineCache.remove(boxSn);
                    }
                    UavFlightStateDTO dto = new UavFlightStateDTO(uavState, telemetryData, dataTs);
                    addTelemetryData(dto);
                }