优化

liusuyi

2025-10-20 5c3396449048fa606940675103a7907e7bbd64ef

 ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java

@@ -22,15 +22,15 @@
    @Override
    protected Map<String,Object> getData(String boxSn) {
        Map<String,Object> map=new HashMap<>();
        UavState uavState = UavStateCache.getUavState(boxSn);
        UavState uavState = UavStateCache.get(boxSn);
        if (uavState != null) {
            uavState.calculateFieldAngle();// 计算当前无人机的FieldAngle
        }
        map.put("boxSn", uavState.getBoxSn());
        map.put("state", uavState);
        TelemetryData uavTelemetryData = UavTelemetryDataCache.getUavTelemetryData(boxSn);
        TelemetryData uavTelemetryData = UavTelemetryDataCache.get(boxSn);
        map.put("telemetry", uavTelemetryData);
        SignalInfo uavSignalInfo = UavSignalInfoCache.getUavSignalInfo(boxSn);
        SignalInfo uavSignalInfo = UavSignalInfoCache.get(boxSn);
        map.put("signal", uavSignalInfo);
        // 获取当前控制飞行的用户ID
        Long flyUserId = uavControlService.getCurrentController(boxSn, "fly");