1.代码优化，BUG修改获取权限错误。 2.增加打印日志。

Xiajijian

2025-11-21 5fb4a09cfaa9e8a7731aad90c3dd61c29b27187b

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

@@ -543,7 +543,6 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @CheckNoFlyZone
    @Override
    public Boolean flyControl(FlyControlDTO flyControlDTO) {
        String boxSn = flyControlDTO.getBoxSn();
@@ -751,7 +750,9 @@
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        //wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
        System.out.println("wayLineUploadDTO:-----------------" + wayLineUploadDTO);
        WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
        System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
        return true;
    }
@@ -874,7 +875,7 @@
            case 0x02:
                // 处理注册消息
                HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
                logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
                //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
                break;
            case 0x03:
                // 处理订阅消息