增加环绕飞行控制

liusuyi

2025-11-25 87689cefac709bdc2414c8d365b03ad0585e5bc5

 ard-admin/src/main/java/com/ard/web/controller/work/UavManualFlyController.java

@@ -108,6 +108,25 @@
        return AjaxResult.success();
    }

    @ApiOperation(value = "开始环绕飞行", notes = "速度speed:0~20 单位m/s " +
            "环绕半径radius：单位m，"+
            "飞行模式flyMode：0-节能模式【飞机直线飞到目标点，需飞机在空中】，" +
            "1-安全模式【飞机飞行至目标点高度再平飞到目标点，飞机可以在地面或空中】 默认为节能模式")
    @ApiOperationSupport(order = 9)
    @PostMapping("/flyRoundControl")
    public AjaxResult flyRoundControl(@RequestBody FlyRoundControlDTO flyRoundControlDTO) {
        tyService.FlyRoundControl(flyRoundControlDTO);
        return AjaxResult.success();
    }

    @ApiOperation("停止环绕飞行")
    @ApiOperationSupport(order = 10)
    @PostMapping("/flyRoundControlCancel")
    public AjaxResult flyRoundControlCancel(@RequestBody FlyRoundControlCancelDTO flyRoundControlCancelDTO) {
        tyService.FlyRoundControlCancel(flyRoundControlCancelDTO);
        return AjaxResult.success();
    }

    @ApiOperation(value = "紧急制动", notes = "动作参数actionParam： 0-解除紧急制动 1-紧急制动")
    @ApiOperationSupport(order = 11)
    @PostMapping("/emeragencyBrake")