1. 优化精细化巡检业务逻辑。

Xiajijian

2026-03-10 a222a89580ad46ad31924bdfba4f0e05ecefde16

 ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java

@@ -143,7 +143,9 @@
        }else {
            kmlMissionConfig.setGlobalTransitionalSpeed("15");
        }
        kmlMissionConfig.setGlobalRTHHeight("100");
        if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){
            kmlMissionConfig.setGlobalRTHHeight("100");
        }
        kmlMissionConfig.setTakeOffRefPoint(kmlParams.getTakeOffRefPoint());
        kmlMissionConfig.setDroneInfo(buildKmlDroneInfo(kmlParams.getDroneType(), kmlParams.getSubDroneType()));
        kmlMissionConfig.setPayloadInfo(buildKmlPayloadInfo(kmlParams.getPayloadType(), kmlParams.getPayloadPosition()));
@@ -175,13 +177,28 @@
        kmlFolder.setAutoFlightSpeed(String.valueOf(kmlParams.getAutoFlightSpeed()));
        if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
            kmlFolder.setTemplateType(kmlParams.getTemplateType());
            kmlFolder.setWaylineCoordinateSysParam(buildKmlWayLineCoordinateSysParam(kmlParams.getTemplateType(), HeightModeEnums.RELATIVE_TO_START_POINT.getValue(),
                    String.valueOf(kmlParams.getGlobalHeight())));
            if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){
                kmlFolder.setWaylineCoordinateSysParam(
                        buildKmlWayLineCoordinateSysParam(
                                kmlParams.getTemplateType(),
                                HeightModeEnums.RELATIVE_TO_START_POINT.getValue(),
                                String.valueOf(kmlParams.getGlobalHeight())));
            }else if(kmlParams.getHeightMode().equals(HeightModeEnums.EGM96.getValue())){
                kmlFolder.setWaylineCoordinateSysParam(
                        buildKmlWayLineCoordinateSysParam(
                                kmlParams.getTemplateType(),
                                HeightModeEnums.EGM96.getValue(),
                                String.valueOf(kmlParams.getGlobalHeight())));
            }
            kmlFolder.setPayloadParam(buildKmlPayloadParam(kmlParams));
        }
        if (StringUtils.equals(fileType, FileTypeConstants.WPML)) {
            kmlFolder.setWaylineId("0");
            kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.RELATIVE_TO_START_POINT.getValue());
            if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){
                kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.RELATIVE_TO_START_POINT.getValue());
            } else if (kmlParams.getHeightMode().equals(HeightModeEnums.EGM96.getValue())) {
                kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.WGS84.getValue());
            }
            if (CollectionUtil.isNotEmpty(kmlParams.getStartActionList())) {
                KmlActionGroup kmlActionGroup = new KmlActionGroup();
                kmlActionGroup.setAction(getKmlActionList(kmlParams.getStartActionList(), kmlParams));