Merge remote-tracking branch 'origin/dev' into dev

zhaowenyu

2026-04-01 b8b5a3895e741d5348ecdd39ad2e5cbd443f8e89

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

@@ -34,7 +34,8 @@
        if (uavRouteReq.getTakeOffRefPoint() == null){
            uavRouteReq.setTakeOffRefPoint(
                    uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
                            uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
                            uavRouteReq.getRoutePointList().get(0).getLongitude() + "," +
                            uavRouteReq.getRoutePointList().get(0).getHeight());
        }
        //uavRouteReq.setDroneType(89);
        uavRouteReq.setSubDroneType(0);
@@ -56,7 +57,6 @@
        }
        uavRouteReq.setWaypointTurnReq(waypointTurnReq);
        uavRouteReq.setGimbalPitchMode("usePointSetting");
        uavRouteReq.setHeightMode("EGM96");
        if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
            // 变焦数值加工
            buildZoom(uavRouteReq);
@@ -91,9 +91,11 @@
     * 根据起飞点高度减去当前航点高度
     */
    public void buildHeight(UavRouteReq uavRouteReq){
        double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt");
        for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
            routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight);
        if (!"EGM96".equals(uavRouteReq.getHeightMode())){
            double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt");
            for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
                routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight);
            }
        }
    }