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

zhaowenyu

2026-04-01 b8b5a3895e741d5348ecdd39ad2e5cbd443f8e89

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

@@ -31,10 +31,11 @@
    public UavRouteReq initialization(UavRouteReq uavRouteReq){
        uavRouteReq.setTemplateType("waypoint");
        // 起始点默认航线第一个点
        if (uavRouteReq.getTakeOffRefPoint().isEmpty()){
        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);
@@ -90,9 +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);
            }
        }
    }

@@ -105,7 +108,7 @@
                for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
                    for (PointActionReq action : actionGroupReq.getActions()) {
                        if (action.getZoom() != null){
                            action.setZoom(multiple_23(action.getZoom()));
                            action.setZoom(multiple23(action.getZoom()));
                        }
                    }
                }
@@ -113,11 +116,11 @@
        }
    }

    public static Double multiple_23(Double zoom){
    public static Double multiple23(Double zoom){
        return zoom * CHANSI_H20T;
    }

    public static Double divided_23(Double zoom){
    public static Double divided23(Double zoom){
        return zoom / CHANSI_H20T;
    }

@@ -267,38 +270,5 @@

        ardRouteChange.setPoints(points);
    }

//    private ArdRoutePoints buildArdRoutePoints(){
//        ArdRoutePoints ardRoutePoints1 = new ArdRoutePoints();
//        ardRoutePoints1.setDampingDistance(0);
//        ardRoutePoints1.setFlightPathMode(1);
//        ardRoutePoints1.setGroupIndex(0);
//        ardRoutePoints1.setHeading(0);
//        ardRoutePoints1.setHeadingMode(0);
//        ardRoutePoints1.setHeight(50);
//        ardRoutePoints1.setInterestIndex(0);
//        ardRoutePoints1.setLat(31.11339916);
//        ardRoutePoints1.setLon(103.75851462);
//        ardRoutePoints1.setSafeGohomeFlag(0);
//        ardRoutePoints1.setSpeed(8);
//    }

//    private ArdRouteActions buildArdRouteActions(){
//        ArdRouteActions ardRouteActions0 = new ArdRouteActions();
//        ardRouteActions0.setParam(10);
//        ardRouteActions0.setSpeakInfo("");
//        ardRouteActions0.setType(1);
//        ardRouteActions0.setWaitTime(2);
//        ArdRouteActions ardRouteActions1 = new ArdRouteActions();
//        ardRouteActions1.setParam(10);
//        ardRouteActions1.setSpeakInfo("");
//        ardRouteActions1.setType(1);
//        ardRouteActions1.setWaitTime(2);
//        ArdRouteActions ardRouteActions2 = new ArdRouteActions();
//        ardRouteActions2.setParam(10);
//        ardRouteActions2.setSpeakInfo("");
//        ardRouteActions2.setType(1);
//        ardRouteActions2.setWaitTime(2);
//    }

}