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

zhaowenyu

2025-12-12 69486342b6bfe3f58f6c76efa1693591117b78d1

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

 ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java

@@ -102,7 +102,7 @@
                    throw new ControlException("遥测数据异常，无法执行！");
                }
                // 检查高度
                if (uavTelemetryData.getAltitude() < minAltitude) {
                if (uavTelemetryData.getUltrasonic() < minAltitude) {
                    throw new ControlException("高度太低，无法执行！最低高度: " + minAltitude);
                }
            }

 ard-work/src/main/java/com/ard/work/aspect/annotation/CheckTakeoffAltitude.java

@@ -11,5 +11,5 @@
@Target(ElementType.METHOD)
@Retention(RetentionPolicy.RUNTIME)
public @interface CheckTakeoffAltitude {
    double minAltitude() default 20.0; // 默认最低起飞高度为10米
    double minAltitude() default 10.0; // 默认最低起飞高度为10米
}

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

@@ -555,7 +555,7 @@
     * 方向控制
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @CheckTakeoffAltitude
    @Override
    public Boolean flyControl(FlyControlDTO flyControlDTO) {
        String boxSn = flyControlDTO.getBoxSn();
@@ -572,7 +572,7 @@
     * 指点飞行控制
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @CheckTakeoffAltitude
    @CheckNoFlyZone
    @Override
    public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {