From 04de920362c9dcc1cc6077b54acba8eeff5090fd Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Thu, 05 Feb 2026 14:09:03 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 4 +++-
1 files changed, 3 insertions(+), 1 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
index 147f4a8..f03d7c3 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -637,6 +637,9 @@
/**
* 环绕飞行控制
*/
+// @CheckControlRight(UavControlType.FLY)
+// @CheckTakeoffAltitude
+// @CheckNoFlyZone
@Override
public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {
String boxSn = flyRoundControlDTO.getBoxSn();
@@ -978,7 +981,6 @@
// 处理无人机遥测消息
UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();
- //telemetryData.setTimestamp(System.currentTimeMillis());//由于六合提供的状态时间戳不准，先以接收状态作为时间戳
UavTelemetryDataCache.put(telemetryData);
//logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
--
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