From 05ba868736725db54db1944ed5cf7a95d14efc37 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Wed, 30 Oct 2024 17:07:51 +0800
Subject: [PATCH] 增加：手动飞行控制
---
ard-work/src/main/java/com/ard/tianyu/service/ITyService.java | 45 ++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 42 insertions(+), 3 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java b/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
index 2308965..612fcb2 100644
--- a/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
+++ b/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
@@ -7,9 +7,7 @@
import com.ard.tianyu.model.dto.control.AbsAngleControlDTO;
import com.ard.tianyu.model.dto.control.AngleControlDTO;
import com.ard.tianyu.model.dto.control.SpeedControlDTO;
-import com.ard.tianyu.model.dto.manual.ReturnHomeDTO;
-import com.ard.tianyu.model.dto.manual.SwitchUavControlDTO;
-import com.ard.tianyu.model.dto.manual.TakeOffDTO;
+import com.ard.tianyu.model.dto.manual.*;
import com.ard.tianyu.model.dto.signal.SignalInfo;
import com.ard.tianyu.model.dto.state.UavState;
import com.ard.tianyu.model.dto.telemetry.TelemetryData;
@@ -138,6 +136,47 @@
* 返航
*/
void returnHome(ReturnHomeDTO returnHomeDTO);
+
+ /**
+ * 取消返航
+ */
+ void returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO);
+
+ /**
+ * 降落
+ */
+ void land(LandDTO landDTO);
+
+ /**
+ * 取消降落
+ */
+ void landCancel(LandCancelDTO landCancelDTO);
+
+ /**
+ * 强制降落
+ */
+ void landForced(LandForcedDTO landForcedDTO);
+
+ /**
+ * 方向控制
+ */
+ void flyControl(FlyControlDTO flyControlDTO);
+
+ /**
+ * 指点飞行控制
+ */
+ void flyPointControl(FlyPointControlDTO flyPointControlDTO);
+
+ /**
+ * 停止指点飞行控制
+ */
+ void flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO);
+
+ /**
+ * 紧急制动
+ */
+ void emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO);
+
/**
* 获取无人机状态
*/
--
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