From 1f6fafd5c0d26ac863e7d48b40c802fa962b07cb Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Sat, 07 Mar 2026 15:39:48 +0800
Subject: [PATCH] 1. 修改生成kmz文件核心代码，海拔高度相关信息。
---
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 1 +
ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java | 25 +++++++++++++++++++++----
ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlParams.java | 10 ++++++++++
ard-route/src/main/java/com/ard/route/domain/djuav/UavRouteReq.java | 9 +++++++++
4 files changed, 41 insertions(+), 4 deletions(-)
diff --git a/ard-route/src/main/java/com/ard/route/domain/djuav/UavRouteReq.java b/ard-route/src/main/java/com/ard/route/domain/djuav/UavRouteReq.java
index 9f5a690..5ce5286 100644
--- a/ard-route/src/main/java/com/ard/route/domain/djuav/UavRouteReq.java
+++ b/ard-route/src/main/java/com/ard/route/domain/djuav/UavRouteReq.java
@@ -143,4 +143,13 @@
*/
private String mappingHeadingMode;
+ /**
+ * 航点高程参考平面
+ * EGM96：使用海拔高编辑
+ * relativeToStartPoint：使用相对点的高度进行编辑
+ * aboveGroundLevel：使用地形数据，AGL下编辑(仅支持司空2平台)
+ * realTimeFollowSurface: 使用实时仿地模式（仅用于建图航拍模版），仅支持M3E/M3T/M3M机型
+ */
+ private String heightMode;
+
}
diff --git a/ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlParams.java b/ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlParams.java
index 0bcfa3a..b144d0f 100644
--- a/ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlParams.java
+++ b/ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlParams.java
@@ -110,5 +110,15 @@
* 全局航线速度
*/
private Double globalTransitionalSpeed;
+
+ /**
+ * 航点高程参考平面
+ * EGM96：使用海拔高编辑
+ * relativeToStartPoint：使用相对点的高度进行编辑
+ * aboveGroundLevel：使用地形数据，AGL下编辑(仅支持司空2平台)
+ * realTimeFollowSurface: 使用实时仿地模式（仅用于建图航拍模版），仅支持M3E/M3T/M3M机型
+ */
+ private String heightMode;
+
}
diff --git a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
index 99845a7..d688837 100644
--- a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
@@ -56,6 +56,7 @@
}
uavRouteReq.setWaypointTurnReq(waypointTurnReq);
uavRouteReq.setGimbalPitchMode("usePointSetting");
+ uavRouteReq.setHeightMode("EGM96");
if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
// 变焦数值加工
buildZoom(uavRouteReq);
diff --git a/ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java b/ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
index ceeb180..b79dc6a 100644
--- a/ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
@@ -143,7 +143,9 @@
}else {
kmlMissionConfig.setGlobalTransitionalSpeed("15");
}
- kmlMissionConfig.setGlobalRTHHeight("100");
+ if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){
+ kmlMissionConfig.setGlobalRTHHeight("100");
+ }
kmlMissionConfig.setTakeOffRefPoint(kmlParams.getTakeOffRefPoint());
kmlMissionConfig.setDroneInfo(buildKmlDroneInfo(kmlParams.getDroneType(), kmlParams.getSubDroneType()));
kmlMissionConfig.setPayloadInfo(buildKmlPayloadInfo(kmlParams.getPayloadType(), kmlParams.getPayloadPosition()));
@@ -175,13 +177,28 @@
kmlFolder.setAutoFlightSpeed(String.valueOf(kmlParams.getAutoFlightSpeed()));
if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
kmlFolder.setTemplateType(kmlParams.getTemplateType());
- kmlFolder.setWaylineCoordinateSysParam(buildKmlWayLineCoordinateSysParam(kmlParams.getTemplateType(), HeightModeEnums.RELATIVE_TO_START_POINT.getValue(),
- String.valueOf(kmlParams.getGlobalHeight())));
+ if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){
+ kmlFolder.setWaylineCoordinateSysParam(
+ buildKmlWayLineCoordinateSysParam(
+ kmlParams.getTemplateType(),
+ HeightModeEnums.RELATIVE_TO_START_POINT.getValue(),
+ String.valueOf(kmlParams.getGlobalHeight())));
+ }else if(kmlParams.getHeightMode().equals(HeightModeEnums.EGM96.getValue())){
+ kmlFolder.setWaylineCoordinateSysParam(
+ buildKmlWayLineCoordinateSysParam(
+ kmlParams.getTemplateType(),
+ HeightModeEnums.EGM96.getValue(),
+ String.valueOf(kmlParams.getGlobalHeight())));
+ }
kmlFolder.setPayloadParam(buildKmlPayloadParam(kmlParams));
}
if (StringUtils.equals(fileType, FileTypeConstants.WPML)) {
kmlFolder.setWaylineId("0");
- kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.RELATIVE_TO_START_POINT.getValue());
+ if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){
+ kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.RELATIVE_TO_START_POINT.getValue());
+ } else if (kmlParams.getHeightMode().equals(HeightModeEnums.EGM96.getValue())) {
+ kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.WGS84.getValue());
+ }
if (CollectionUtil.isNotEmpty(kmlParams.getStartActionList())) {
KmlActionGroup kmlActionGroup = new KmlActionGroup();
kmlActionGroup.setAction(getKmlActionList(kmlParams.getStartActionList(), kmlParams));
--
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