From 2acf49278129e5870d8b775519a2bc1461294fb8 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 11 Mar 2026 08:55:46 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 68 +++++++--------------------------
1 files changed, 15 insertions(+), 53 deletions(-)
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 8ef4f90..b5a1cd4 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
@@ -8,6 +8,7 @@
import java.util.ArrayList;
import java.util.List;
+import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK;
import static com.ard.route.util.ToolUtils.getDoublePoint;
/**
@@ -30,7 +31,7 @@
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");
@@ -55,8 +56,11 @@
}
uavRouteReq.setWaypointTurnReq(waypointTurnReq);
uavRouteReq.setGimbalPitchMode("usePointSetting");
- // 变焦数值加工
- buildZoom(uavRouteReq);
+ uavRouteReq.setHeightMode("EGM96");
+ if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
+ // 变焦数值加工
+ buildZoom(uavRouteReq);
+ }
// 修改每个航点的高度
buildHeight(uavRouteReq);
// 动作组编号数据加工
@@ -98,31 +102,24 @@
*/
private void buildZoom(UavRouteReq uavRouteReq){
for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
- for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
- for (PointActionReq action : actionGroupReq.getActions()) {
- if (action.getZoom() != null){
- action.setZoom(multiple_23(action.getZoom()));
- //action.setZoom(multiple_6(action.getZoom()));
+ if (!routePointReq.getActionGroupList().isEmpty()){
+ for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
+ for (PointActionReq action : actionGroupReq.getActions()) {
+ if (action.getZoom() != null){
+ action.setZoom(multiple23(action.getZoom()));
+ }
}
}
}
}
}
- public static Double multiple_23(Double zoom){
+ public static Double multiple23(Double zoom){
return zoom * CHANSI_H20T;
}
- public static Double multiple_6(Double zoom){
- return zoom * CHANSI_H20_FOCUS;
- }
-
- public static Double divided_23(Double zoom){
+ public static Double divided23(Double zoom){
return zoom / CHANSI_H20T;
- }
-
- public static Double divided_6(Double zoom){
- return zoom / CHANSI_H20_FOCUS;
}
/**
@@ -271,40 +268,5 @@
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);
-// }
}
--
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