From 3339af3ec5d084083d27ac03f978687ad026b0a5 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Mon, 09 Mar 2026 11:19:44 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java | 25 +++++++++++++++++++++----
1 files changed, 21 insertions(+), 4 deletions(-)
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));
--
Gitblit v1.9.3