From 4e8a1c02b45f72f6377603778e8c8746ed82f374 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Tue, 06 Jan 2026 10:04:33 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 72 +++++++++++++++++++++++++++++++----
1 files changed, 63 insertions(+), 9 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 f630224..e114575 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
@@ -8,13 +8,21 @@
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;
+
/**
* 初始化数据
* 测试数据
*/
public class InitializationUtils {
- private static final Double CHANSI_H20 = 23.76237623;
+ // 禅思H20T 公倍数
+ private static final Double CHANSI_H20T = 23.76237623;
+
+ // 禅思H20T 焦距值
+ private static final Double CHANSI_H20_FOCUS = 6.83;
+
private static final String WAYPOINT_TURN_MODE_DEFAULT = "toPointAndStopWithDiscontinuityCurvature";
/**
@@ -44,28 +52,73 @@
if (uavRouteReq.getGlobalWaypointTurnMode() != null){
waypointTurnReq.setWaypointTurnMode(uavRouteReq.getGlobalWaypointTurnMode());
}else {
- waypointTurnReq.setWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature");
+ waypointTurnReq.setWaypointTurnMode(WAYPOINT_TURN_MODE_DEFAULT);
}
uavRouteReq.setWaypointTurnReq(waypointTurnReq);
uavRouteReq.setGimbalPitchMode("usePointSetting");
- //buildZoom(uavRouteReq);
+ 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
+ buildActionGroupReq(uavRouteReq);
return uavRouteReq;
+ }
+
+ /**
+ * 构建动作组编号
+ */
+ public void buildActionGroupReq(UavRouteReq uavRouteReq){
+ int pointActionCounter = 0;
+ for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
+ if (routePointReq.getActionGroupList() != null){
+ for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
+ actionGroupReq.setActionGroupId(pointActionCounter++);
+ actionGroupReq.setActionGroupStartIndex(routePointReq.getRoutePointIndex());
+ actionGroupReq.setActionGroupEndIndex(routePointReq.getRoutePointIndex());
+ actionGroupReq.setActionTriggerType("reachPoint");
+ }
+
+ }
+ }
+ }
+
+ /**
+ * 修改每个航点的高度
+ * 根据起飞点高度减去当前航点高度
+ */
+ public void buildHeight(UavRouteReq uavRouteReq){
+ double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt");
+ for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
+ routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight);
+ }
}
/**
* 变焦动作加工
*/
- private UavRouteReq buildZoom(UavRouteReq uavRouteReq){
+ 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(action.getZoom() * CHANSI_H20);
+ if (!routePointReq.getActionGroupList().isEmpty()){
+ for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
+ for (PointActionReq action : actionGroupReq.getActions()) {
+ if (action.getZoom() != null){
+ action.setZoom(multiple_23(action.getZoom()));
+ }
}
}
}
}
- return uavRouteReq;
+ }
+
+ public static Double multiple_23(Double zoom){
+ return zoom * CHANSI_H20T;
+ }
+
+ public static Double divided_23(Double zoom){
+ return zoom / CHANSI_H20T;
}
/**
@@ -249,4 +302,5 @@
// ardRouteActions2.setType(1);
// ardRouteActions2.setWaitTime(2);
// }
+
}
--
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