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-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 5 ++++-
1 files changed, 4 insertions(+), 1 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
index c6a0d66..ed5d4bb 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -606,6 +606,10 @@
if (ardDroneInfo == null) {
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
+ //打点之前先停止打点
+ FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(FlyPointControlCancelDTO.builder().boxSn(boxSn).build());
+ this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
+
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
return true;
@@ -974,7 +978,6 @@
// 处理无人机遥测消息
UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();
- telemetryData.setTimestamp(System.currentTimeMillis());//由于六合提供的状态时间戳不准，先以接收状态作为时间戳
UavTelemetryDataCache.put(telemetryData);
//logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
--
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