From 69486342b6bfe3f58f6c76efa1693591117b78d1 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Fri, 12 Dec 2025 10:40:56 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 4 ++--
ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java | 2 +-
ard-work/src/main/java/com/ard/work/aspect/annotation/CheckTakeoffAltitude.java | 2 +-
3 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java b/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
index f03b555..98e44e8 100644
--- a/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
+++ b/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
@@ -102,7 +102,7 @@
throw new ControlException("遥测数据异常，无法执行！");
}
// 检查高度
- if (uavTelemetryData.getAltitude() < minAltitude) {
+ if (uavTelemetryData.getUltrasonic() < minAltitude) {
throw new ControlException("高度太低，无法执行！最低高度: " + minAltitude);
}
}
diff --git a/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckTakeoffAltitude.java b/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckTakeoffAltitude.java
index a9f3902..ac04a2e 100644
--- a/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckTakeoffAltitude.java
+++ b/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckTakeoffAltitude.java
@@ -11,5 +11,5 @@
@Target(ElementType.METHOD)
@Retention(RetentionPolicy.RUNTIME)
public @interface CheckTakeoffAltitude {
- double minAltitude() default 20.0; // 默认最低起飞高度为10米
+ double minAltitude() default 10.0; // 默认最低起飞高度为10米
}
\ No newline at end of file
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 c9b84d4..84dfaab 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
@@ -555,7 +555,7 @@
* 方向控制
*/
@CheckControlRight(UavControlType.FLY)
- @CheckTakeoffAltitude(minAltitude = 30.0)
+ @CheckTakeoffAltitude
@Override
public Boolean flyControl(FlyControlDTO flyControlDTO) {
String boxSn = flyControlDTO.getBoxSn();
@@ -572,7 +572,7 @@
* 指点飞行控制
*/
@CheckControlRight(UavControlType.FLY)
- @CheckTakeoffAltitude(minAltitude = 30.0)
+ @CheckTakeoffAltitude
@CheckNoFlyZone
@Override
public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
--
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