From 87689cefac709bdc2414c8d365b03ad0585e5bc5 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 25 Nov 2025 14:02:55 +0800
Subject: [PATCH] 增加环绕飞行控制
---
ard-admin/src/main/java/com/ard/web/controller/work/UavManualFlyController.java | 19 +++++++++++++++++++
1 files changed, 19 insertions(+), 0 deletions(-)
diff --git a/ard-admin/src/main/java/com/ard/web/controller/work/UavManualFlyController.java b/ard-admin/src/main/java/com/ard/web/controller/work/UavManualFlyController.java
index ab6aad4..e3b17f6 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/work/UavManualFlyController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/work/UavManualFlyController.java
@@ -108,6 +108,25 @@
return AjaxResult.success();
}
+ @ApiOperation(value = "开始环绕飞行", notes = "速度speed:0~20 单位m/s " +
+ "环绕半径radius：单位m，"+
+ "飞行模式flyMode：0-节能模式【飞机直线飞到目标点，需飞机在空中】，" +
+ "1-安全模式【飞机飞行至目标点高度再平飞到目标点，飞机可以在地面或空中】 默认为节能模式")
+ @ApiOperationSupport(order = 9)
+ @PostMapping("/flyRoundControl")
+ public AjaxResult flyRoundControl(@RequestBody FlyRoundControlDTO flyRoundControlDTO) {
+ tyService.FlyRoundControl(flyRoundControlDTO);
+ return AjaxResult.success();
+ }
+
+ @ApiOperation("停止环绕飞行")
+ @ApiOperationSupport(order = 10)
+ @PostMapping("/flyRoundControlCancel")
+ public AjaxResult flyRoundControlCancel(@RequestBody FlyRoundControlCancelDTO flyRoundControlCancelDTO) {
+ tyService.FlyRoundControlCancel(flyRoundControlCancelDTO);
+ return AjaxResult.success();
+ }
+
@ApiOperation(value = "紧急制动", notes = "动作参数actionParam： 0-解除紧急制动 1-紧急制动")
@ApiOperationSupport(order = 11)
@PostMapping("/emeragencyBrake")
--
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