From b8b5a3895e741d5348ecdd39ad2e5cbd443f8e89 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 01 Apr 2026 12:17:04 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 12 +++++++-----
1 files changed, 7 insertions(+), 5 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 b5a1cd4..0742cc7 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
@@ -34,7 +34,8 @@
if (uavRouteReq.getTakeOffRefPoint() == null){
uavRouteReq.setTakeOffRefPoint(
uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
- uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
+ uavRouteReq.getRoutePointList().get(0).getLongitude() + "," +
+ uavRouteReq.getRoutePointList().get(0).getHeight());
}
//uavRouteReq.setDroneType(89);
uavRouteReq.setSubDroneType(0);
@@ -56,7 +57,6 @@
}
uavRouteReq.setWaypointTurnReq(waypointTurnReq);
uavRouteReq.setGimbalPitchMode("usePointSetting");
- uavRouteReq.setHeightMode("EGM96");
if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
// 变焦数值加工
buildZoom(uavRouteReq);
@@ -91,9 +91,11 @@
* 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);
+ if (!"EGM96".equals(uavRouteReq.getHeightMode())){
+ double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt");
+ for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
+ routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight);
+ }
}
}
--
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