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 | 55 +++++++++++--------------------------------------------
1 files changed, 11 insertions(+), 44 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 0298de1..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
@@ -31,10 +31,11 @@
public UavRouteReq initialization(UavRouteReq uavRouteReq){
uavRouteReq.setTemplateType("waypoint");
// 起始点默认航线第一个点
- if (uavRouteReq.getTakeOffRefPoint().isEmpty()){
+ 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);
@@ -90,9 +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);
+ }
}
}
@@ -105,8 +108,7 @@
for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
for (PointActionReq action : actionGroupReq.getActions()) {
if (action.getZoom() != null){
- action.setZoom(multiple_23(action.getZoom()));
- //action.setZoom(multiple_6(action.getZoom()));
+ action.setZoom(multiple23(action.getZoom()));
}
}
}
@@ -114,11 +116,11 @@
}
}
- public static Double multiple_23(Double zoom){
+ public static Double multiple23(Double zoom){
return zoom * CHANSI_H20T;
}
- public static Double divided_23(Double zoom){
+ public static Double divided23(Double zoom){
return zoom / CHANSI_H20T;
}
@@ -268,40 +270,5 @@
ardRouteChange.setPoints(points);
}
-
-// private ArdRoutePoints buildArdRoutePoints(){
-// ArdRoutePoints ardRoutePoints1 = new ArdRoutePoints();
-// ardRoutePoints1.setDampingDistance(0);
-// ardRoutePoints1.setFlightPathMode(1);
-// ardRoutePoints1.setGroupIndex(0);
-// ardRoutePoints1.setHeading(0);
-// ardRoutePoints1.setHeadingMode(0);
-// ardRoutePoints1.setHeight(50);
-// ardRoutePoints1.setInterestIndex(0);
-// ardRoutePoints1.setLat(31.11339916);
-// ardRoutePoints1.setLon(103.75851462);
-// ardRoutePoints1.setSafeGohomeFlag(0);
-// ardRoutePoints1.setSpeed(8);
-//
-//
-// }
-
-// private ArdRouteActions buildArdRouteActions(){
-// ArdRouteActions ardRouteActions0 = new ArdRouteActions();
-// ardRouteActions0.setParam(10);
-// ardRouteActions0.setSpeakInfo("");
-// ardRouteActions0.setType(1);
-// ardRouteActions0.setWaitTime(2);
-// ArdRouteActions ardRouteActions1 = new ArdRouteActions();
-// ardRouteActions1.setParam(10);
-// ardRouteActions1.setSpeakInfo("");
-// ardRouteActions1.setType(1);
-// ardRouteActions1.setWaitTime(2);
-// ArdRouteActions ardRouteActions2 = new ArdRouteActions();
-// ardRouteActions2.setParam(10);
-// ardRouteActions2.setSpeakInfo("");
-// ardRouteActions2.setType(1);
-// ardRouteActions2.setWaitTime(2);
-// }
}
--
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