From fd5f1d86f334e814ccb8c2d679373fa7e373cb5e Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 04 Mar 2025 15:05:21 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/controller/UavManualFlyController.java | 73 +++++++++++++++++++++++++++++++++++-
1 files changed, 70 insertions(+), 3 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/controller/UavManualFlyController.java b/ard-work/src/main/java/com/ard/tianyu/controller/UavManualFlyController.java
index d90cab3..5ece6c9 100644
--- a/ard-work/src/main/java/com/ard/tianyu/controller/UavManualFlyController.java
+++ b/ard-work/src/main/java/com/ard/tianyu/controller/UavManualFlyController.java
@@ -1,9 +1,7 @@
package com.ard.tianyu.controller;
import com.ard.common.core.domain.AjaxResult;
-import com.ard.tianyu.model.dto.manual.ReturnHomeDTO;
-import com.ard.tianyu.model.dto.manual.SwitchUavControlDTO;
-import com.ard.tianyu.model.dto.manual.TakeOffDTO;
+import com.ard.tianyu.domain.dto.manual.*;
import com.ard.tianyu.service.ITyService;
import com.github.xiaoymin.knife4j.annotations.ApiOperationSupport;
import io.swagger.annotations.Api;
@@ -33,6 +31,7 @@
tyService.switchUavControl(switchUavControlDTO);
return AjaxResult.success();
}
+
@ApiOperation(value = "起飞", notes = "起飞高度height取值范围:1.2~100,误差：+-0.4米")
@ApiOperationSupport(order = 2)
@PostMapping("/takeOff")
@@ -48,4 +47,72 @@
tyService.returnHome(returnHomeDTO);
return AjaxResult.success();
}
+
+ @ApiOperation("取消返航")
+ @ApiOperationSupport(order = 4)
+ @PostMapping("/returnHomeCancel")
+ public AjaxResult returnHomeCancel(@RequestBody ReturnHomeCancelDTO returnHomeCancelDTO) {
+ tyService.returnHomeCancel(returnHomeCancelDTO);
+ return AjaxResult.success();
+ }
+
+ @ApiOperation("降落")
+ @ApiOperationSupport(order = 5)
+ @PostMapping("/land")
+ public AjaxResult land(@RequestBody LandDTO landDTO) {
+ tyService.land(landDTO);
+ return AjaxResult.success();
+ }
+
+ @ApiOperation("取消降落")
+ @ApiOperationSupport(order = 6)
+ @PostMapping("/landCancel")
+ public AjaxResult landCancel(@RequestBody LandCancelDTO landCancelDTO) {
+ tyService.landCancel(landCancelDTO);
+ return AjaxResult.success();
+ }
+
+ @ApiOperation(value = "强制降落",notes = "强制无人机在当前位置降落，不理会蔽障信息，调用此指令时需人工确定降落地点安全")
+ @ApiOperationSupport(order = 7)
+ @PostMapping("/landForced")
+ public AjaxResult landForced(@RequestBody LandForcedDTO landForcedDTO) {
+ tyService.landForced(landForcedDTO);
+ return AjaxResult.success();
+ }
+
+ @ApiOperation(value = "方向控制", notes = "前后速度frSpeed:【前0至30 后0至-30】单位m/s " +
+ "左右速度lrSpeed:【右0至30 左0至-30】单位m/s " +
+ "上下速度udSpeed:【上0至5 后0至-5 】单位m/s 偏航角yaw：-150~150 deg/s")
+ @ApiOperationSupport(order = 8)
+ @PostMapping("/flyControl")
+ public AjaxResult flyControl(@RequestBody FlyControlDTO flyControlDTO) {
+ tyService.flyControl(flyControlDTO);
+ return AjaxResult.success();
+ }
+
+ @ApiOperation(value = "开始指点飞行", notes = "速度speed:0~20 单位m/s " +
+ "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("/flyPointControl")
+ public AjaxResult flyPointControl(@RequestBody FlyPointControlDTO flyPointControlDTO) {
+ tyService.flyPointControl(flyPointControlDTO);
+ return AjaxResult.success();
+ }
+
+ @ApiOperation("停止指点飞行")
+ @ApiOperationSupport(order = 10)
+ @PostMapping("/flyPointControlCancel")
+ public AjaxResult flyPointControlCancel(@RequestBody FlyPointControlCancelDTO flyPointControlCancelDTO) {
+ tyService.flyPointControlCancel(flyPointControlCancelDTO);
+ 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")
+ public AjaxResult emeragencyBrake(@RequestBody EmeragencyBrakeDTO emeragencyBrakeDTO) {
+ tyService.emeragencyBrake(emeragencyBrakeDTO);
+ return AjaxResult.success();
+ }
}
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