From 77de45b49bc455b1c9916637ad38b9fd3b454f45 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=88=98=E5=A6=8D?= <1455167345@qq.com>
Date: Mon, 20 Oct 2025 13:51:18 +0800
Subject: [PATCH] =?UTF-8?q?=E6=8C=87=E7=82=B9=E9=A3=9E=E8=A1=8C=E5=90=8E?=
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---
 .../flightoperation/src/FlightControl.vue     | 30 +++++++++++++++++--
 1 file changed, 28 insertions(+), 2 deletions(-)

diff --git a/src/views/demo/workmanagement/flightoperation/src/FlightControl.vue b/src/views/demo/workmanagement/flightoperation/src/FlightControl.vue
index e42c78a..b189359 100644
--- a/src/views/demo/workmanagement/flightoperation/src/FlightControl.vue
+++ b/src/views/demo/workmanagement/flightoperation/src/FlightControl.vue
@@ -22,8 +22,8 @@
       <div class="content">
         <div class="content-button">
           <a-button @click="takeOff">一键起飞</a-button>
-          <a-button @click="flyTo">指点飞行</a-button>
           <!-- <a-button>智能环绕</a-button> -->
+          <a-button @click="flyTo">指点飞行</a-button>
           <a-button @click="returnVoyage">一键返航</a-button>
           <!-- <a-button @click="obtain" style="background-color: #1b71e8; border: none">
             <template #icon v-if="flightGrab">
@@ -168,7 +168,11 @@
   } from '@/utils/mqtt';
   import { CloseOutlined, CheckOutlined } from '@ant-design/icons-vue';
   import { vDrag } from '@/utils/drag';
-  import { drcDownTopicReize, eventsTopicSubscribeReize } from '@/utils/debugging/events';
+  import {
+    drcDownTopicReize,
+    eventsTopicSubscribeReize,
+    servicesTopicReize,
+  } from '@/utils/debugging/events';
   import {
     servicesTopic,
     services_replyTopic,
@@ -289,6 +293,14 @@
       createMessage.warning('飞行器未开机');
       return;
     }
+    if (!flightGrab.value) {
+      createMessage.warning('请先获取飞行器控制权');
+      return;
+    }
+    if (!modeEnter.value) {
+      createMessage.warning('请先进入指令飞行控制');
+      return;
+    }
     emits('clickFlyTo');
   };
   // 获取
@@ -721,6 +733,20 @@
         if (rs.data.result == 0) {
           createMessage.success('指点飞行成功');
           EventBus.emit('closeTranslation', null);
+          // 修改云台的角度至最下方
+          const querys = {
+            bid: buildGUID(),
+            method: 'camera_screen_drag',
+            tid: buildGUID(),
+            timestamp: new Date().getTime(),
+            data: {
+              payload_index: uav.camera_index,
+              locked: true,
+              pitch_speed: -180,
+              yaw_speed: 0,
+            },
+          };
+          servicesTopicReize(querys);
         } else {
           createMessage.error('指点飞行失败，' + errorName(rs.data.result));
         }