指点飞行后云台角度垂直向下

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));
         }