From b545ba822df554771522f20da643a6b7a9e2dccd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=88=98=E5=A6=8D?= <1455167345@qq.com>
Date: Tue, 15 Jul 2025 14:34:37 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B5=8B=E8=AF=95=E9=97=AE=E9=A2=98=E4=BC=98?=
 =?UTF-8?q?=E5=8C=96?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../flightoperation/direction_controller.png  | Bin 47731 -> 46660 bytes
 .../flightoperation/p-bottom-active.png       | Bin 0 -> 4526 bytes
 .../images/flightoperation/p-bottom.png       | Bin 0 -> 4635 bytes
 .../images/flightoperation/p-left-active.png  | Bin 0 -> 5010 bytes
 src/assets/images/flightoperation/p-left.png  | Bin 0 -> 4205 bytes
 .../images/flightoperation/p-right-active.png | Bin 0 -> 5151 bytes
 src/assets/images/flightoperation/p-right.png | Bin 0 -> 4187 bytes
 .../images/flightoperation/p-top-active.png   | Bin 0 -> 4322 bytes
 src/assets/images/flightoperation/p-top.png   | Bin 0 -> 4223 bytes
 src/components/Application/src/AppLogo.vue    |   4 +-
 src/hooks/setting/index.ts                    |  12 +-
 src/utils/env.ts                              |   2 +
 .../workmanagement/flightoperation/index.vue  |  67 +-
 .../flightoperation/src/FlightControl.vue     | 997 ++++++++++--------
 .../flightoperation/src/FlyToForm.vue         |  11 +-
 .../flightoperation/src/LivePreview.vue       |   2 +-
 .../flightoperation/src/LoadControl.vue       | 156 ++-
 .../flightoperation/src/TakeOffForm.vue       |   9 +-
 .../flightoperation/src/UAVInformation.vue    |  59 +-
 .../workplan/components/map.vue               |  10 +
 20 files changed, 808 insertions(+), 521 deletions(-)
 create mode 100644 src/assets/images/flightoperation/p-bottom-active.png
 create mode 100644 src/assets/images/flightoperation/p-bottom.png
 create mode 100644 src/assets/images/flightoperation/p-left-active.png
 create mode 100644 src/assets/images/flightoperation/p-left.png
 create mode 100644 src/assets/images/flightoperation/p-right-active.png
 create mode 100644 src/assets/images/flightoperation/p-right.png
 create mode 100644 src/assets/images/flightoperation/p-top-active.png
 create mode 100644 src/assets/images/flightoperation/p-top.png

diff --git a/src/assets/images/flightoperation/direction_controller.png b/src/assets/images/flightoperation/direction_controller.png
index 441b268ca44970b54de68b120bf093a5ea6b6d0c..794769982b480aa76c81579891fb655da8bb6cf5 100644
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new file mode 100644
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diff --git a/src/assets/images/flightoperation/p-top.png b/src/assets/images/flightoperation/p-top.png
new file mode 100644
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diff --git a/src/components/Application/src/AppLogo.vue b/src/components/Application/src/AppLogo.vue
index 16b012d..ff09ed2 100644
--- a/src/components/Application/src/AppLogo.vue
+++ b/src/components/Application/src/AppLogo.vue
@@ -6,7 +6,7 @@
   <div class="anticon" :class="getAppLogoClass" @click="goHome">
     <img :src="VITE_GLOB_APP_LOGO" />
     <div class="ml-2 truncate md:opacity-100" :class="getTitleClass" v-show="showTitle">
-      {{ subjectLogoTitle ? subjectLogoTitle : title }}
+      {{ subjectLogoTitle ? subjectLogoTitle : shortName }}
     </div>
   </div>
 </template>
@@ -42,7 +42,7 @@
   const { prefixCls } = useDesign('app-logo');
   const { getCollapsedShowTitle } = useMenuSetting();
   const userStore = useUserStore();
-  const { title } = useGlobSetting();
+  const { shortName } = useGlobSetting();
   const subjectLogoTitle = getAuthCache(SUBJECT_LOGO_TITLE);
 
   const go = useGo();
diff --git a/src/hooks/setting/index.ts b/src/hooks/setting/index.ts
index 59326f3..dcdc166 100644
--- a/src/hooks/setting/index.ts
+++ b/src/hooks/setting/index.ts
@@ -3,14 +3,20 @@ import type { GlobConfig } from '#/config';
 import { getAppEnvConfig } from '@/utils/env';
 
 export const useGlobSetting = (): Readonly<GlobConfig> => {
-  const { VITE_GLOB_APP_TITLE, VITE_GLOB_API_URL, VITE_GLOB_API_URL_PREFIX, VITE_GLOB_UPLOAD_URL } =
-    getAppEnvConfig();
+  const {
+    VITE_GLOB_APP_TITLE,
+    VITE_GLOB_API_URL,
+    VITE_GLOB_API_URL_PREFIX,
+    VITE_GLOB_UPLOAD_URL,
+    VITE_GLOB_APP_HEADER_TITLE,
+  } = getAppEnvConfig();
 
   // Take global configuration
   const glob: Readonly<GlobConfig> = {
     title: VITE_GLOB_APP_TITLE,
     apiUrl: VITE_GLOB_API_URL,
-    shortName: VITE_GLOB_APP_TITLE.replace(/\s/g, '_').replace(/-/g, '_'),
+    // shortName: VITE_GLOB_APP_TITLE.replace(/\s/g, '_').replace(/-/g, '_'),
+    shortName: VITE_GLOB_APP_HEADER_TITLE,
     urlPrefix: VITE_GLOB_API_URL_PREFIX,
     uploadUrl: VITE_GLOB_UPLOAD_URL,
   };
diff --git a/src/utils/env.ts b/src/utils/env.ts
index 9ae2561..10e1f8b 100644
--- a/src/utils/env.ts
+++ b/src/utils/env.ts
@@ -41,6 +41,7 @@ export function getAppEnvConfig() {
     VITE_GLOB_APP_TECHINICAL_SUPPORT,
     VITE_GLOB_APP_VERSIONS,
     VITE_GLOB_FILE_PREVIEW,
+    VITE_GLOB_APP_HEADER_TITLE,
   } = ENV;
   let { VITE_GLOB_API_URL } = ENV;
   if (localStorage.getItem(API_ADDRESS)) {
@@ -59,6 +60,7 @@ export function getAppEnvConfig() {
     VITE_GLOB_APP_TECHINICAL_SUPPORT,
     VITE_GLOB_APP_VERSIONS,
     VITE_GLOB_FILE_PREVIEW,
+    VITE_GLOB_APP_HEADER_TITLE,
   };
 }
 
diff --git a/src/views/demo/workmanagement/flightoperation/index.vue b/src/views/demo/workmanagement/flightoperation/index.vue
index c3e2960..0e93398 100644
--- a/src/views/demo/workmanagement/flightoperation/index.vue
+++ b/src/views/demo/workmanagement/flightoperation/index.vue
@@ -15,6 +15,7 @@
       @changeLive="changeAirportLive"
       @changeRemote="changeRemote"
       :msgData="msgData"
+      v-if="changeSelectValue"
     />
     <UAVInformation
       :msgData="msgData"
@@ -22,6 +23,7 @@
       @changeLoadControl="changeLoadControl"
       @changeFlightControl="changeFlightControl"
       @loadLiveStreaming="loadLiveStreaming"
+      v-if="changeSelectValue"
     />
     <!-- 远程调试 -->
     <!-- <div v-if="remoteVisible">
@@ -32,6 +34,7 @@
       v-if="loadControlVisible"
       @changeLoadControl="changeLoadControl"
       :msgData="msgData"
+      :uavStatus="uavStatus"
       :cameraType="cameraType"
     />
     <!-- 飞行控制 -->
@@ -39,6 +42,7 @@
       @changeFlightControl="changeFlightControl"
       @clickTakeOff="clickTakeOff"
       @clickFlyTo="clickFlyTo"
+      :uavStatus="uavStatus"
       v-if="flightControlVisible"
     />
     <!-- 一键起飞表单 -->
@@ -116,10 +120,10 @@
     longitude: null,
   });
   const uavTrack = ref({});
-  const connected = ref(false)
+  const connected = ref(false);
   const connectCallback = () => {
-    connected.value = true
-  }
+    connected.value = true;
+  };
   onMounted(() => {
     destroyConnection();
     createConnection(connectCallback);
@@ -127,12 +131,15 @@
     //   changeSelect();
     // }, 1000);
   });
-  watch(() => connected.value, (value) => {
-    if(value){
-      console.log('start')
-      changeSelect()
-    }
-  })
+  watch(
+    () => connected.value,
+    (value) => {
+      if (value) {
+        console.log('start');
+        changeSelect();
+      }
+    },
+  );
   onBeforeUnmount(() => {
     destroyConnection();
   });
@@ -195,6 +202,7 @@
   };
   const msgData = ref({});
   const changeSelect = async (value?: any) => {
+    createConnection(connectCallback);
     // 页面初始化
     // 机场直播
     airportLiveVisible.value = false;
@@ -220,27 +228,32 @@
     // 订阅飞行器消息
     clientSubscribe(topicUAVUrl, { qos: 0 });
 
-    // 接收消息
-    getClient().on('message', (topic, message) => {
-      const rs = JSON.parse(message);
-      if (rs) {
-        msgData.value = {
-          topic: topic,
-          message: rs,
-        };
+    if (!value) {
+      // 接收消息
+      getClient().on('message', (topic, message) => {
+        const rs = JSON.parse(message);
+        if (rs) {
+          msgData.value = {
+            topic: topic,
+            message: rs,
+          };
 
-        if (topic == topicUAVUrl) {
-          if (rs.data.latitude && rs.data.longitude) {
-            uavTrack.value = rs.data;
-          }
-        } else if (topic == topicUrl) {
-          if (rs.data.latitude && rs.data.longitude) {
-            airPort.value.latitude = rs.data.latitude;
-            airPort.value.longitude = rs.data.longitude;
+          if (topic == topicUAVUrl) {
+            if (rs.data.latitude && rs.data.longitude) {
+              uavTrack.value = rs.data;
+            }
+          } else if (topic == topicUrl) {
+            if (rs.data.latitude && rs.data.longitude) {
+              airPort.value.latitude = rs.data.latitude;
+              airPort.value.longitude = rs.data.longitude;
+            }
+            if (rs.data.sub_device) {
+              uavStatus.value = rs.data.sub_device.device_online_status;
+            }
           }
         }
-      }
-    });
+      });
+    }
   };
 </script>
 <style lang="less" scoped>
diff --git a/src/views/demo/workmanagement/flightoperation/src/FlightControl.vue b/src/views/demo/workmanagement/flightoperation/src/FlightControl.vue
index e3cf58f..97398c4 100644
--- a/src/views/demo/workmanagement/flightoperation/src/FlightControl.vue
+++ b/src/views/demo/workmanagement/flightoperation/src/FlightControl.vue
@@ -1,6 +1,13 @@
 <template>
-  <VueDragResize :w="width" :h="height" :x="left" :y="top" :isActive="true" :parentLimitation="true"
-    :isResizable="false">
+  <VueDragResize
+    :w="width"
+    :h="height"
+    :x="left"
+    :y="top"
+    :isActive="true"
+    :parentLimitation="true"
+    :isResizable="false"
+  >
     <div class="flight-control" v-if="airportVal" v-drag>
       <div class="title">
         <div>
@@ -20,7 +27,7 @@
       <div class="content">
         <div class="content-button">
           <a-button @click="takeOff">一键起飞</a-button>
-          <a-button @click="emits('clickFlyTo')">指点飞行</a-button>
+          <a-button @click="flyTo">指点飞行</a-button>
           <!-- <a-button>智能环绕</a-button> -->
           <a-button @click="returnVoyage">一键返航</a-button>
           <a-button @click="obtain" style="background-color: #1b71e8; border: none">
@@ -35,53 +42,118 @@
             </template>
             进入飞行控制
           </a-button>
-          <a-button @click="exitDRC" style="background-color: #e3150e; border: none">退出飞行控制</a-button>
+          <a-button @click="exitDRC" style="background-color: #e3150e; border: none"
+            >退出飞行控制</a-button
+          >
         </div>
         <div class="content-info">
           <div class="info-item">
             <!-- <img src="@/assets/images/flightoperation/flight_control.png" alt="" /> -->
-            <div class="info-item-top" title="上升" @mousedown="changeDRC('throttle', 'up', '上升')"
-              @mouseup="changeDRC('throttle', 'up', '')">
-              <img src="@/assets/images/flightoperation/top-active.png" alt="" v-if="selectName == '上升'" />
+            <div
+              class="info-item-top"
+              title="上升"
+              @mousedown="changeDRC('throttle', 'up', '上升')"
+              @mouseup="changeDRC('throttle', 'up', '')"
+            >
+              <img
+                src="@/assets/images/flightoperation/top-active.png"
+                alt=""
+                v-if="selectName == '上升'"
+              />
               <img src="@/assets/images/flightoperation/top.png" alt="" v-else />
             </div>
-            <div class="info-item-right" title="右旋转" @mousedown="changeDRC('yaw', 'up', '右旋转')"
-              @mouseup="changeDRC('yaw', 'up', '')">
-              <img src="@/assets/images/flightoperation/right-active.png" alt="" v-if="selectName == '右旋转'" />
+            <div
+              class="info-item-right"
+              title="右旋转"
+              @mousedown="changeDRC('yaw', 'up', '右旋转')"
+              @mouseup="changeDRC('yaw', 'up', '')"
+            >
+              <img
+                src="@/assets/images/flightoperation/right-active.png"
+                alt=""
+                v-if="selectName == '右旋转'"
+              />
               <img src="@/assets/images/flightoperation/right.png" alt="" v-else />
             </div>
-            <div class="info-item-bottom" title="下降" @mousedown="changeDRC('throttle', 'down', '下降')"
-              @mouseup="changeDRC('throttle', 'down', '')">
-              <img src="@/assets/images/flightoperation/bottom-active.png" alt="" v-if="selectName == '下降'" />
+            <div
+              class="info-item-bottom"
+              title="下降"
+              @mousedown="changeDRC('throttle', 'down', '下降')"
+              @mouseup="changeDRC('throttle', 'down', '')"
+            >
+              <img
+                src="@/assets/images/flightoperation/bottom-active.png"
+                alt=""
+                v-if="selectName == '下降'"
+              />
               <img src="@/assets/images/flightoperation/bottom.png" alt="" v-else />
             </div>
-            <div class="info-item-left" title="左旋转" @mousedown="changeDRC('yaw', 'down', '左旋转')"
-              @mouseup="changeDRC('yaw', 'down', '')">
-              <img src="@/assets/images/flightoperation/left-active.png" alt="" v-if="selectName == '左旋转'" />
+            <div
+              class="info-item-left"
+              title="左旋转"
+              @mousedown="changeDRC('yaw', 'down', '左旋转')"
+              @mouseup="changeDRC('yaw', 'down', '')"
+            >
+              <img
+                src="@/assets/images/flightoperation/left-active.png"
+                alt=""
+                v-if="selectName == '左旋转'"
+              />
               <img src="@/assets/images/flightoperation/left.png" alt="" v-else />
             </div>
           </div>
           <div class="info-item">
             <!-- <img src="@/assets/images/flightoperation/flight_control.png" alt="" /> -->
-            <div class="info-item-top" title="前进" 
-            @mousedown="changeDRC('pitch', 'up', '前进')" @mouseup="changeDRC('pitch', 'up', '')">
-              <img src="@/assets/images/flightoperation/top-active.png" alt="" 
-              v-if="selectName == '前进'" />
+            <div
+              class="info-item-top"
+              title="前进"
+              @mousedown="changeDRC('pitch', 'up', '前进')"
+              @mouseup="changeDRC('pitch', 'up', '')"
+            >
+              <img
+                src="@/assets/images/flightoperation/top-active.png"
+                alt=""
+                v-if="selectName == '前进'"
+              />
               <img src="@/assets/images/flightoperation/top.png" alt="" v-else />
             </div>
-            <div class="info-item-right" title="右移"
-            @mousedown="changeDRC('roll', 'up', '右移')" @mouseup="changeDRC('roll', 'up', '')">
-              <img src="@/assets/images/flightoperation/right-active.png" alt="" v-if="selectName == '右移'" />
+            <div
+              class="info-item-right"
+              title="右移"
+              @mousedown="changeDRC('roll', 'up', '右移')"
+              @mouseup="changeDRC('roll', 'up', '')"
+            >
+              <img
+                src="@/assets/images/flightoperation/right-active.png"
+                alt=""
+                v-if="selectName == '右移'"
+              />
               <img src="@/assets/images/flightoperation/right.png" alt="" v-else />
             </div>
-            <div class="info-item-bottom" title="后退" 
-            @mousedown="changeDRC('pitch', 'down', '后退')" @mouseup="changeDRC('pitch', 'down', '')">
-              <img src="@/assets/images/flightoperation/bottom-active.png" alt="" v-if="selectName == '后退'" />
+            <div
+              class="info-item-bottom"
+              title="后退"
+              @mousedown="changeDRC('pitch', 'down', '后退')"
+              @mouseup="changeDRC('pitch', 'down', '')"
+            >
+              <img
+                src="@/assets/images/flightoperation/bottom-active.png"
+                alt=""
+                v-if="selectName == '后退'"
+              />
               <img src="@/assets/images/flightoperation/bottom.png" alt="" v-else />
             </div>
-            <div class="info-item-left" title="左移" 
-              @mousedown="changeDRC('roll', 'down', '左移')" @mouseup="changeDRC('roll', 'down', '')">
-              <img src="@/assets/images/flightoperation/left-active.png" alt="" v-if="selectName == '左移'" />
+            <div
+              class="info-item-left"
+              title="左移"
+              @mousedown="changeDRC('roll', 'down', '左移')"
+              @mouseup="changeDRC('roll', 'down', '')"
+            >
+              <img
+                src="@/assets/images/flightoperation/left-active.png"
+                alt=""
+                v-if="selectName == '左移'"
+              />
               <img src="@/assets/images/flightoperation/left.png" alt="" v-else />
             </div>
           </div>
@@ -91,467 +163,520 @@
   </VueDragResize>
 </template>
 <script setup lang="ts">
-import { onMounted, ref, watch, reactive, onUnmounted } from 'vue';
-import {
-  getClient,
-  createSeizeConnection,
-  destroySeizeConnection,
-  connection,
-} from '@/utils/mqtt';
-import { CloseOutlined, CheckOutlined } from '@ant-design/icons-vue';
-import { vDrag } from '@/utils/drag';
-import { drcDownTopicReize, eventsTopicSubscribeReize } from '@/utils/debugging/events';
-import {
-  servicesTopic,
-  services_replyTopic,
-  drcDownTopic,
-  eventsTopicSubscribe,
-  drcUpTopic,
-  errorName,
-} from '@/utils/debugging/remote';
-import { buildGUID } from '@/utils/uuid';
-import { useMessage } from '@/hooks/web/useMessage';
-import {
-  getRedisUser,
-  addOrUpdateRedisUser,
-  getLockedClients,
-} from '@/api/workmanagement/airportMaintenance';
-import { useUserStore } from '@/store/modules/user';
-import { timestampToFormattedDate } from '@/utils/index';
-import VueDragResize from 'vue-drag-resize/src';
-import { airPortStore } from '@/store/modules/airport';
+  import { onMounted, ref, watch, reactive, onUnmounted } from 'vue';
+  import {
+    getClient,
+    createSeizeConnection,
+    destroySeizeConnection,
+    connection,
+  } from '@/utils/mqtt';
+  import { CloseOutlined, CheckOutlined } from '@ant-design/icons-vue';
+  import { vDrag } from '@/utils/drag';
+  import { drcDownTopicReize, eventsTopicSubscribeReize } from '@/utils/debugging/events';
+  import {
+    servicesTopic,
+    services_replyTopic,
+    drcDownTopic,
+    eventsTopicSubscribe,
+    drcUpTopic,
+    errorName,
+  } from '@/utils/debugging/remote';
+  import { buildGUID } from '@/utils/uuid';
+  import { useMessage } from '@/hooks/web/useMessage';
+  import {
+    getRedisUser,
+    addOrUpdateRedisUser,
+    getLockedClients,
+  } from '@/api/workmanagement/airportMaintenance';
+  import { useUserStore } from '@/store/modules/user';
+  import { timestampToFormattedDate } from '@/utils/index';
+  import VueDragResize from 'vue-drag-resize/src';
+  import { airPortStore } from '@/store/modules/airport';
+  import { EventBus } from '@/utils/eventBus';
 
-const airPortStoreVal = airPortStore();
-const uav = airPortStoreVal.getUAV;
-
-const width = ref(380);
-const height = ref(390);
-const left = ref(700);
-const top = ref(100);
-const userStore = useUserStore();
-const userInfo = userStore.getUserInfo;
-const redisUser = ref({});
-const { createMessage } = useMessage();
-const emits = defineEmits(['changeFlightControl', 'clickTakeOff', 'clickFlyTo']);
-const monitorDRC = ref(false);
-// 是否飞行控制权抢夺
-const flightGrab = ref(false);
-// 是否进入飞行指令控制模式
-const modeEnter = ref(false);
-const airportVal: any = ref({
-  mode_code: 0,
-});
-const selectName = ref('');
-const bid = buildGUID();
-//修改redis用户锁
-const changeRedisUser = (val: boolean) => {
-  const querys = redisUser.value;
-  querys.isLock = val;
-  querys.connectTime = timestampToFormattedDate(new Date().getTime());
-  addOrUpdateRedisUser(querys);
-};
-const isLocked = ref(false);
-// 判断有没有redis用户锁
-const lockedClient = () => {
-  getLockedClients().then((res) => {
-    if (res.length > 0) {
-      res.forEach((item, index) => {
-        if (item.userId != userInfo.id) {
-          isLocked.value = true;
-        }
-      });
-    }
-  });
-};
-// 一键起飞
-const takeOff = () => {
-  if (isLocked.value) {
-    createMessage.warning('当前有用户正在操作，请稍后再试');
-    return;
-  }
-
-  emits('clickTakeOff');
-  changeRedisUser(true);
-};
-// 获取
-const obtain = () => {
-  // if (!getClient()) {
-  //   createConnection();
-  // }
-  if (isLocked.value) {
-    createMessage.warning('当前有用户正在操作，请稍后再试');
-    return;
-  }
-  if (flightGrab.value) {
-    createMessage.warning('已经获取了飞行器控制权');
-    return;
-  }
-  createMessage.info('正在获取飞行器控制权，请稍候');
-  changeRedisUser(true);
-  // 飞行控制权抢夺
-  servicesTopic({
-    bid: bid,
-    method: 'flight_authority_grab',
-    tid: buildGUID(),
-    timestamp: new Date().getTime(),
-    data: {},
-  });
-  // 负载控制权抢夺
-  servicesTopic({
-    bid: bid,
-    method: 'payload_authority_grab',
-    tid: buildGUID(),
-    timestamp: new Date().getTime(),
-    data: {
-      payload_index: uav.camera_index,
-    },
+  const props = defineProps({
+    uavStatus: Number,
   });
-  services_replyTopic();
-};
-// 一键返航
-const returnBtn = ref(false);
-const returnVoyage = () => {
-  if (returnBtn.value) {
-    createMessage.warning('正在返航或已返航，请勿重复操作');
-    return;
-  }
-  returnBtn.value = true;
-  servicesTopic({
-    bid: buildGUID(),
-    method: 'return_home',
-    tid: buildGUID(),
-    timestamp: new Date().getTime(),
-    data: {},
+  console.log(props.uavStatus);
+  const airPortStoreVal = airPortStore();
+  const uav = airPortStoreVal.getUAV;
+  const isTakeOff = ref(false);
+  const width = ref(380);
+  const height = ref(390);
+  const left = ref(700);
+  const top = ref(100);
+  const userStore = useUserStore();
+  const userInfo = userStore.getUserInfo;
+  const redisUser = ref({});
+  const { createMessage } = useMessage();
+  const emits = defineEmits(['changeFlightControl', 'clickTakeOff', 'clickFlyTo']);
+  const monitorDRC = ref(false);
+  // 是否飞行控制权抢夺
+  const flightGrab = ref(false);
+  // 是否进入飞行指令控制模式
+  const modeEnter = ref(false);
+  const airportVal: any = ref({
+    mode_code: 0,
   });
-};
-const seq = ref(1);
-const longPressTimer = ref();
-const longPressInterval = ref();
-const longPressDuration = ref(1000);// 长按时间阈值，单位为毫秒
-const changeDRC = (type, value, name) => {
-  selectName.value = name;
-  if (name !== '') {
-    console.log('鼠标按下');
-    if (!flightGrab.value) {
-      createMessage.warning('请先获取飞行器控制权');
+  const selectName = ref('');
+  const bid = buildGUID();
+  //修改redis用户锁
+  const changeRedisUser = (val: boolean) => {
+    const querys = redisUser.value;
+    querys.isLock = val;
+    querys.connectTime = timestampToFormattedDate(new Date().getTime());
+    addOrUpdateRedisUser(querys);
+  };
+  const isLocked = ref(false);
+  // 判断有没有redis用户锁
+  const lockedClient = () => {
+    getLockedClients().then((res) => {
+      if (res.length > 0) {
+        res.forEach((item, index) => {
+          if (item.userId != userInfo.id) {
+            isLocked.value = true;
+          }
+        });
+      }
+    });
+  };
+  // 一键起飞
+  const takeOff = () => {
+    if (isLocked.value) {
+      createMessage.warning('当前有用户正在操作，请稍后再试');
       return;
     }
-    if (!modeEnter.value) {
-      createMessage.warning('请先进入指令飞行控制');
+    if (isTakeOff.value) {
+      createMessage.warning('请勿重复操作');
       return;
     }
-    let isLongPress = false;
-    longPressTimer.value = setTimeout(() => {
-      console.log('长按事件触发！');
-      isLongPress = true;
-      longPressInterval.value = setInterval(() => {
-        seq.value = seq.value + 1;
-        let querys = getDRCFlightQuery(type, value, seq);
-        drcDownTopicReize(querys);
-        createMessage.info(name + '指令已发送');
-      }, 1000)
-    }, longPressDuration.value);
-    if (isLongPress) {
-      isLongPress = false;
+    emits('clickTakeOff');
+    changeRedisUser(true);
+  };
+  // 指点飞行
+  const flyTo = () => {
+    console.log('飞行器状态', props.uavStatus);
+    console.log('是否一键起飞', !isTakeOff.value);
+    console.log(props.uavStatus == 0 && !isTakeOff.value);
+    if (!props.uavStatus && !isTakeOff.value) {
+      createMessage.warning('飞行器未开机');
       return;
     }
-    seq.value = seq.value + 1;
-    let querys = getDRCFlightQuery(type, value, seq);
-    drcDownTopicReize(querys);
-    createMessage.info(name + '指令已发送');
-
-  } else {
-    if (longPressTimer.value) {
-      clearTimeout(longPressTimer.value);
-      longPressTimer.value = null;
-      console.log('清除延时器');
+    emits('clickFlyTo');
+  };
+  // 获取
+  const obtain = () => {
+    // if (!getClient()) {
+    //   createConnection();
+    // }
+    if (isLocked.value) {
+      createMessage.warning('当前有用户正在操作，请稍后再试');
+      return;
     }
-    if (longPressInterval.value) {
-      clearTimeout(longPressInterval.value);
-      longPressInterval.value = null;
-      console.log('清除定时器');
+    if (props.uavStatus == 0 && !isTakeOff.value) {
+      createMessage.warning('飞行器未开机');
+      return;
     }
-    console.log('鼠标松开');
-  }
-};
-const getDRCFlightQuery = (type, value, seq) => {
-  let data = {
-    roll: 1024,
-    pitch: 1024,
-    throttle: 1024,
-    yaw: 1024,
-    gimbal_pitch: 1024,
+    if (flightGrab.value) {
+      createMessage.warning('已经获取了飞行器控制权');
+      return;
+    }
+    createMessage.info('正在获取飞行器控制权，请稍候');
+    changeRedisUser(true);
+    // 飞行控制权抢夺
+    servicesTopic({
+      bid: bid,
+      method: 'flight_authority_grab',
+      tid: buildGUID(),
+      timestamp: new Date().getTime(),
+      data: {},
+    });
+    // 负载控制权抢夺
+    servicesTopic({
+      bid: bid,
+      method: 'payload_authority_grab',
+      tid: buildGUID(),
+      timestamp: new Date().getTime(),
+      data: {
+        payload_index: uav.camera_index,
+      },
+    });
+    services_replyTopic();
   };
-  if (value == 'up') {
-    data[type] = 1684;
-  } else {
-    data[type] = 364;
-  }
-  const querys = {
-    seq: seq.value,
-    method: 'stick_control',
-    data: data,
-    bid: buildGUID(),
-    tid: buildGUID(),
-    timestamp: new Date().getTime(),
+  // 一键返航
+  const returnBtn = ref(false);
+  const returnVoyage = () => {
+    if (props.uavStatus == 0 && !isTakeOff.value) {
+      createMessage.warning('飞行器未开机');
+      return;
+    }
+    if (returnBtn.value) {
+      createMessage.warning('正在返航或已返航，请勿重复操作');
+      return;
+    }
+    returnBtn.value = true;
+    servicesTopic({
+      bid: buildGUID(),
+      method: 'return_home',
+      tid: buildGUID(),
+      timestamp: new Date().getTime(),
+      data: {},
+    });
   };
-  console.log(querys);
-  return querys;
-};
-const drcSeq = ref(1);
-const enterDRC = () => {
-  if (!flightGrab.value) {
-    createMessage.warning('请先获取飞行控制权');
-    return;
-  }
-  createSeizeConnection();
-  createMessage.info('正在进入飞行控制，请稍后');
-  // 进入指令飞行控制模式
-  const { protocol, host, port, endpoint } = connection;
-  const connectUrl = `${protocol}://${host}:${port}${endpoint}`;
-  const querys = {
-    bid: bid,
-    data: {
-      hsi_frequency: 10,
-      mqtt_broker: {
-        address: connectUrl,
-        // client_id: 'mqtt_client_1581F8HGX254V00A0BUY',
-        client_id: 'mqtt_client_1581F8HGX254V00A0BUYSeize',
-        enable_tls: false,
-        expire_time: 3600,
-        password: '',
-        username: 'sdhc',
-      },
-      osd_frequency: 5,
-    },
-    tid: buildGUID(),
-    timestamp: new Date().getTime(),
-    method: 'drc_mode_enter',
+  const seq = ref(1);
+  const longPressTimer = ref();
+  const longPressInterval = ref();
+  const longPressDuration = ref(1000); // 长按时间阈值，单位为毫秒
+  const changeDRC = (type, value, name) => {
+    selectName.value = name;
+    if (name !== '') {
+      console.log('鼠标按下');
+      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;
+      }
+      let isLongPress = false;
+      longPressTimer.value = setTimeout(() => {
+        console.log('长按事件触发！');
+        isLongPress = true;
+        longPressInterval.value = setInterval(() => {
+          seq.value = seq.value + 1;
+          let querys = getDRCFlightQuery(type, value, seq);
+          drcDownTopicReize(querys);
+          createMessage.info(name + '指令已发送');
+        }, 1000);
+      }, longPressDuration.value);
+      if (isLongPress) {
+        isLongPress = false;
+        return;
+      }
+      seq.value = seq.value + 1;
+      let querys = getDRCFlightQuery(type, value, seq);
+      drcDownTopicReize(querys);
+      createMessage.info(name + '指令已发送');
+    } else {
+      if (longPressTimer.value) {
+        clearTimeout(longPressTimer.value);
+        longPressTimer.value = null;
+        console.log('清除延时器');
+      }
+      if (longPressInterval.value) {
+        clearTimeout(longPressInterval.value);
+        longPressInterval.value = null;
+        console.log('清除定时器');
+      }
+      console.log('鼠标松开');
+    }
   };
-  servicesTopic(querys);
-  drc_eart_beat();
-  drcUpTopic();
-};
-let timer;
-const drc_eart_beat = () => {
-  monitorDRC.value = true;
-  // 每隔五秒发送drc心跳包
-  timer = window.setInterval(() => {
-    drcSeq.value = drcSeq.value + 1;
-    const drcQuerys = {
+  const getDRCFlightQuery = (type, value, seq) => {
+    let data = {
+      roll: 1024,
+      pitch: 1024,
+      throttle: 1024,
+      yaw: 1024,
+      gimbal_pitch: 1024,
+    };
+    if (value == 'up') {
+      data[type] = 1684;
+    } else {
+      data[type] = 364;
+    }
+    const querys = {
+      seq: seq.value,
+      method: 'stick_control',
+      data: data,
       bid: buildGUID(),
       tid: buildGUID(),
       timestamp: new Date().getTime(),
-      method: 'heart_beat',
-      data: {
-        timestamp: new Date().getTime(),
-      },
-      seq: drcSeq.value,
     };
-    drcDownTopic(drcQuerys);
-  }, 5000);
-  // 订阅drc链路状态通知
-  eventsTopicSubscribe();
-};
-const exitDRC = () => {
-  createMessage.info('正在退出飞行控制，请稍后');
-  const querys = {
-    bid: bid,
-    data: {},
-    tid: buildGUID(),
-    timestamp: new Date().getTime(),
-    method: 'drc_mode_exit',
+    console.log(querys);
+    return querys;
   };
-  servicesTopic(querys);
-};
-onMounted(() => {
-  // 获取mqtt客户端信息
-  getRedisUser(userInfo.id).then((res) => {
-    if (res) {
-      redisUser.value = res;
+  const drcSeq = ref(1);
+  let drc_mode_enter_timer;
+  const drc_mode_enter_val = ref(1);
+  const enterDRC = () => {
+    if (props.uavStatus == 0 && !isTakeOff.value) {
+      createMessage.warning('飞行器未开机');
+      return;
     }
-  });
-  lockedClient();
-  // // 接收消息
-  getClient().on('message', (topic, message) => {
-    const rs = JSON.parse(message);
-    if (rs.data.mode_code || rs.data.mode_code == 0) {
-      airportVal.value.mode_code = rs.data.mode_code;
+    if (!flightGrab.value) {
+      createMessage.warning('请先获取飞行控制权');
+      return;
     }
-    if (rs.method == 'flight_authority_grab' && rs.bid == bid) {
-      if (rs.data.result == 0) {
-        flightGrab.value = true;
-        createMessage.success('飞行控制权抢夺成功');
-      } else {
-        flightGrab.value = false;
-        createMessage.error('飞行控制权抢夺失败，' + errorName(rs.data.result));
+    createSeizeConnection();
+    createMessage.info('正在进入飞行控制，请稍后');
+    // 进入指令飞行控制模式
+    const { protocol, host, port, endpoint } = connection;
+    const connectUrl = `${protocol}://${host}:${port}${endpoint}`;
+    const querys = {
+      bid: bid,
+      data: {
+        hsi_frequency: 10,
+        mqtt_broker: {
+          address: connectUrl,
+          // client_id: 'mqtt_client_1581F8HGX254V00A0BUY',
+          client_id: 'mqtt_client_1581F8HGX254V00A0BUYSeize',
+          // client_id: 'mqttx_' + Math.random().toString(16).substring(2, 8),
+          enable_tls: false,
+          expire_time: 3600,
+          password: '',
+          username: 'sdhc',
+        },
+        osd_frequency: 5,
+      },
+      tid: buildGUID(),
+      timestamp: new Date().getTime(),
+      method: 'drc_mode_enter',
+    };
+    servicesTopic(querys);
+    drc_eart_beat();
+    drcUpTopic();
+    drc_mode_enter_timer = window.setInterval(() => {
+      if (drc_mode_enter_val.value > 30) {
+        window.clearInterval(drc_mode_enter_timer);
+        drc_mode_enter_timer = null;
+        drc_mode_enter_val.value = 0;
+        createMessage.error('进入指令飞行控制模式失败，无响应');
+        return;
       }
+      drc_mode_enter_val.value++;
+    }, 1000);
+  };
+  let timer;
+  const drc_eart_beat = () => {
+    monitorDRC.value = true;
+    // 每隔五秒发送drc心跳包
+    timer = window.setInterval(() => {
+      drcSeq.value = drcSeq.value + 1;
+      const drcQuerys = {
+        bid: buildGUID(),
+        tid: buildGUID(),
+        timestamp: new Date().getTime(),
+        method: 'heart_beat',
+        data: {
+          timestamp: new Date().getTime(),
+        },
+        seq: drcSeq.value,
+      };
+      drcDownTopic(drcQuerys);
+    }, 5000);
+    // 订阅drc链路状态通知
+    eventsTopicSubscribe();
+  };
+  const exitDRC = () => {
+    if (props.uavStatus == 0 && !isTakeOff.value) {
+      createMessage.warning('飞行器未开机');
+      return;
     }
-    if (rs.method == 'drc_mode_enter' && rs.bid == bid) {
-      if (rs.data.result == 0) {
-        modeEnter.value = true;
-        createMessage.success('进入指令飞行控制模式成功');
-      } else {
-        modeEnter.value = false;
-        createMessage.error('进入指令飞行控制模式失败，' + errorName(rs.data.result));
+    createMessage.info('正在退出飞行控制，请稍后');
+    const querys = {
+      bid: bid,
+      data: {},
+      tid: buildGUID(),
+      timestamp: new Date().getTime(),
+      method: 'drc_mode_exit',
+    };
+    servicesTopic(querys);
+  };
+  onMounted(() => {
+    // 获取mqtt客户端信息
+    getRedisUser(userInfo.id).then((res) => {
+      if (res) {
+        redisUser.value = res;
       }
-    }
-    if (rs.method == 'drc_mode_exit' && rs.bid == bid) {
-      if (rs.data.result == 0) {
-        modeEnter.value = false;
-        createMessage.success('退出指令飞行控制模式成功');
-        changeRedisUser(false);
-      } else {
-        createMessage.error('退出指令飞行控制模式失败，' + errorName(rs.data.result));
+    });
+    lockedClient();
+    // // 接收消息
+    getClient().on('message', (topic, message) => {
+      const rs = JSON.parse(message);
+      if (rs.data.mode_code || rs.data.mode_code == 0) {
+        airportVal.value.mode_code = rs.data.mode_code;
       }
-    }
-    // 一键返航
-    if (rs.method === 'return_home') {
-      if (rs.data.result == 0) {
-        createMessage.success('一键返航成功');
-        monitorDRC.value = false;
-        returnBtn.value = true;
-      } else {
-        createMessage.error('一键返航失败，' + errorName(rs.data.result));
-        returnBtn.value = false;
+      if (rs.method == 'flight_authority_grab' && rs.bid == bid) {
+        if (rs.data.result == 0) {
+          flightGrab.value = true;
+          createMessage.success('飞行控制权抢夺成功');
+        } else {
+          flightGrab.value = false;
+          createMessage.error('飞行控制权抢夺失败，' + errorName(rs.data.result));
+        }
       }
-    }
-    if (rs.method === 'takeoff_to_point') {
-      if (rs.data.result == 0) {
-        createMessage.success('一键起飞成功');
-      } else {
-        createMessage.error('一键起飞失败，' + errorName(rs.data.result));
+      if (rs.method == 'drc_mode_enter' && rs.bid == bid) {
+        if (rs.data.result == 0) {
+          modeEnter.value = true;
+          createMessage.success('进入指令飞行控制模式成功');
+        } else {
+          modeEnter.value = false;
+          createMessage.error('进入指令飞行控制模式失败，' + errorName(rs.data.result));
+        }
       }
-    }
-    if (rs.method === 'drc_status_notify' && monitorDRC.value) {
-      if (rs.data.result == 0) {
-        if (rs.data.drc_state == 0) {
+      if (rs.method == 'drc_mode_exit' && rs.bid == bid) {
+        if (rs.data.result == 0) {
+          modeEnter.value = false;
+          createMessage.success('退出指令飞行控制模式成功');
+          changeRedisUser(false);
+          window.clearInterval(drc_mode_enter_timer);
+        } else {
+          createMessage.error('退出指令飞行控制模式失败，' + errorName(rs.data.result));
+          window.clearInterval(drc_mode_enter_timer);
+        }
+      }
+      // 一键返航
+      if (rs.method === 'return_home') {
+        if (rs.data.result == 0) {
+          createMessage.success('一键返航成功');
+          monitorDRC.value = false;
+          returnBtn.value = true;
+        } else {
+          createMessage.error('一键返航失败，' + errorName(rs.data.result));
+          returnBtn.value = false;
+        }
+      }
+      if (rs.method === 'takeoff_to_point') {
+        if (rs.data.result == 0) {
+          createMessage.success('一键起飞成功');
+          isTakeOff.value = true;
+          EventBus.emit('closeTranslation', null);
+        } else {
+          createMessage.error('一键起飞失败，' + errorName(rs.data.result));
+        }
+      }
+      if (rs.method === 'drc_status_notify' && monitorDRC.value) {
+        if (rs.data.result == 0) {
+          if (rs.data.drc_state == 0) {
+            drc_eart_beat();
+          }
+        } else {
           drc_eart_beat();
+          createMessage.error('DRC连接失败，' + errorName(rs.data.result));
         }
-      } else {
-        drc_eart_beat();
-        createMessage.error('DRC连接失败，' + errorName(rs.data.result));
       }
-    }
-    // 指点飞行
-    if (rs.method == 'fly_to_point') {
-      if (rs.data.result == 0) {
-        createMessage.success('指点飞行成功');
-      } else {
-        createMessage.error('指点飞行失败，' + errorName(rs.data.result));
+      // 指点飞行
+      if (rs.method == 'fly_to_point') {
+        if (rs.data.result == 0) {
+          createMessage.success('指点飞行成功');
+          EventBus.emit('closeTranslation', null);
+        } else {
+          createMessage.error('指点飞行失败，' + errorName(rs.data.result));
+        }
       }
-    }
+    });
+  });
+  onUnmounted(() => {
+    window.clearInterval(timer);
+    window.clearInterval(drc_mode_enter_timer);
+    destroySeizeConnection();
+    changeRedisUser(false);
+    monitorDRC.value = false;
   });
-});
-onUnmounted(() => {
-  window.clearInterval(timer);
-  destroySeizeConnection();
-  changeRedisUser(false);
-  monitorDRC.value = false;
-});
 </script>
 <style lang="less" scoped>
-.flight-control {
-  width: 96%;
-  height: 98%;
-  padding: 10px 20px;
-  margin: 10px 0 0 10px;
-  background: #0d0e15;
-  box-shadow:
-    0px 10px 30px 0px rgba(0, 0, 6, 0.15),
-    inset 0px 0px 36px 0px rgba(58, 87, 232, 0.73);
-  border-radius: 6px;
-  backdrop-filter: blur(3px);
-  color: #fff;
+  .flight-control {
+    width: 96%;
+    height: 98%;
+    padding: 10px 20px;
+    margin: 10px 0 0 10px;
+    background: #0d0e15;
+    box-shadow:
+      0px 10px 30px 0px rgba(0, 0, 6, 0.15),
+      inset 0px 0px 36px 0px rgba(58, 87, 232, 0.73);
+    border-radius: 6px;
+    backdrop-filter: blur(3px);
+    color: #fff;
 
-  .title {
-    width: 100%;
-    padding: 10px 0;
-    box-shadow: 0px 10px 30px 0px rgba(0, 0, 6, 0.15);
-    border-bottom: 1px solid #4e5778;
-    display: flex;
-    align-items: center;
-    justify-content: space-between;
+    .title {
+      width: 100%;
+      padding: 10px 0;
+      box-shadow: 0px 10px 30px 0px rgba(0, 0, 6, 0.15);
+      border-bottom: 1px solid #4e5778;
+      display: flex;
+      align-items: center;
+      justify-content: space-between;
 
-    i {
-      color: #f2762d;
-      font-style: normal;
-    }
+      i {
+        color: #f2762d;
+        font-style: normal;
+      }
 
-    div {
-      color: #fff;
-      cursor: pointer;
+      div {
+        color: #fff;
+        cursor: pointer;
+      }
     }
-  }
 
-  .content-item {
-    display: flex;
-    align-items: center;
-    border-bottom: 1px solid #4e5778;
-    padding: 10px 0;
-  }
+    .content-item {
+      display: flex;
+      align-items: center;
+      border-bottom: 1px solid #4e5778;
+      padding: 10px 0;
+    }
 
-  .content-button {
-    margin-top: 10px;
+    .content-button {
+      margin-top: 10px;
 
-    button {
-      background: none;
-      margin: 10px 0 0 10px;
-      color: #fff;
+      button {
+        background: none;
+        margin: 10px 0 0 10px;
+        color: #fff;
+      }
     }
-  }
 
-  .content-info {
-    display: flex;
-    align-items: center;
-    justify-content: space-between;
+    .content-info {
+      display: flex;
+      align-items: center;
+      justify-content: space-between;
 
-    .info-item {
-      position: relative;
-      width: 48%;
-      height: 116px;
-      margin: 24px 0 20px 20px;
+      .info-item {
+        position: relative;
+        width: 48%;
+        height: 116px;
+        margin: 24px 0 20px 20px;
 
-      img {
-        width: 36px;
-      }
+        img {
+          width: 36px;
+        }
 
-      .info-item-top {
-        position: absolute;
-        top: 8px;
-        left: 20px;
-        cursor: pointer;
+        .info-item-top {
+          position: absolute;
+          top: 8px;
+          left: 20px;
+          cursor: pointer;
 
-        img {
-          width: 62px;
+          img {
+            width: 62px;
+          }
         }
-      }
 
-      .info-item-right {
-        position: absolute;
-        top: 30px;
-        right: 36px;
-        cursor: pointer;
-      }
+        .info-item-right {
+          position: absolute;
+          top: 30px;
+          right: 36px;
+          cursor: pointer;
+        }
 
-      .info-item-bottom {
-        position: absolute;
-        bottom: 0px;
-        left: 21px;
-        cursor: pointer;
+        .info-item-bottom {
+          position: absolute;
+          bottom: 0px;
+          left: 21px;
+          cursor: pointer;
 
-        img {
-          width: 62px;
+          img {
+            width: 62px;
+          }
         }
-      }
 
-      .info-item-left {
-        position: absolute;
-        top: 30px;
-        left: -2px;
-        cursor: pointer;
+        .info-item-left {
+          position: absolute;
+          top: 30px;
+          left: -2px;
+          cursor: pointer;
+        }
       }
     }
   }
-}
 </style>
diff --git a/src/views/demo/workmanagement/flightoperation/src/FlyToForm.vue b/src/views/demo/workmanagement/flightoperation/src/FlyToForm.vue
index aeb8b70..2f45779 100644
--- a/src/views/demo/workmanagement/flightoperation/src/FlyToForm.vue
+++ b/src/views/demo/workmanagement/flightoperation/src/FlyToForm.vue
@@ -44,7 +44,7 @@
             >关闭</a-button
           >
           <a-button type="primary" style="background: #3a57e8; width: 40%" @click="takeOff"
-            >起飞</a-button
+            >执行</a-button
           >
         </div>
       </div>
@@ -97,6 +97,9 @@
       createMessage.warning('请先选择目标点');
       return;
     }
+    data.points[0].latitude = Number(data.points[0].latitude);
+    data.points[0].longitude = Number(data.points[0].longitude);
+    data.points[0].height = Number(data.points[0].height);
     const querys = {
       bid: buildGUID(),
       data: data,
@@ -118,9 +121,9 @@
   onMounted(() => {
     // 定位到某个经纬度
     EventBus.on('obtainTheLocation', (val: any) => {
-      data.points[0].latitude = val.lat;
-      data.points[0].longitude = val.lng;
-      data.points[0].height = val.alt;
+      data.points[0].latitude = val.lat.toFixed(6);
+      data.points[0].longitude = val.lng.toFixed(6);
+      data.points[0].height = val.alt.toFixed(2);
     });
   });
 </script>
diff --git a/src/views/demo/workmanagement/flightoperation/src/LivePreview.vue b/src/views/demo/workmanagement/flightoperation/src/LivePreview.vue
index 1d80c4b..7b40ead 100644
--- a/src/views/demo/workmanagement/flightoperation/src/LivePreview.vue
+++ b/src/views/demo/workmanagement/flightoperation/src/LivePreview.vue
@@ -256,7 +256,7 @@
       setTopic(querys);
     }
     setTimeout(() => {
-      startLiveFun();
+      // startLiveFun();
       playVideo();
       getClient().on('message', (topic, message) => {
         const rs = JSON.parse(message);
diff --git a/src/views/demo/workmanagement/flightoperation/src/LoadControl.vue b/src/views/demo/workmanagement/flightoperation/src/LoadControl.vue
index fb1015b..41c0cd3 100644
--- a/src/views/demo/workmanagement/flightoperation/src/LoadControl.vue
+++ b/src/views/demo/workmanagement/flightoperation/src/LoadControl.vue
@@ -24,27 +24,63 @@
           <a-button @click="singleShot">单拍</a-button>
         </div>
         <div class="direction-controller">
-          <img src="@/assets/images/flightoperation/direction_controller.png" alt="" />
+          <img
+            class="controller-bg"
+            src="@/assets/images/flightoperation/direction_controller.png"
+            alt=""
+          />
           <div
             class="direction-controller-top"
             title="俯视"
-            @click="changeDrc('pitch_speed', 'up')"
-          ></div>
+            @mousedown="changeDrc('pitch_speed', 'up', '俯视')"
+            @mouseup="changeDrc('pitch_speed', 'up', '')"
+          >
+            <img
+              src="@/assets/images/flightoperation/p-top-active.png"
+              alt=""
+              v-if="selectName == '俯视'"
+            />
+            <img src="@/assets/images/flightoperation/p-top.png" alt="" v-else />
+          </div>
           <div
             class="direction-controller-right"
             title="右移"
-            @click="changeDrc('yaw_speed', 'up')"
-          ></div>
+            @mousedown="changeDrc('yaw_speed', 'up', '右移')"
+            @mouseup="changeDrc('yaw_speed', 'up', '')"
+          >
+            <img
+              src="@/assets/images/flightoperation/p-right-active.png"
+              alt=""
+              v-if="selectName == '右移'"
+            />
+            <img src="@/assets/images/flightoperation/p-right.png" alt="" v-else />
+          </div>
           <div
             class="direction-controller-bottom"
             title="仰视"
-            @click="changeDrc('pitch_speed', 'down')"
-          ></div>
+            @mousedown="changeDrc('pitch_speed', 'down', '仰视')"
+            @mouseup="changeDrc('pitch_speed', 'down', '')"
+          >
+            <img
+              src="@/assets/images/flightoperation/p-bottom-active.png"
+              alt=""
+              v-if="selectName == '仰视'"
+            />
+            <img src="@/assets/images/flightoperation/p-bottom.png" alt="" v-else />
+          </div>
           <div
             class="direction-controller-left"
             title="左移"
-            @click="changeDrc('yaw_speed', 'down')"
-          ></div>
+            @mousedown="changeDrc('yaw_speed', 'down', '左移')"
+            @mouseup="changeDrc('yaw_speed', 'down', '')"
+          >
+            <img
+              src="@/assets/images/flightoperation/p-left-active.png"
+              alt=""
+              v-if="selectName == '左移'"
+            />
+            <img src="@/assets/images/flightoperation/p-left.png" alt="" v-else />
+          </div>
         </div>
         <div class="zoom">
           <a-slider
@@ -96,6 +132,7 @@
   const airPort = airPortStoreVal.getAirport;
   const uav = airPortStoreVal.getUAV;
 
+  const selectName = ref('');
   const userStore = useUserStore();
   const userInfo = userStore.getUserInfo;
   const redisUser = ref({});
@@ -104,6 +141,7 @@
   const props = defineProps({
     msgData: Object,
     cameraType: String,
+    uavStatus: Number,
   });
   const monitorDRC = ref(false);
   // 是否飞行控制权抢夺
@@ -135,13 +173,13 @@
       style: {
         color: '#f50',
       },
-      label: createVNode('strong', {}, '100'),
+      label: createVNode('strong', {}, '10'),
     },
     20: {
       style: {
         color: '#f50',
       },
-      label: createVNode('strong', {}, '200'),
+      label: createVNode('strong', {}, '20'),
     },
   });
   watch(
@@ -207,6 +245,10 @@
       createMessage.warning('当前有用户正在操作，请稍后再试');
       return;
     }
+    if (!props.uavStatus) {
+      createMessage.warning('飞行器未开机');
+      return;
+    }
     if (grabBtn.value) {
       createMessage.warning('已经获取了飞行器控制权');
       return;
@@ -252,12 +294,50 @@
     services_replyTopicReize();
   };
   let timer;
+  const longPressTimer = ref();
+  const longPressInterval = ref();
+  const longPressDuration = ref(1000); // 长按时间阈值，单位为毫秒
   // 控制方向
-  const changeDrc = (type, val) => {
-    if (!flightGrab.value) {
-      createMessage.warning('请先获取相机控制权');
-      return;
+  const changeDrc = (type, val, name) => {
+    selectName.value = name;
+    if (name !== '') {
+      if (!flightGrab.value) {
+        createMessage.warning('请先获取相机控制权');
+        return;
+      }
+      let isLongPress = false;
+      longPressTimer.value = setTimeout(() => {
+        console.log('长按事件触发！');
+        isLongPress = true;
+        longPressInterval.value = setInterval(() => {
+          let querys = getDRCFlightQuery(type, val);
+          servicesTopicReize(querys);
+          createMessage.info(name + '指令已发送');
+        }, 1000);
+      }, longPressDuration.value);
+      if (isLongPress) {
+        isLongPress = false;
+        return;
+      }
+      // 画面拖动控制
+      let querys = getDRCFlightQuery(type, val);
+      servicesTopicReize(querys);
+      createMessage.info(name + '指令已发送');
+    } else {
+      if (longPressTimer.value) {
+        clearTimeout(longPressTimer.value);
+        longPressTimer.value = null;
+        console.log('清除延时器');
+      }
+      if (longPressInterval.value) {
+        clearTimeout(longPressInterval.value);
+        longPressInterval.value = null;
+        console.log('清除定时器');
+      }
+      console.log('鼠标松开');
     }
+  };
+  const getDRCFlightQuery = (type, val) => {
     let data = {
       payload_index: uav.camera_index,
       locked: true,
@@ -269,15 +349,15 @@
     } else {
       data[type] = -8;
     }
-    console.log('data', data);
-    // 画面拖动控制
-    servicesTopicReize({
+    const querys = {
       bid: buildGUID(),
       method: 'camera_screen_drag',
       tid: buildGUID(),
       timestamp: new Date().getTime(),
       data: data,
-    });
+    };
+    console.log(querys);
+    return querys;
   };
   onMounted(() => {
     // 获取mqtt客户端信息
@@ -382,41 +462,45 @@
     .direction-controller {
       position: relative;
       margin-top: 20px;
-      img {
+      .controller-bg {
         margin-left: 60px;
         width: 200px;
       }
       .direction-controller-top {
-        width: 50px;
-        height: 50px;
         position: absolute;
-        top: 20px;
-        left: 130px;
+        top: 43px;
+        left: 120px;
         cursor: pointer;
+        img {
+          width: 80px;
+        }
       }
       .direction-controller-right {
-        width: 50px;
-        height: 50px;
         position: absolute;
-        top: 70px;
-        right: 100px;
+        top: 60px;
+        right: 127px;
         cursor: pointer;
+        img {
+          width: 38px;
+        }
       }
       .direction-controller-bottom {
-        width: 50px;
-        height: 50px;
         position: absolute;
-        bottom: 20px;
-        right: 160px;
+        bottom: 44px;
+        left: 120px;
         cursor: pointer;
+        img {
+          width: 80px;
+        }
       }
       .direction-controller-left {
-        width: 50px;
-        height: 50px;
         position: absolute;
-        top: 80px;
-        left: 80px;
+        top: 60px;
+        left: 103px;
         cursor: pointer;
+        img {
+          width: 38px;
+        }
       }
     }
     .zoom {
diff --git a/src/views/demo/workmanagement/flightoperation/src/TakeOffForm.vue b/src/views/demo/workmanagement/flightoperation/src/TakeOffForm.vue
index f62b602..fed2ad6 100644
--- a/src/views/demo/workmanagement/flightoperation/src/TakeOffForm.vue
+++ b/src/views/demo/workmanagement/flightoperation/src/TakeOffForm.vue
@@ -217,6 +217,9 @@
       createMessage.warning('请先选择目标点');
       return;
     }
+    data.target_height = Number(data.target_height);
+    data.target_latitude = Number(data.target_latitude);
+    data.target_longitude = Number(data.target_longitude);
     const querys = {
       bid: buildGUID(),
       data: data,
@@ -238,9 +241,9 @@
   onMounted(() => {
     // 定位到某个经纬度
     EventBus.on('obtainTheLocation', (val: any) => {
-      data.target_latitude = val.lat;
-      data.target_longitude = val.lng;
-      data.target_height = val.alt;
+      data.target_latitude = val.lat.toFixed(6);
+      data.target_longitude = val.lng.toFixed(6);
+      data.target_height = val.alt.toFixed(2);
     });
   });
 </script>
diff --git a/src/views/demo/workmanagement/flightoperation/src/UAVInformation.vue b/src/views/demo/workmanagement/flightoperation/src/UAVInformation.vue
index f58755d..ba88f44 100644
--- a/src/views/demo/workmanagement/flightoperation/src/UAVInformation.vue
+++ b/src/views/demo/workmanagement/flightoperation/src/UAVInformation.vue
@@ -121,10 +121,7 @@
         >
       </div>
       <div class="content-button">
-        <a-button
-          type="primary"
-          style="background: #3a57e8; width: 100%"
-          @click="emits('loadLiveStreaming', uavInformation.sub_device.device_online_status)"
+        <a-button type="primary" style="background: #3a57e8; width: 100%" @click="liveStreaming"
           >负载直播</a-button
         >
       </div>
@@ -132,15 +129,21 @@
   </div>
 </template>
 <script setup lang="ts">
-  import { reactive, ref, watch } from 'vue';
+  import { reactive, ref, watch, onMounted } from 'vue';
   import { CopyOutlined, EditOutlined } from '@ant-design/icons-vue';
   import { timestampToFormattedDate } from '@/utils/index';
   import { airPortStore } from '@/store/modules/airport';
+  import { buildGUID } from '@/utils/uuid';
+  import { servicesTopic, services_replyTopic, errorName } from '@/utils/debugging/remote';
+  import { getClient } from '@/utils/mqtt';
+  import { useMessage } from '@/hooks/web/useMessage';
 
+  const { createMessage } = useMessage();
   const airPortStoreVal = airPortStore();
   const airPort = airPortStoreVal.getAirport;
   const uav = airPortStoreVal.getUAV;
-
+  const live_info = airPortStoreVal.getLiveInfo;
+  const liveCode = ref('6');
   const emits = defineEmits(['changeLoadControl', 'changeFlightControl', 'loadLiveStreaming']);
   const props = defineProps({
     msgData: Object,
@@ -203,11 +206,49 @@
   watch(
     () => props.uavTrack,
     (val) => {
-      uavLocation.value.longitude = val.longitude;
-      uavLocation.value.latitude = val.latitude;
-      uavLocation.value.height = val.height;
+      uavLocation.value.longitude = val.longitude.toFixed(6);
+      uavLocation.value.latitude = val.latitude.toFixed(6);
+      uavLocation.value.height = val.height.toFixed(2);
     },
   );
+  const startTid = buildGUID();
+  const liveStreaming = () => {
+    createMessage.info('正在开启负载直播，请稍后');
+    const querys = {
+      bid: buildGUID(),
+      method: 'live_start_push',
+      tid: startTid,
+      timestamp: new Date().getTime(),
+      data: {
+        url_type: 1, // 0 = 自适应；如需 RTMP 改为 1；GB28181 为 3；WebRTC 为 4
+        url: live_info.rtmp + liveCode.value,
+        video_id: uav.video_id,
+        video_quality: 3, // 0=自适应，1=流畅，2=标清，3=高清，4=超清
+      },
+    };
+    console.log(querys);
+    servicesTopic(querys);
+    services_replyTopic();
+  };
+  onMounted(() => {
+    setTimeout(() => {
+      getClient().on('message', (topic, message) => {
+        const rs = JSON.parse(message);
+        if (rs.method == 'live_start_push' && rs.tid == startTid) {
+          console.log(rs);
+          if (rs.data.result == 0) {
+            createMessage.success('无人机开始直播成功');
+            emits('loadLiveStreaming', uavInformation.value.sub_device.device_online_status);
+          } else if (rs.data.result == 513003) {
+            createMessage.success('无人机直播已开启');
+            emits('loadLiveStreaming', uavInformation.value.sub_device.device_online_status);
+          } else {
+            createMessage.error('开始直播失败，' + errorName(rs.data.result));
+          }
+        }
+      });
+    }, 1000);
+  });
 </script>
 <style lang="less" scoped>
   .airport-information {
diff --git a/src/views/demo/workmanagement/workplan/components/map.vue b/src/views/demo/workmanagement/workplan/components/map.vue
index 0f9c57b..d0bfeee 100644
--- a/src/views/demo/workmanagement/workplan/components/map.vue
+++ b/src/views/demo/workmanagement/workplan/components/map.vue
@@ -36,6 +36,7 @@
   import { buildUUID } from '@/utils/uuid';
   import airPoint from './airPoint.vue';
   import * as mars3d from 'mars3d';
+  import { EventBus } from '@/utils/eventBus';
 
   import 'mars3d-space';
 
@@ -257,6 +258,12 @@ const generatePreviewPoint = (placemark)=>{
 
   onMounted(() => {
     initMap();
+    EventBus.on('closeTranslation', (val: any) => {
+      if (moveTool) {
+        moveTool.destroy();
+        moveTool = null;
+      }
+    });
   });
 
   const initMap = () => {
@@ -1561,6 +1568,9 @@ const loadChangGuangLayer = ()=>{
         if(!graphicLayer){
           return
         }
+        if(props.airPort.longitude == null){
+          return;
+        }
         let point = graphicLayer.getGraphicById('set-airport');
         // // 创建点的经纬度信息
         let position = [props.airPort.longitude, props.airPort.latitude, 70];