merge

src/views/demo/workmanagement/workplan/components/airPolygon.vue

@@ -739,6 +739,10 @@ const saveAirLine = ()=>{
         let templateXml = templateXmlStrTemp.replace("<kml>",`<?xml version="1.0" encoding="UTF-8"?><kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.6">`)
 
         // 带wpml前缀的 wayline json数据
+        // delete props.waylineWpmlConfig.missionConfig.takeOffRefPoint
+        // delete props.waylineWpmlConfig.missionConfig.takeOffRefPointAGLHeight
+        // delete props.waylineWpmlConfig.missionConfig.autoRerouteInfo
+
         let waylineJosn = {kml:{Document:props.waylineWpmlConfig}}
         let waylienWpmlJson = handlerPrefixWpml(waylineJosn);
         let waylineXmlStr = builder.build(waylienWpmlJson);
@@ -801,6 +805,8 @@ const handlerPrefixWpml = (obj) => {
 // 生成xml文件，创建航线
 const handlerCreateFile =async (templateXml,waylineXml)=>{
 
+    console.log("waylineXml",waylineXml);
+    // return null;
     const blob =await convertXmlToKmz(templateXml,waylineXml);
 
     // 创建FormData对象用于上传
@@ -1015,8 +1021,10 @@ const handlerWaylineWpml = () => {
 
 // 航线计算数据处理
 const handlerStatistics = () => {
-    props.waylineWpmlConfig.Folder.distance = props.airInfo.length;
-    props.waylineWpmlConfig.Folder.duration = props.airInfo.time;
+    props.waylineWpmlConfig.Folder.distance = props.airInfo.length*1000;
+    props.waylineWpmlConfig.Folder.duration = props.airInfo.time*60*2;
+    props.waylineWpmlConfig.Folder.executeHeightMode = "relativeToStartPoint"
+
 }
 
 // 处理航线数据
@@ -1030,21 +1038,21 @@ const handelrAirPoint = () => {
         let height = 0;
 
         // 计算间隔时间
-        let spaceTime = (calculateInterval(calculatParam.value.gsd,calculatParam.value.overlapX/100,uavModel['m4td']) / props.templateKmlConfig.Folder.autoFlightSpeed)
+        let spaceTime = (calculateInterval(calculatParam.value.gsd,calculatParam.value.overlapX/100,uavModel['m4td']) / props.templateKmlConfig.Folder.autoFlightSpeed) * 2
 
         // 起飞点高度
-        let heightArr = props.waylineWpmlConfig.missionConfig.takeOffRefPoint.split(",");
+        let heightArr = props.templateKmlConfig.missionConfig.takeOffRefPoint.split(",");
 
         height = heightArr[2]
 
         console.log("起飞点高度",height);
 
-        
+
         // 处理第1个航点
         if(index == 0){
             point = {
                 "Point": {
-                    "coordinates":item.lng+","+item.lat 
+                    "coordinates":"\n"+item.lng+","+item.lat+"\n"
                 },
                 "index": item.id,
                 "executeHeight": item.alt - height,
@@ -1143,7 +1151,7 @@ const handelrAirPoint = () => {
         }else if(index == props.airPoints.length -1){ // 处理最后1个航点
             point = {
                 "Point": {
-                    "coordinates":item.lng+","+item.lat 
+                    "coordinates":"\n"+item.lng+","+item.lat +"\n"
                 },
                 "index": item.id,
                 "executeHeight": item.alt - height,
@@ -1192,9 +1200,143 @@ const handelrAirPoint = () => {
                 "waypointWorkType": 0
             }
         }else if(index == props.airPoints.length -2){ // 处理倒数第2个航点
+
             point = {
+            "Point": {
+              "coordinates":"\n"+ (item.lng+0.00001)+","+(item.lat+0.00001)+"\n"
+            },
+            "index": item.id,
+            "executeHeight": item.alt - height,
+            "waypointSpeed": props.templateKmlConfig.Folder.autoFlightSpeed,
+            "waypointHeadingParam": {
+              "waypointHeadingMode": "followWayline",
+              "waypointHeadingAngle": -120.875268753987,
+              "waypointPoiPoint": "0.000000,0.000000,0.000000",
+              "waypointHeadingAngleEnable": 1,
+              "waypointHeadingPathMode": "followBadArc",
+              "waypointHeadingPoiIndex": 0
+            },
+            "waypointTurnParam": {
+              "waypointTurnMode": "toPointAndStopWithDiscontinuityCurvature",
+              "waypointTurnDampingDist": 0
+            },
+            "useStraightLine": 1,
+            "actionGroup": [
+              {
+                "actionGroupId": 3,
+                "actionGroupStartIndex": item.id,
+                "actionGroupEndIndex": item.id,
+                "actionGroupMode": "sequence",
+                "actionTrigger": {
+                  "actionTriggerType": "reachPoint"
+                },
+                "action": [
+                  {
+                    "actionId": 0,
+                    "actionActuatorFunc": "gimbalRotate",
+                    "actionActuatorFuncParam": {
+                      "gimbalHeadingYawBase": "aircraft",
+                      "gimbalRotateMode": "absoluteAngle",
+                      "gimbalPitchRotateEnable": 1,
+                      "gimbalPitchRotateAngle": -45,
+                      "gimbalRollRotateEnable": 0,
+                      "gimbalRollRotateAngle": 0,
+                      "gimbalYawRotateEnable": 1,
+                      "gimbalYawRotateAngle": 0,
+                      "gimbalRotateTimeEnable": 0,
+                      "gimbalRotateTime": 10,
+                      "payloadPositionIndex": 0
+                    }
+                  },
+                  {
+                    "actionId": 1,
+                    "actionActuatorFunc": "hover",
+                    "actionActuatorFuncParam": {
+                      "hoverTime": 0.5
+                    }
+                  }
+                ]
+              },
+              {
+                "actionGroupId": 4,
+                "actionGroupStartIndex": item.id,
+                "actionGroupEndIndex": item.id+1,
+                "actionGroupMode": "sequence",
+                "actionTrigger": {
+                  "actionTriggerType": "multipleTiming",
+                  "actionTriggerParam": 2
+                },
+                "action": {
+                  "actionId": 0,
+                  "actionActuatorFunc": "gimbalRotate",
+                  "actionActuatorFuncParam": {
+                    "gimbalHeadingYawBase": "aircraft",
+                    "gimbalRotateMode": "absoluteAngle",
+                    "gimbalPitchRotateEnable": 1,
+                    "gimbalPitchRotateAngle": -45,
+                    "gimbalRollRotateEnable": 0,
+                    "gimbalRollRotateAngle": 0,
+                    "gimbalYawRotateEnable": 0,
+                    "gimbalYawRotateAngle": 0,
+                    "gimbalRotateTimeEnable": 0,
+                    "gimbalRotateTime": 10,
+                    "payloadPositionIndex": 0
+                  }
+                }
+              },
+              {
+                "actionGroupId": 5,
+                "actionGroupStartIndex": item.id,
+                "actionGroupEndIndex": item.id+1,
+                "actionGroupMode": "sequence",
+                "actionTrigger": {
+                  "actionTriggerType": "betweenAdjacentPoints"
+                },
+                "action": [
+                  {
+                    "actionId": 0,
+                    "actionActuatorFunc": "gimbalAngleLock"
+                  },
+                  {
+                    "actionId": 1,
+                    "actionActuatorFunc": "gimbalRotate",
+                    "actionActuatorFuncParam": {
+                      "gimbalHeadingYawBase": "aircraft",
+                      "gimbalRotateMode": "absoluteAngle",
+                      "gimbalPitchRotateEnable": 1,
+                      "gimbalPitchRotateAngle": -45,
+                      "gimbalRollRotateEnable": 0,
+                      "gimbalRollRotateAngle": 0,
+                      "gimbalYawRotateEnable": 0,
+                      "gimbalYawRotateAngle": 0,
+                      "gimbalRotateTimeEnable": 0,
+                      "gimbalRotateTime": 10,
+                      "payloadPositionIndex": 0
+                    }
+                  },
+                  {
+                    "actionId": 2,
+                    "actionActuatorFunc": "startTimeLapse",
+                    "actionActuatorFuncParam": {
+                      "payloadPositionIndex": 0,
+                      "useGlobalPayloadLensIndex": 0,
+                      "payloadLensIndex": "visable",
+                      "minShootInterval": spaceTime
+                    }
+                  }
+                ]
+              }
+            ],
+            "waypointGimbalHeadingParam": {
+              "waypointGimbalPitchAngle": 0,
+              "waypointGimbalYawAngle": 0
+            },
+            "isRisky": 0,
+            "waypointWorkType": 0
+          };
+           let point2 = {
                 "Point": {
-                    "coordinates":item.lng+","+item.lat 
+                    "coordinates":(item.lng+0.00001)+","+(item.lat+0.00001)
                 },
                 "index": item.id,
                 "executeHeight": item.alt - height,
@@ -1328,7 +1470,7 @@ const handelrAirPoint = () => {
         }else{ // 处理中间航点
             point = {
                 "Point": {
-                    "coordinates":item.lng+","+item.lat 
+                    "coordinates":"\n"+item.lng+","+item.lat+"\n"
                 },
                 "index": item.id,
                 "executeHeight": item.alt - height,

src/views/demo/workmanagement/workplan/components/map.vue

@@ -1081,7 +1081,7 @@ function generateScanLines(polygon, spacing, angle = 0) {
   }
 
   // 旋转线条到指定角度
-  const rotatedLines = lines.map((line) => turf.transformRotate(line, angle, { pivot: center }));
+  const rotatedLines = lines.map((line) => turf.transformRotate(line, angle - 90, { pivot: center }));
 
   // 裁剪线条到多边形内并处理结果
   const coverageLines = [];