fix:切换摇杆为手动时，权限变成内场权限

src/components/MMCFlightControlCenter/components/uavApplications/components/controlPanel/components/controlBottom/index.vue

@@ -17,7 +17,7 @@
       <span class="dib">任务结束</span>
     </div>
     <template v-if="uav.network === 2">
-      <div v-if="controlType === 0" class="control-bottom-item" @click="onModeManual">
+      <div v-if="controlType === 0" class="control-bottom-item" @click="onInfieldControl">
         <img src="./assets/images/auto.svg" />
         <span class="dib">自动</span>
       </div>
@@ -44,6 +44,20 @@
     </template>
     <!-- 键盘控制 -->
     <KeyControl v-if="controlType === 2" @close="onModeAuto"></KeyControl>
+    <!-- 强制切换外场权限 -->
+    <el-dialog title :visible.sync="showInfieldControlDialog" width="30%" :append-to-body="true" custom-class="mmc"
+      style="margin-top: 20vh">
+      <div class="endrenwu">
+        <div class="tishiyu">温馨提示</div>
+        <div class="queding" v-if="!isAcceleratorMedian">
+          当前油门值为
+          <span style="color: red">{{ throttleValue.toFixed(2) || 0 }}</span>,请调到中位(470-530)
+        </div>
+        <div class="queding" v-if="isAcceleratorMedian">
+          摇杆已处于中位，即将切换内场权限
+        </div>
+      </div>
+    </el-dialog>
   </div>
 </template>
 
@@ -69,17 +83,65 @@ export default {
   },
   data() {
     return {
+      showInfieldControlDialog: false, //强制切换状态为内场权限 提示框
+      isAcceleratorMedian: false, //油门是否在中位
+      YGPermissionsSend: false, //摇杆权限更改中
       // 摇杆手动控制状态
       manualControlStatus: false,
       controlType: 0, //控制类型, 0: 自动 1: 摇杆 2: 键盘
     };
   },
   watch: {
-    // 状态改变时摇杆会切换为手动模式
-    "onModeManualState": {
+    // 状态改变时摇杆会切换为手动模式并且抢权限
+    "onInfieldControlFn": {
       handler(val) {
         if (val) {
-          this.onModeManual()
+          this.onInfieldControl()
+        }
+      }
+    },
+    throttleValue(val) {
+      // val = -1 代表摇杆已经建立连接 ，rcState为0 代表当前权限在外场需要去展示摇杆油门值 
+      if (val == -1 &&this.uavRealTimeData.rcState == 0) {
+        this.showInfieldControlDialog = true;
+      }
+      // 判断是否为外场权限
+      if (this.uavRealTimeData.rcState == 0) {
+        // 判断油门是否处于中位
+        if (val >= 470 && val <= 530) {
+          console.log(this.uavRealTimeData, val, 'val');
+
+          this.isAcceleratorMedian = true;
+          if (!this.YGPermissionsSend) {
+            this.YGPermissionsSend = true;
+            // 发送抢权限指令
+            this.$store.dispatch(
+              "MMCFlightControlCenter/uav/changeYGPermissions",
+              {
+                callback: () => { },
+              }
+            );
+            setTimeout(() => {
+              if (this.uavRealTimeData.rcState == 1) {
+                // 摇杆切换为手动模式
+                if (!this.manualControlStatus) {
+                  this.$message.success("已切换内场权限，摇杆即将切换为手动模式！");
+                  // 切换为是手动模式
+                  this.onModeManual();
+                } else {
+                  this.$message.success("已切换内场权限，请使用摇杆控制！");
+
+                }
+                this.showInfieldControlDialog = false;
+              } else {
+                // this.$message.error("摇杆权限切换失败");
+                console.log("摇杆权限切换失败");
+              }
+              this.YGPermissionsSend = false;
+            }, 2000);
+          }
+        } else {
+          this.isAcceleratorMedian = false;
         }
       }
     },
@@ -97,10 +159,51 @@ export default {
     immediate: true,
   },
   computed: {
-    ...mapState("MMCFlightControlCenter/uav", ["uav", "airlineData"]),
-    ...mapState("MMCFlightControlCenter/joystick", ["onModeManualState"]),
+    ...mapState("MMCFlightControlCenter/uav", ["uav", "airlineData", "uavRealTimeData"]),
+    ...mapState("MMCFlightControlCenter/joystick", ["onInfieldControlFn", "throttleValue"]),
   },
   methods: {
+    network() {
+      let { uavRealTimeData } = this;
+      let name = null;
+      if (uavRealTimeData && uavRealTimeData.link) {
+        for (let i = 0; i < uavRealTimeData.link.length; i++) {
+          const k = uavRealTimeData.link[i];
+          if (k.priority == 2 && k.using) {
+            return "专网";
+          } else if (k.priority == 3 && k.using) {
+            return "公网";
+          } else if (k.priority == 1 && k.using) {
+            return "图传";
+          }
+        }
+      }
+      return name || "离线";
+    },
+    async onInfieldControl() {
+      // 判断是否已接管
+      if (!(await this.isTakeOver())) {
+        this.$message.warning("请先接管设备");
+        return;
+      }
+      let networkType = this.network()
+      if (networkType == '离线') {
+        return this.$message.info('无人机不在线!');
+      }
+      // 如果是内场权限 且摇杆为手动模式就提示用户使用
+      if (this.uavRealTimeData.rcState == 1 && this.manualControlStatus) {
+        this.$message.success("当前处于内场模式，请使用摇杆控制！");
+      } else {
+        // 否则如果摇杆是手动模式没内场权限，则展示油门弹窗,油门值为中位时发起抢权限指令
+        if (this.manualControlStatus) {
+          this.showInfieldControlDialog = true;
+        } else {
+          this.$message.success("摇杆即将切换为手动模式,请稍等！");
+          // 切换为手动模式
+          this.onModeManual();
+        }
+      }
+    },
     /**
      * 接管判断, 机库模块中不需要判断接管
      */
@@ -189,7 +292,6 @@ export default {
         return;
       }
 
-      this.$message.success("切换手动模式中请稍后!");
       this.$store.dispatch("MMCFlightControlCenter/uav/modeManual", {
         callback: (isOk) => {
           if (isOk) { }
@@ -344,4 +446,43 @@ export default {
     }
   }
 }
+
+.el-dialog__header {
+  margin-left: 0;
+  padding: 0;
+  background: #3c3c3c;
+}
+
+.el-dialog__body {
+  padding: 0;
+  z-index: 2023 !important;
+}
+
+.el-dialog {
+  z-index: 2022 !important;
+  background: transparent !important;
+}
+
+.endrenwu {
+  width: 100%;
+  height: 177px;
+  border: 1px solid #70daf9;
+  background: rgba(9, 32, 87, 0.7) !important;
+}
+
+.tishiyu {
+  color: #92d9ff;
+  font-size: 18px;
+  margin: 30px 0 0 0;
+  text-align: center;
+  width: 100%;
+}
+
+.queding {
+  color: #92d9ff;
+  text-align: center;
+  width: 100%;
+  font-size: 14px;
+  margin: 30px 0 0 0;
+}
 </style>
\ No newline at end of file

src/components/MMCFlightControlCenter/components/uavApplications/components/controlPanel/components/controlRight/components/controlList/index.vue

@@ -73,27 +73,7 @@
           </div>
         </div>
       </el-dialog>
-      <!-- 强制切换外场权限 -->
-      <el-dialog
-        title
-        :visible.sync="showInfieldControlDialog"
-        width="30%"
-        :append-to-body="true"
-        custom-class="mmc"
-        style="margin-top: 20vh"
-      >
-        <div class="endrenwu">
-          <div class="tishiyu">温馨提示</div>
-          <div class="queding" v-if="!isAcceleratorMedian">
-            当前油门值为
-            <span style="color: red">{{ throttleValue.toFixed(2) || 0 }}</span
-            >,请调到中位(470-530)
-          </div>
-          <div class="queding" v-if="isAcceleratorMedian">
-            摇杆已处于中位，即将切换内场权限
-          </div>
-        </div>
-      </el-dialog>
+    
       <el-dialog
         title
         :visible.sync="guideFlightShow"
@@ -159,11 +139,11 @@ export default {
   },
   data() {
     return {
-      isAcceleratorMedian: false, //油门是否在中位
-      YGPermissionsSend: false, //摇杆权限更改中
+      // isAcceleratorMedian: false, //油门是否在中位
+      // YGPermissionsSend: false, //摇杆权限更改中
       safetyNotice: false, //安全降落弹框
       chargerPower: true,
-      showInfieldControlDialog: false, //强制切换状态为内场权限 提示框
+    
       flySpeed: 6, //指点飞行设置
       maxSpeed: false,
       showLogger: false, //显示日志
@@ -182,53 +162,9 @@ export default {
     ]),
     ...mapState("MMCFlightControlCenter", ["userInfo", "cesiumViewer"]),
     ...mapState("MMCFlightControlCenter/joystick", [
-      "throttleValue",
       "manualControlStatus",
     ]),
   },
-  watch: {
-    throttleValue(val) {
-      if (val == -1) {
-        this.showInfieldControlDialog = true;
-      }
-      // 判断是否为外场权限
-      if (this.uavRealTimeData.rcState == 0) {
-        // 判断油门是否处于中位
-        if (val >= 470 && val <= 530) {
-          this.isAcceleratorMedian = true;
-          if (!this.YGPermissionsSend) {
-            this.YGPermissionsSend = true;
-            // 发送抢权限指令
-            this.$store.dispatch(
-              "MMCFlightControlCenter/uav/changeYGPermissions",
-              {
-                callback: () => {},
-              }
-            );
-            setTimeout(() => {
-              if (this.uavRealTimeData.rcState == 1) {
-                // 摇杆切换为手动模式
-                if (!this.manualControlStatus) {
-                this.$message.success("已切换内场权限，摇杆即将切换为手动模式！");
-                  this.changeModeManualState();
-                }else{
-                this.$message.success("已切换内场权限，请使用摇杆控制！");
-
-                }
-                this.showInfieldControlDialog = false;
-              } else {
-                // this.$message.error("摇杆权限切换失败");
-                console.log("摇杆权限切换失败");
-              }
-              this.YGPermissionsSend = false;
-            }, 2000);
-          }
-        } else {
-          this.isAcceleratorMedian = false;
-        }
-      }
-    },
-  },
   beforeDestroy() {
     if (Point) {
       window.viewer.entities.remove(Point);
@@ -313,9 +249,9 @@ export default {
       this.safetyNotice = false;
       this.land();
     },
-    changeModeManualState() {
+    changeOnInfieldControlFn() {
       this.$store.commit("MMCFlightControlCenter/joystick/setState", {
-        key: "onModeManualState",
+        key: "onInfieldControlFn",
         value: new Date().getTime(),
       });
     },
@@ -323,24 +259,7 @@ export default {
      * 内场控制
      */
     async onInfieldControl() {
-      // 判断是否已接管
-      if (!(await this.isTake())) {
-        return;
-      }
-      if (this.online === 0)
-        return this.$message.warning("处于离线状态，不可操作！");
-      // 自动切换摇杆权限
-      if (this.uavRealTimeData.rcState == 1) {
-        this.$message.success("当前处于内场模式，请使用摇杆控制！");
-      } else {
-        // 如果摇杆是手动模式，则展示油门弹窗
-        if (this.manualControlStatus) {
-          this.showInfieldControlDialog = true;
-        } else {
-          this.$message.success("摇杆即将切换为手动模式,请稍等！");
-          this.changeModeManualState();
-        }
-      }
+      this.changeOnInfieldControlFn()
     },
     /**
      * cesium添加目标点

src/components/MMCFlightControlCenter/store/joystick.js

 const state = {
   throttleValue: 0, //油门值
   manualControlStatus: false, //是否手动控制
-  onModeManualState:null, //状态改变时摇杆会切换为手动模式
+  onInfieldControlFn:null, //状态改变时摇杆会切换为手动模式并抢权限
 };
 
 const mutations = {