fix(uav): 修复一键起飞时未检查备降点的问题

src/components/MMCFlightControlCenter/store/uav.js

@@ -6,7 +6,7 @@ let positions = []; // 飞机走过的点, 会一直累计, 每n秒减半一次,
 setInterval(() => {
   if (positions.length > 1000) {
     positions = positions.filter((x, index) => index % 2 === 0);
-    console.log('飞行轨迹', positions);
+    console.log("飞行轨迹", positions);
   }
 }, 60000);
 if (!window.$mmc_stl) {
@@ -14,7 +14,7 @@ if (!window.$mmc_stl) {
 }
 window.$mmc_stl.positions = () => {
   console.log(positions);
-}
+};
 const defaultPos = {
   latitude: 0, // 纬度
   longitude: 0, // 经度
@@ -355,16 +355,16 @@ const actions = {
               type260.grade <= 2
                 ? "[危险]"
                 : type260.grade == 3
-                  ? "[错误]"
-                  : type260.grade == 4
-                    ? "[警告]"
-                    : type260.grade == 5
-                      ? "[通知]"
-                      : type260.grade == 6
-                        ? "[正常]"
-                        : type260.grade == 7
-                          ? "[调试]"
-                          : "AUTO",
+                ? "[错误]"
+                : type260.grade == 4
+                ? "[警告]"
+                : type260.grade == 5
+                ? "[通知]"
+                : type260.grade == 6
+                ? "[正常]"
+                : type260.grade == 7
+                ? "[调试]"
+                : "AUTO",
             text: type260.msg,
             time: moment(type260.timestamp).format("YYYY-MM-DD HH:mm:ss"),
             timestamp: type260.timestamp,
@@ -432,7 +432,7 @@ const actions = {
             if (item.mountId === type259.mountId) {
               return {
                 ...item,
-                ...type259
+                ...type259,
               };
             }
             return item;
@@ -499,15 +499,19 @@ const actions = {
     if (state.uavRealTimeData.locationCoordinate3D.longitude) {
       if (
         state.uavRealTimeData.locationCoordinate3D.longitude ===
-        defaultPos.longitude &&
+          defaultPos.longitude &&
         state.uavRealTimeData.locationCoordinate3D.latitude ===
-        defaultPos.latitude
+          defaultPos.latitude
       ) {
         // 默认坐标不记录
       } else {
         // const posData = UAVDataParser(state.uavRealTimeData);    // 这种写法在执行rollup混淆压缩后, posData对象会变成elementUI的对象,原因未知
         // 更新轨迹
-        let flag = positions.some(val => val.x == UAVDataParser(state.uavRealTimeData).position.x && val.y == UAVDataParser(state.uavRealTimeData).position.y)
+        let flag = positions.some(
+          (val) =>
+            val.x == UAVDataParser(state.uavRealTimeData).position.x &&
+            val.y == UAVDataParser(state.uavRealTimeData).position.y
+        );
         if (!flag) {
           positions.push(UAVDataParser(state.uavRealTimeData).position);
         }
@@ -516,7 +520,7 @@ const actions = {
 
       if (
         state.uavRealTimeData.locationCoordinate3D.longitude !==
-        defaultPos.longitude &&
+          defaultPos.longitude &&
         !state.uavModelEntity
       ) {
         dispatch("createUavModel");
@@ -700,7 +704,12 @@ const actions = {
    * @param {object} data.taskInfoId //任务id
    */
   async takeOff({ state, commit }, data) {
-    console.log(state.airlineData, data);
+    let diversionPoint = state.uav.diversionPoint;
+    if (!diversionPoint) {
+      return this.$message.warning("设备暂无备降点,无法进行一键起飞！");
+    }
+    let diversionPointArr = diversionPoint.split(",");
+    console.log(diversionPointArr, "diversionPointArr");
     if (state.uav.network == 2) {
       try {
         let flightSortieId;
@@ -709,7 +718,7 @@ const actions = {
             taskInfoId: data.taskInfoId || undefined,
             deviceId: state.uav.deviceId,
             reouteId: state.airlineData.id,
-          })
+          });
         } else {
           // 生成架次号
           flightSortieId = await TaskInfo.flightSortieId({
@@ -736,9 +745,16 @@ const actions = {
               headingMode: "AUTO",
               isExitMissionOnRCSignalLostEnabled: true,
               maxFlightSpeed: 12,
+              rallyList: [
+                {
+                  longitude: diversionPointArr[0],
+                  altitude: diversionPointArr[2],
+                  latitude: diversionPointArr[1],
+                },
+              ],
             },
           },
-          callback() { },
+          callback() {},
         });
 
         // 告诉飞控开始任务,并且把架次号和 任务id传过去
@@ -751,7 +767,7 @@ const actions = {
               flightSortiesID: flightSortieId.data,
             },
           },
-          callback() { },
+          callback() {},
         });
 
         // 起飞指令
@@ -1317,7 +1333,8 @@ const actions = {
       window.$mmc_stl.$store.dispatch("MMCMQTT/publish", {
         topic: "PX4/OBTAIN/" + state.uav.deviceId,
         data: {
-          type: window.$mmc_stl.$store.state.MMCMQTT.orders.云台控制指令can包透传,
+          type: window.$mmc_stl.$store.state.MMCMQTT.orders
+            .云台控制指令can包透传,
           data: {
             mountId: data.mountId,
             payload: data.buffer,
@@ -1358,7 +1375,7 @@ const actions = {
     if (
       res.data.currentOperator &&
       res.data.currentOperator ===
-      window.$mmc_stl.$store.state.MMCFlightControlCenter.userInfo.id
+        window.$mmc_stl.$store.state.MMCFlightControlCenter.userInfo.id
     ) {
       return true;
     }
@@ -1376,7 +1393,7 @@ const actions = {
         type: window.$mmc_stl.$store.state.MMCMQTT.orders.链路切换,
         data,
       },
-      callback() { },
+      callback() {},
     });
   },
   // 键盘控制