xx

src/main/java/com/tuoheng/machine/command/CommandType.java

@@ -9,10 +9,7 @@ public enum CommandType {
      */
     TAKE_OFF,
 
-    /**
-     * 降落
-     */
-    LAND,
+
 
     /**
      * 返航

src/main/java/com/tuoheng/machine/vendor/dji/DjiVendorConfig.java

@@ -50,20 +50,12 @@ public class DjiVendorConfig implements VendorConfig {
         StopState stopState = currentStates.getStopState();
 
         switch (commandType) {
-            case TAKE_OFF:
-                // 未知状态或离线状态且未急停时可以起飞
-                return (droneState == DroneState.UNKNOWN || droneState == DroneState.ONLINE) &&
-                        stopState != StopState.ENTERED;
 
-            case LAND:
-                // 飞行中、到达目的地状态可以降落（急停状态不能降落）
-                return (droneState == DroneState.FLYING || droneState == DroneState.ARRIVED) &&
-                        stopState != StopState.ENTERED;
+            case TAKE_OFF:
+                return droneState == DroneState.ONLINE ;
 
             case RETURN_HOME:
-                // 飞行中、到达目的地可以返航（急停状态不能返航）
-                return (droneState == DroneState.FLYING || droneState == DroneState.ARRIVED) &&
-                        stopState != StopState.ENTERED;
+                return droneState == DroneState.FLYING ;
 
             case EMERGENCY_STOP:
                 // 飞行中、返航中可以急停（未处于急停状态）
@@ -139,11 +131,7 @@ public class DjiVendorConfig implements VendorConfig {
                 .setTimeout(90000);
         transactionMap.put(CommandType.TAKE_OFF, takeOffTransaction);
 
-        // 降落命令
-        Transaction landTransaction = new Transaction("降落", CommandType.LAND)
-                .addInstruction(new DjiLandInstruction())
-                .setTimeout(90000);
-        transactionMap.put(CommandType.LAND, landTransaction);
+
 
         // 返航命令
         Transaction returnHomeTransaction = new Transaction("返航", CommandType.RETURN_HOME)