调整checkDrcModeCondition 无人机是否在空中逻辑

sample/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java

@@ -28,6 +28,7 @@ import com.dji.sdk.cloudapi.control.DrcModeEnterRequest;
 import com.dji.sdk.cloudapi.control.DrcModeMqttBroker;
 import com.dji.sdk.cloudapi.control.DrcModeMqttBroker;
 import com.dji.sdk.cloudapi.control.api.AbstractControlService;
 import com.dji.sdk.cloudapi.control.api.AbstractControlService;
 import com.dji.sdk.cloudapi.device.DockModeCodeEnum;
 import com.dji.sdk.cloudapi.device.DockModeCodeEnum;
+import com.dji.sdk.cloudapi.device.OsdDock;
 import com.dji.sdk.cloudapi.device.OsdDockDrone;
 import com.dji.sdk.cloudapi.device.OsdDockDrone;
 import com.dji.sdk.cloudapi.wayline.FlighttaskProgress;
 import com.dji.sdk.cloudapi.wayline.FlighttaskProgress;
 import com.dji.sdk.common.HttpResultResponse;
 import com.dji.sdk.common.HttpResultResponse;
@@ -142,7 +143,9 @@ public class DrcServiceImpl implements IDrcService {
         Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
         Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
         if (dockOpt.isPresent() && (DockModeCodeEnum.IDLE == dockMode || DockModeCodeEnum.WORKING == dockMode)) {
         if (dockOpt.isPresent() && (DockModeCodeEnum.IDLE == dockMode || DockModeCodeEnum.WORKING == dockMode)) {
             Optional<OsdDockDrone> deviceOsd = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdDockDrone.class);
             Optional<OsdDockDrone> deviceOsd = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdDockDrone.class);
-            if (deviceOsd.isEmpty() || deviceOsd.get().getElevation() <= 0) {
+            Optional<OsdDock> dockOsd = deviceRedisService.getDeviceOsd(dockSn, OsdDock.class);
+            // if (deviceOsd.isEmpty() || deviceOsd.get().getElevation() <= 0) {
+            if (deviceOsd.isEmpty() || dockOsd.isEmpty() || dockOsd.get().getDroneInDock()) {
                 throw new RuntimeException("The drone is not in the sky and cannot enter command flight mode.");
                 throw new RuntimeException("The drone is not in the sky and cannot enter command flight mode.");
             }
             }
         } else {
         } else {