From 24422d8e93ca9286de194a451116a6f0394a0b96 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=AD=99=E5=B0=8F=E4=BA=91?= <sunpengchina85@gmail.com>
Date: Tue, 10 Mar 2026 15:56:15 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=B8=80=E9=94=AE=E8=B5=B7?=
 =?UTF-8?q?=E9=A3=9E=E5=92=8C=E8=BF=94=E8=88=AA?=
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---
 .../ruoyi/device/controller/AircraftFlyController.java | 10 ++++++----
 .../java/com/ruoyi/device/service/FlightService.java   |  2 ++
 .../ruoyi/device/service/impl/FlightServiceImpl.java   |  6 ++++++
 3 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java b/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java
index f128a00..e0768f6 100644
--- a/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java
+++ b/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java
@@ -454,17 +454,19 @@ public class AircraftFlyController extends BaseController
     @PostMapping("/return-home")
     public R<String> returnHome(@RequestBody DroneReturnHomeRequest request)
     {
-        log.info("收到无人机返航请求: sn={}, messageID={}, taskId={}", request.getSn(), request.getMessageID(), request.getTaskId());
+        log.info("收到无人机返航请求: sn={} ", request.getSn());
 
         try {
+
+            Long currentTaskId =  flightService.currentRunningTask(request.getSn());
             java.util.Map<String, Object> params = new java.util.HashMap<>();
-            if(Objects.isNull(request.getMessageID())){
+            if(Objects.isNull(currentTaskId)){
                 params.put("messageID", UUID.randomUUID().toString());
             }else {
-                params.put("messageID", request.getMessageID());
+                params.put("messageID",currentTaskId);
             }
             params.put("taskId", 9074);
-            params.put("zhilin", request.getZhilin());
+            params.put("zhilin", "03");
             CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(request.getSn(), CommandType.RETURN_HOME, params);
             CommandResult result = future.get();
 
diff --git a/src/main/java/com/ruoyi/device/service/FlightService.java b/src/main/java/com/ruoyi/device/service/FlightService.java
index a979ae0..4d98ad2 100644
--- a/src/main/java/com/ruoyi/device/service/FlightService.java
+++ b/src/main/java/com/ruoyi/device/service/FlightService.java
@@ -14,6 +14,8 @@ import java.util.Map;
 public interface FlightService
 {
 
+    public Long currentRunningTask(String sn);
+
     public Long createClickTakeOffTask(String sn, String url);
 
     /**
diff --git a/src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java b/src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java
index 99f8967..252c2c5 100644
--- a/src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java
+++ b/src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java
@@ -44,6 +44,12 @@ public class FlightServiceImpl implements FlightService
     @Autowired
     private RemoteTaskService remoteTaskService;
 
+
+    public Long currentRunningTask(String sn){
+        R<TaskDTO> taskDTOR =  remoteTaskService.getCurrentTaskByUavId(sn,SecurityConstants.INNER);
+        return taskDTOR.getData().getId();
+    }
+
    public Long createClickTakeOffTask(String sn, String routeUrl){
        TaskDTO taskDTO = new TaskDTO();
        taskDTO.setTaskName("一键起飞");