From 05361d6065b4dc8f8c52ef119cfb289a19f2aa94 Mon Sep 17 00:00:00 2001
From: oldHome <szdot@qq.com>
Date: Sat, 28 Jun 2025 15:52:19 +0800
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---
 src/views/layout/components/main/planes/swarm.vue | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/src/views/layout/components/main/planes/swarm.vue b/src/views/layout/components/main/planes/swarm.vue
index adfc2ef..db13648 100644
--- a/src/views/layout/components/main/planes/swarm.vue
+++ b/src/views/layout/components/main/planes/swarm.vue
@@ -202,6 +202,7 @@ export default {
         return
       }
 
+      let minTargetAlt = Infinity // 标记最矮飞机 的目标高度 初始化为正无穷大
       // 计算每架飞机相对于当前中心的偏移量
       const commands = this.planeList.map(p => {
         const pos = p?.planeState?.position
@@ -216,12 +217,22 @@ export default {
         const newLat = targetLat + offsetLat
         const newAlt = targetAlt + offsetAlt
 
+        if (newAlt < minTargetAlt) {
+          minTargetAlt = newAlt
+        }
+
         return {
           macadd: p.macadd,
           cmd: `{guidedMode:{lon:${newLon.toFixed(7)},lat:${newLat.toFixed(7)},alt:${newAlt.toFixed(1)}}}`
         }
       }).filter(Boolean)
 
+      // 最矮的飞机小于地面高度 返回
+      if (minTargetAlt < 0) {
+        this.$message.warning(`指令已取消：最矮飞机将飞到地面以下（最低高度 ${minTargetAlt.toFixed(1)} 米）`)
+        return
+      }
+
       // 发送控制指令
       commands.forEach(({ macadd, cmd }) => {
         mqtt.publishFun(`cmd/${macadd}`, cmd)