【类 型】：feat

【原  因】：完成集群飞机控制主页面  和  控制组件
【过  程】：
【影  响】：

# 类型 包含:
# feat：新功能（feature）
# fix：修补bug
# docs：文档（documentation）
# style： 格式（不影响代码运行的变动）
# refactor：重构（即不是新增功能，也不是修改bug的代码变动）
# test：增加测试
# chore：构建过程或辅助工具的变动

src/components/ControllerTabs.vue

@@ -207,12 +207,12 @@
           </div>
           <div class="butIconBox gap10 flex">
             <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{unlock:1}'); speakText('解锁飞机')">
+              @click="confirmation('确认对飞机解锁？请确保飞行环境安全。', '解锁操作', '{unlock:1}'); speakText('解锁飞机')">
               <i class="iconfont icon-jiesuo f-s-24"></i>
               <div class="m-t-5">解锁</div>
             </el-button>
             <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="confirmation('飞机加锁，螺旋桨将停转，请谨慎操作！', '加锁操作', '{lock:1}'); speakText('加锁,请注意安全')">
+              @click="confirmation('飞机加锁，螺旋桨将停转，请谨慎操作！', '加锁操作', '{lock:1}'); speakText('加锁飞机,请注意安全')">
               <i class=" iconfont icon-suoding f-s-24"></i>
               <div class="m-t-5">加锁</div>
             </el-button>

src/router/index.js

@@ -300,6 +300,16 @@ const routes = [
       tapName: 'plane'
     },
     children: [
+      {
+        path: '/planes/swarm',
+        component: () => import('@/views/layout/components/main/planes/swarm'),
+        meta: {
+          title: '集群控制',
+          icon: 'iconfont icon-a-jiqunkongzhianniu_huaban1',
+          roles: ['admin', 'editor'],
+          tapName: 'plane'
+        }
+      },
       {
         path: '/planes/index/:id/:name', // 动态加载路由时加ID参数
         component: () => import('@/views/layout/components/main/planes/index'),

src/store/modules/app.js

@@ -9,7 +9,8 @@ const state = {
   /* 页面参数 */
   orderSerch: null, // 订单列表页搜索条件
   toMessageIdArr: [], // 用户管理 发布公告页面  id临时传参
-  toFlyDataIdArr: [] // 飞机飞行数据 临时传参
+  toFlyDataIdArr: [], // 飞机飞行数据 临时传参
+  swarmIdArr: []// 选中的 集群控制飞机ID组
 }
 
 const mutations = {
@@ -64,7 +65,12 @@ const mutations = {
   // 飞机飞行数据 传递id数组
   setToFlyDataIdArr (state, idArr) {
     state.toFlyDataIdArr = idArr
+  },
+  // 设置 '选取的集群飞机'id组
+  setSwarmIdArr (state, idArr) {
+    state.swarmIdArr = idArr
   }
+
 }
 
 const actions = {

src/styles/myIcon.scss

@@ -1 +1 @@
-@import 'https://at.alicdn.com/t/c/font_3703467_793cqnnxv0f.css'; //iconfont阿里巴巴
+@import 'https://at.alicdn.com/t/c/font_3703467_cqwk36imkj.css'; //iconfont阿里巴巴

src/views/layout/components/main/home/index.vue

@@ -73,7 +73,7 @@ export default {
       async handler () {
         try {
           // 等待地图画布准备好
-          await waitForMapCanvasReady(this.map)
+          await waitForMapCanvasReady(this.$refs.mapbox.map)
           // 画布准备好后执行你自己的逻辑
           this.onMapReady()
         } catch (err) {

src/views/layout/components/main/planes/index.vue

@@ -23,15 +23,21 @@
           <el-form-item label="经度" label-width="80px">
             <el-input v-model="guidedLonLat.lon" placeholder="请输经度" label="经度"></el-input>
           </el-form-item>
-          <el-form-item label="高度设置" label-width="80px">
+          <el-form-item label="高度" label-width="80px">
             <el-input-number v-model="guidedAlt" label="高度设置"></el-input-number>
             <font class="m-l-5">米</font>
           </el-form-item>
         </el-form>
         <span slot="footer" class="dialog-footer">
           <el-button size="medium" @click="dialogVisible = false">关闭</el-button>
-          <el-button size="medium" type="primary"
+          <el-button size="medium" type="primary" @click="() => {
-            @click="publishFun(`{guidedMode:{lon:${guidedLonLat.lon},lat:${guidedLonLat.lat},alt:${guidedAlt}}`); isReserveGuidedMaker = true; dialogVisible = false">飞至</el-button>
+            if (flyToSinglePlane(guidedLonLat.lon, guidedLonLat.lat, guidedAlt)) {
+              isReserveGuidedMaker = true;
+              dialogVisible = false;
+            }
+          }">
+            飞至
+          </el-button>
         </span>
       </template>
     </el-dialog>
@@ -128,6 +134,25 @@ export default {
       }
       this.guidedAlt = height
     },
+    // 单架飞机点飞指令，参数：lon, lat, alt
+    flyToSinglePlane (lon, lat, alt) {
+      const lonNum = Number(lon)
+      const latNum = Number(lat)
+      const altNum = Number(alt)
+
+      if (
+        isNaN(lonNum) || isNaN(latNum) || isNaN(altNum) ||
+        lonNum < -180 || lonNum > 180 ||
+        latNum < -90 || latNum > 90
+      ) {
+        this.$message.warning('请输入有效的经纬度（经度-180~180，纬度-90~90）和高度')
+        return false
+      }
+
+      const cmd = `{guidedMode:{lon:${lonNum.toFixed(7)},lat:${latNum.toFixed(7)},alt:${altNum.toFixed(1)}}}`
+      this.publishFun(cmd)
+      return true
+    },
     // 地图组件回调地图加载完成后 执行
     onMapReady () {
       this.mapReady = true// 标记地图加载完成
@@ -190,7 +215,7 @@ export default {
       async handler () {
         try {
           // 等待地图画布准备好
-          await waitForMapCanvasReady(this.map)
+          await waitForMapCanvasReady(this.$refs.mapbox.map)
           // 画布准备好后执行你自己的逻辑
           this.onMapReady()
         } catch (err) {

src/views/layout/components/main/planes/swarm.vue

@@ -1,13 +1,12 @@
 <template>
   <div class="h-100">
     <!-- 地图组件 -->
-    <map-box ref="mapbox" :enableShowNofly="true" :enableGuided="true" :enableFollow="true"
+    <map-box ref="mapbox" :enableShowNofly="true" :enableGuided="true" :enblueScale="!$store.state.app.isWideScreen"
-      :enblueScale="!$store.state.app.isWideScreen" @longPress="handleLongPress" @map-ready="onMapReady">
+      @longPress="handleLongPress" @map-ready="onMapReady">
       <template #content>
         <div v-show="mapReady">
-          <BatteryStatus :plane="plane" />
+          <!-- <SwarmStatus :planes="planeList" /> -->
-          <PlaneStatus :plane="plane" />
+          <SwarmControllerTabs :planes="planeList" @mapXOffset="mapXOffset" @makeRoute="makeRoute" @clearRoute="clearRoute" />
-          <ControllerTabs :plane="plane" @mapXOffset="mapXOffset" @makeRoute="makeRoute" @clearRoute="clearRoute" />
         </div>
       </template>
     </map-box>
@@ -17,21 +16,20 @@
       <!-- 点飞设置弹出框 -->
       <template v-if="dialogItem == 'guidedBox'">
         <el-form label-position="left">
-          <el-form-item label="纬度" label-width="80px">
+          <el-form-item label="中心纬度" label-width="80px">
             <el-input v-model="guidedLonLat.lat" placeholder="请输维度" label="纬度"></el-input>
           </el-form-item>
-          <el-form-item label="经度" label-width="80px">
+          <el-form-item label="中心经度" label-width="80px">
             <el-input v-model="guidedLonLat.lon" placeholder="请输经度" label="经度"></el-input>
           </el-form-item>
-          <el-form-item label="高度设置" label-width="80px">
+          <el-form-item label="中心高度" label-width="80px">
             <el-input-number v-model="guidedAlt" label="高度设置"></el-input-number>
             <font class="m-l-5">米</font>
           </el-form-item>
         </el-form>
         <span slot="footer" class="dialog-footer">
           <el-button size="medium" @click="dialogVisible = false">关闭</el-button>
-          <el-button size="medium" type="primary"
+          <el-button size="medium" type="primary" @click="onSwarmFlyTo">飞至</el-button>
-            @click="publishFun(`{guidedMode:{lon:${guidedLonLat.lon},lat:${guidedLonLat.lat},alt:${guidedAlt}}`); isReserveGuidedMaker = true; dialogVisible = false">飞至</el-button>
         </span>
       </template>
     </el-dialog>
@@ -40,14 +38,12 @@
 
 <script>
 import MapBox from '@/components/MapBox'
-import ControllerTabs from '@/components/ControllerTabs'
+// import SwarmStatus from '@/components/SwarmStatus.vue'
-import BatteryStatus from '@/components/BatteryStatus'
+import SwarmControllerTabs from '@/components/SwarmControllerTabs.vue'
-import PlaneStatus from '@/components/PlaneStatus'
-import mqtt from '@/utils/mqtt'
 import { waitForMapCanvasReady } from '@/utils'
 
 export default {
-  name: 'Planes',
+  name: 'Swarm',
   data () {
     return {
       dialogTitle: '', // 弹出框 标题
@@ -56,40 +52,20 @@ export default {
       guidedLonLat: {}, // 点飞 的经纬度
       guidedAlt: '', // 点飞的高度
       isReserveGuidedMaker: false, // 关闭指点飞行操作窗口时 标记是否删除图标
-      planesId: this.$route.params.id,
+      mapReady: false // 地图加载完成后 回调时 设置此值  让地图组件插槽内容 滞后显示
-      localCount: 0, // 本地存储计数器
-      mapReady: false// 地图加载完成后 回调时 设置此值  让地图组件插槽内容 滞后显示
     }
   },
   components: {
     MapBox,
-    ControllerTabs,
+    // SwarmStatus,
-    BatteryStatus,
+    SwarmControllerTabs
-    PlaneStatus
   },
   computed: {
-    plane () {
+    // 选中的集群控制飞机s
-      if (this.$store.state.airList.length > 0) {
+    planeList () {
-        return this.$store.state.airList.find(plane => plane.id === this.planesId)
+      const allPlanes = this.$store.state.airList
-      }
+      const idArr = this.$store.state.app.swarmIdArr
-      return null
+      return allPlanes.filter(plane => idArr.includes(plane.id))
-    },
-    position () {
-      if (this.plane) {
-        if (this.plane.planeState.position.length > 0) {
-          return this.plane.planeState.position
-        } else {
-          return []
-        }
-      } else {
-        return []
-      }
-    },
-    noflyData () {
-      return this.$store.state.noflyData
-    },
-    ADSBList () {
-      return this.$store.state.ADSBList
     },
     /**
      * @description: 侧边栏显隐
@@ -98,6 +74,12 @@ export default {
       return this.$store.state.app.isCollapse
     }
   },
+  created () {
+    // 没有参数 跳转到飞机列表页
+    if (this.$store.state.app.swarmIdArr.length < 2) {
+      this.$router.replace('/register/index')
+    }
+  },
   methods: {
     /** 弹出框 关闭事件回调 */
     closeCallback () {
@@ -111,86 +93,136 @@ export default {
     openCallback () {
     },
     // 地图长按事件 记录地图经纬度
+    // 地图长按事件 记录地图经纬度
     handleLongPress (lonLat) {
       this.isReserveGuidedMaker = false
-      this.dialogTitle = '指点飞行'
+      this.dialogTitle = '集群指点'
       this.dialogVisible = true
       this.dialogItem = 'guidedBox'
-      this.guidedLonLat = lonLat // 设置点击的经纬度
+      this.guidedLonLat = lonLat // 点击的新位置中心点
 
-      // 安全获取飞机当前高度
+      // 获取所有飞机的高度并求平均
-      let height = 0
+      const validHeights = this.planeList.map(p => {
-      if (this.plane && this.plane.planeState && Array.isArray(this.plane.planeState.position)) {
+        const pos = p?.planeState?.position
-        const posLen = this.plane.planeState.position.length
+        const last = Array.isArray(pos) && pos.length > 0 ? pos[pos.length - 1] : null
-        if (posLen > 0 && Array.isArray(this.plane.planeState.position[posLen - 1])) {
+        return Array.isArray(last) ? last[2] || 0 : 0
-          height = this.plane.planeState.position[posLen - 1][2] || 0
+      }).filter(h => typeof h === 'number')
-        }
+
+      const avgAlt = validHeights.length
+        ? (validHeights.reduce((sum, h) => sum + h, 0) / validHeights.length).toFixed(1)
+        : 0
+
+      this.guidedAlt = Number(avgAlt)
+    },
+    // 集群指点飞行  保持所有飞机拓扑关系飞到指定位置
+    onSwarmFlyTo () {
+      const targetLon = Number(this.guidedLonLat.lon)
+      const targetLat = Number(this.guidedLonLat.lat)
+      const targetAlt = Number(this.guidedAlt)
+
+      if (
+        isNaN(targetLon) || isNaN(targetLat) || isNaN(targetAlt) ||
+    targetLon < -180 || targetLon > 180 ||
+    targetLat < -90 || targetLat > 90
+      ) {
+        this.$message.warning('请输入有效的经纬度（经度-180~180，纬度-90~90）和高度')
+        return
+      }
+
+      // 所有飞机当前中心点
+      const currentCenter = this.getSwarmCenter()
+
+      if (!currentCenter) {
+        this.$message.error('无法获取飞行器中心位置，检查飞机是否都已定位')
+        return
+      }
+
+      // 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
+        const last = Array.isArray(pos) && pos.length > 0 ? pos[pos.length - 1] : null
+        if (!Array.isArray(last)) return null
+
+        const offsetLon = last[0] - currentCenter.lon
+        const offsetLat = last[1] - currentCenter.lat
+        const offsetAlt = last[2] - currentCenter.alt
+
+        const newLon = targetLon + offsetLon
+        const newLat = targetLat + offsetLat
+        const newAlt = targetAlt + offsetAlt
+
+        return {
+          id: p.id,
+          cmd: `{guidedMode:{lon:${newLon.toFixed(7)},lat:${newLat.toFixed(7)},alt:${newAlt.toFixed(1)}}}`
+        }
+      }).filter(Boolean)
+
+      // 发送控制指令
+      commands.forEach(({ id, cmd }) => {
+        this.publishFun(cmd, id)
+      })
+
+      this.isReserveGuidedMaker = true
+      this.dialogVisible = false
+    },
+    // 获取集群中心点
+    getSwarmCenter () {
+      const positions = this.planeList.map(p => {
+        const pos = p?.planeState?.position
+        const last = Array.isArray(pos) && pos.length > 0 ? pos[pos.length - 1] : null
+        return Array.isArray(last) ? last : null
+      }).filter(Boolean)
+
+      if (!positions.length) return null
+
+      const sum = positions.reduce((acc, pos) => {
+        acc.lon += pos[0]
+        acc.lat += pos[1]
+        acc.alt += pos[2] || 0
+        return acc
+      }, { lon: 0, lat: 0, alt: 0 })
+
+      const count = positions.length
+      return {
+        lon: sum.lon / count,
+        lat: sum.lat / count,
+        alt: sum.alt / count
       }
-      this.guidedAlt = height
     },
     // 地图组件回调地图加载完成后 执行
     onMapReady () {
-      this.mapReady = true// 标记地图加载完成
+      this.mapReady = true // 标记地图加载完成
-      this.makePlane(this.plane)
+      this.makePlanes(this.planeList)
     },
     /**
      * @description: 创建飞机图标
      */
-    makePlane (plane) {
+    makePlanes (planes) {
-      let planeDefaultLonLat
-      if (localStorage.getItem(plane.name)) { // 从本地缓存 拿飞机得初始位置
-        planeDefaultLonLat = JSON.parse(localStorage.getItem(plane.name))
-        plane.lon = planeDefaultLonLat.lon
-        plane.lat = planeDefaultLonLat.lat
-      } else {
-        // 缺省 给经纬度 小数点后随机第五位 即有个10米左右的随机距离
-        plane.lon = 100 + Number((Math.random() * 0.01).toFixed(5))
-        plane.lat = 40 + Number((Math.random() * 0.01).toFixed(5))
-      }
       this.$refs.mapbox.removePlanes()// 先清除画布上现有的飞机
-      this.$refs.mapbox.makePlane(plane)// 创建飞机
+      planes.forEach((plane, index) => { // 创建所有飞机
-      this.$refs.mapbox.goto({ lon: plane.lon, lat: plane.lat })// 跳转到飞机位置
+        let planeDefaultLonLat
-    },
+        if (localStorage.getItem(plane.name) !== null) { // 从本地缓存 拿飞机得初始位置
-    /**
+          planeDefaultLonLat = JSON.parse(localStorage.getItem(plane.name))
-     * @description: 创建航线
+          plane.lon = planeDefaultLonLat.lon
-     */
+          plane.lat = planeDefaultLonLat.lat
-    makeRoute (routeData) {
+        } else {
-      this.$refs.mapbox.makeRoute(routeData)
+          // 缺省 给经纬度 小数点后随机第五位 即有个10米左右的随机距离
-    },
+          plane.lon = 100 + Number((Math.random() * 0.01).toFixed(5))
-    /**
+          plane.lat = 40 + Number((Math.random() * 0.01).toFixed(5))
-     * @description: 清楚航线
+        }
-     */
+        this.$refs.mapbox.makePlane(plane, index)
-    clearRoute () {
+      })
-      this.$refs.mapbox.clearRoute()
-    },
-    /**
-     * @description: 屏幕横移
-     * @param {*} val 正数向左移动 负数向右移动
-     * @param {*} y 正数向上移动 负数向下移动
-     */
-    mapXOffset (x, y) {
-      this.$refs.mapbox.mapXOffset(x, y)
-    },
-    /**
-     * @description: 发布 mqtt 信息
-     * @param {*} jsonData {'item':val} // item: questAss飞行航点任务 setQuestState 设置飞机状态  resetQuestState设置飞机初始状态 chan1油门通道1 chan2油门通道2  chan3油门通道3  chan4油门通道4 hookConteroller钩子控制 cameraController云台相机控制
-     */
-    publishFun (jsonData) {
-      if (this.plane) {
-        mqtt.publishFun(`cmd/${this.plane.macadd}`, jsonData)
-      } else {
-        this.$message.warning('与飞机通信未接通,请稍后')
-      }
     }
   },
-  mounted () {
-  },
   watch: {
-    plane: {
+    /**
+     * @description: 飞机列表更新时候 更新地图
+     */
+    planeList: {
       async handler () {
         try {
           // 等待地图画布准备好
-          await waitForMapCanvasReady(this.map)
+          await waitForMapCanvasReady(this.$refs.mapbox.map)
           // 画布准备好后执行你自己的逻辑
           this.onMapReady()
         } catch (err) {
@@ -200,47 +232,13 @@ export default {
       immediate: true
     },
     /**
-     * @description: 更新飞机位置 并画出轨迹 跟随飞机
+     * @description: 侧边栏显隐
      */
-    position: {
+    isCollapse () {
-      handler (val) {
+      return this.$store.state.app.isCollapse
-        const len = val.length
-        if (len > 2) {
-          const lon = val[len - 1][0]
-          const lat = val[len - 1][1]
-          this.localCount++// 计数器 叠加
-          if (this.localCount % 100 === 1) {
-            localStorage.setItem(this.plane.name, `{ "lon": ${lon}, "lat": ${lat} }`)
-          }
-          this.$refs.mapbox.setPlaneLonLat({ lon: lon, lat: lat }, 0, val)// 更新飞机位置 并画出轨迹 跟随飞机
-        }
-      },
-      deep: true
-    },
-    ADSBList: {
-      handler (newList) {
-        if (this.$refs.mapbox && typeof this.$refs.mapbox.makeADSBPlanes === 'function') {
-          this.$refs.mapbox.makeADSBPlanes(newList)
-        }
-      },
-      immediate: true,
-      deep: true
-    },
-    /**
-     * @description: 侧边栏缩进有变化时 地图重新自适应
-     */
-    isCollapse: {
-      handler (val) {
-        if (val) {
-          this.$nextTick(() => {
-            this.$refs.mapbox.handleResize()
-          })
-        }
-      }
     }
   }
 }
-
 </script>
 
 <style lang="scss" scoped></style>

src/views/layout/components/main/register/index.vue

@@ -2,19 +2,21 @@
   <div class="app-container">
     <!-- 组合按钮 -->
     <el-button-group class="m-r-20 m-b-20">
-        <el-button type="primary" icon="el-icon-plus" @click="$router.replace('/register/add')">添加</el-button>
+      <el-button type="primary" icon="el-icon-plus" @click="$router.replace('/register/add')">添加</el-button>
-        <el-button type="danger" icon="el-icon-delete" @click="deleteAir(countSelIdArr($refs.myTable.selection))">删除
+      <el-button type="danger" icon="el-icon-delete" @click="deleteAir(countSelIdArr($refs.myTable.selection))">删除
-        </el-button>
+      </el-button>
-        <el-button type="warning" icon="el-icon-edit" @click="toEditPage()">编辑</el-button>
+      <el-button type="warning" icon="el-icon-edit" @click="toEditPage()">编辑</el-button>
-        <el-button type="success" icon="el-icon-data-line" @click="toFlyDataPage(countSelIdArr($refs.myTable.selection))">飞行数据</el-button>
+      <el-button type="warning" class="swarmButton" icon="iconfont icon-a-jiqunkongzhianniu_huaban1" @click="toSwarmPage()">集群控制</el-button>
+      <el-button type="success" icon="el-icon-data-line"
+        @click="toFlyDataPage(countSelIdArr($refs.myTable.selection))">飞行数据</el-button>
     </el-button-group>
     <!-- 用户select选项 -->
     <el-button-group class="m-b-20">
       <SelectionShopId v-model="form.shop_id" :allSel="true" />
     </el-button-group>
     <!-- 飞机表格 -->
-    <el-table class="w-100" ref="myTable"
+    <el-table class="w-100" ref="myTable" :data="airListArr.slice((currentPage - 1) * pageSize, currentPage * pageSize)"
-      :data="airListArr.slice((currentPage - 1) * pageSize, currentPage * pageSize)" border tooltip-effect="dark">
+      border tooltip-effect="dark">
       <el-table-column align="center" type="selection" width="40">
       </el-table-column>
       <el-table-column align="center" prop="id" label="id" width="50">
@@ -117,6 +119,20 @@ export default {
           this.$message.error('只能选择一条记录')
       }
     },
+    /**
+     * @description: 跳转到编辑页面
+     */
+    toSwarmPage () {
+      const selId = this.countSelIdArr(this.$refs.myTable.selection)
+      if (selId.length < 2) {
+        this.$message.error('请选择至少两架飞机')
+        return
+      }
+      // 用缓存传参 swarmIdArr
+      this.$store.commit('app/setSwarmIdArr', selId)
+      // 跳转到集群控制页面
+      this.$router.push('/planes/swarm')
+    },
     /**
      * @description: 跳转到飞机数据统计页面
      */
@@ -155,6 +171,11 @@ export default {
   }
 }
 
+.swarmButton {
+  background-color: #7C4DFF;
+  border-color: #7C4DFF
+}
+
 .no-wrap-btn-group {
   white-space: nowrap;
   /* 禁止换行 */

src/views/layout/components/menubar.vue

@@ -111,25 +111,34 @@ export default {
       }
     },
     /**
-    * @description: 动态加载路由
+     * @description: 动态加载无人机子路由，并保留静态配置（如集群控制）
-    */
+     * @param {Array} planes - 飞机对象数组，每个对象包含 id 和 name
+     */
     loadRoute (planes) {
-      const arr = new Array(0)
+      // 1. 将每架飞机转换为一个路由配置对象
-      planes.map((item, index) => {
+      const dynamicPlaneRoutes = planes.map((item) => ({
-        arr[index] = {
+        path: '/planes/index/' + item.id + '/' + item.name, // 动态路径，携带飞机ID和名称
-          path: '/planes/index/' + item.id + '/' + item.name,
+        component: () => import('@/views/layout/components/main/planes/index.vue'), // 对应的组件路径
-          component: () => import('@/views/layout/components/main/planes/index.vue'),
+        meta: {
-          meta: {
+          title: item.name, // 用于左侧菜单或标签页显示
-            title: item.name,
+          icon: 'iconfont icon-wurenji', // 图标（可替换）
-            icon: 'iconfont icon-wurenji',
+          roles: ['admin', 'editor'], // 权限控制
-            roles: ['admin', 'editor'],
+          tapName: 'plane' // 自定义标记
-            tapName: 'plane'
+          // activeMenu: '/planes/swarm' // 可选：保持菜单高亮在“集群控制”
-          }
         }
-      })
+      }))
-      this.routes.map((element) => {
+
-        if (element.meta.title === '无人机') {
+      // 2. 遍历顶层路由配置，找到 path 为 "/planes" 的主路由
-          element.children = arr
+      this.routes.forEach((element) => {
+        if (element.path === '/planes') {
+          // 3. 过滤原本 children 中的静态路由（排除旧的动态飞机 index 路由）
+          const staticChildren = element.children?.filter(child => !child.path.startsWith('/planes/index/')) || []
+
+          // 4. 合并：静态子路由（如 /planes/swarm） + 动态生成的飞机子路由
+          element.children = [
+            ...staticChildren,
+            ...dynamicPlaneRoutes
+          ]
         }
       })
     }