1.修改界面，分成明显的两种模式，飞行模式和编辑模式 让界面简洁和有空间加更多功能
2.加入水平旋转图像功能
This commit is contained in:
parent
09126211a1
commit
07f5b39814
@ -33,8 +33,8 @@
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True="Collapsed" />
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<cnv:InverseBooleanConverter x:Key="InverseBooleanConverter" />
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<cnv:BooleanToStringConverter x:Key="ShowModifyTaskViewButtonContentConverter"
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False="显示任务编辑面板"
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True="隐藏任务编辑面板" />
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False="【飞行模式】"
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True="【编辑模式】" />
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<cnv:BooleanToResourceConverter x:Key="CheckSignConverter"
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FalseKey="CloseIcon"
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TrueKey="CheckIcon" />
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350
Plane.FormationCreator/CalculationLogLatDistance.cs
Normal file
350
Plane.FormationCreator/CalculationLogLatDistance.cs
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@ -0,0 +1,350 @@
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace Plane.FormationCreator
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{
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/**
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*
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* 计算经纬度、距离、方位角
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*
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* */
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public class CalculationLogLatDistance
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{
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/**
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* 地球赤道半径(km)
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* */
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static public double EARTH_RADIUS = 6378.137;
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/**
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* 地球每度的弧长(km)
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* */
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static public double EARTH_ARC = 111.199;
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/**
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* 转化为弧度(rad)
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* */
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public static double rad(double d)
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{
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return d * Math.PI / 180.0;
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}
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/**
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* 求两经纬度距离
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*
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* @param lon1
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* 第一点的经度
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* @param lat1
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* 第一点的纬度
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* @param lon2
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* 第二点的经度
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* @param lat2
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* 第二点的纬度
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* @return 两点距离，单位km
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* */
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public static double GetDistanceOne(double lon1, double lat1, double lon2,
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double lat2)
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{
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double r1 = rad(lat1);
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double r2 = rad(lon1);
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double a = rad(lat2);
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double b = rad(lon2);
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double s = Math.Acos(Math.Cos(r1) * Math.Cos(a) * Math.Cos(r2 - b)
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+ Math.Sin(r1) * Math.Sin(a))
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* EARTH_RADIUS;
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return s;
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}
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/**
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* 求两经纬度距离(google maps源码中)
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*
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* @param lon1
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* 第一点的经度
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* @param lat1
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* 第一点的纬度
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* @param lon2
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* 第二点的经度
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* @param lat2
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* 第二点的纬度
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* @return 两点距离，单位km
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* */
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public static double GetDistanceTwo(double lon1, double lat1, double lon2,
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double lat2)
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{
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double radLat1 = rad(lat1);
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double radLat2 = rad(lat2);
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double a = radLat1 - radLat2;
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double b = rad(lon1) - rad(lon2);
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double s = 2 * Math.Asin(Math.Sqrt(Math.Pow(Math.Sin(a / 2), 2)
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+ Math.Cos(radLat1) * Math.Cos(radLat2)
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* Math.Pow(Math.Sin(b / 2), 2)));
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s = s * EARTH_RADIUS;
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return s;
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}
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/**
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* 求两经纬度距离
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*
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* @param lon1
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* 第一点的经度
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* @param lat1
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* 第一点的纬度
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* @param lon2
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* 第二点的经度
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* @param lat2
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* 第二点的纬度
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* @return 两点距离，单位km
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* */
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public static double GetDistanceThree(double lon1, double lat1,
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double lon2, double lat2)
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{
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double radLat1 = rad(lat1);
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double radLat2 = rad(lat2);
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double radLon1 = rad(lon1);
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double radLon2 = rad(lon2);
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if (radLat1 < 0)
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radLat1 = Math.PI / 2 + Math.Abs(radLat1);// south
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if (radLat1 > 0)
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radLat1 = Math.PI / 2 - Math.Abs(radLat1);// north
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if (radLon1 < 0)
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radLon1 = Math.PI * 2 - Math.Abs(radLon1);// west
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if (radLat2 < 0)
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radLat2 = Math.PI / 2 + Math.Abs(radLat2);// south
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if (radLat2 > 0)
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radLat2 = Math.PI / 2 - Math.Abs(radLat2);// north
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if (radLon2 < 0)
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radLon2 = Math.PI * 2 - Math.Abs(radLon2);// west
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double x1 = Math.Cos(radLon1) * Math.Sin(radLat1);
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double y1 = Math.Sin(radLon1) * Math.Sin(radLat1);
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double z1 = Math.Cos(radLat1);
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double x2 = Math.Cos(radLon2) * Math.Sin(radLat2);
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double y2 = Math.Sin(radLon2) * Math.Sin(radLat2);
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double z2 = Math.Cos(radLat2);
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double d = Math.Pow((x1 - x2), 2) + Math.Pow((y1 - y2), 2)
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+ Math.Pow((z1 - z2), 2);
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// // 余弦定理求夹角
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// double theta = Math.Acos((2 - d) / 2);
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d = Math.Pow(EARTH_RADIUS, 2) * d;
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// //余弦定理求夹角
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double theta = Math.Acos((2 * Math.Pow(EARTH_RADIUS, 2) - d)
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/ (2 * Math.Pow(EARTH_RADIUS, 2)));
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double dist = theta * EARTH_RADIUS;
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return dist;
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}
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/**
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* 求两经纬度方向角
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*
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* @param lon1
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* 第一点的经度
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* @param lat1
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* 第一点的纬度
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* @param lon2
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* 第二点的经度
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* @param lat2
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* 第二点的纬度
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* @return 方位角，角度（单位：°）
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* */
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public static double GetAzimuth(double lon1, double lat1, double lon2,
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double lat2)
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{
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lat1 = rad(lat1);
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lat2 = rad(lat2);
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lon1 = rad(lon1);
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lon2 = rad(lon2);
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double azimuth = Math.Sin(lat1) * Math.Sin(lat2) + Math.Cos(lat1)
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* Math.Cos(lat2) * Math.Cos(lon2 - lon1);
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azimuth = Math.Sqrt(1 - azimuth * azimuth);
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azimuth = Math.Cos(lat2) * Math.Sin(lon2 - lon1) / azimuth;
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azimuth = Math.Asin(azimuth) * 180 / Math.PI;
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if (Double.IsNaN(azimuth))
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{
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if (lon1 < lon2)
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{
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azimuth = 90.0;
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}
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else {
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azimuth = 270.0;
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}
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}
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return azimuth;
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}
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/**
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* 已知一点经纬度A，和与另一点B的距离和方位角，求B的经纬度(计算结果有误)
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*
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* @param lon1
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* A的经度
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* @param lat1
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* A的纬度
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* @param distance
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* AB距离（单位：米）
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* @param azimuth
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* AB方位角
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* @return B的经纬度
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* */
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public static void GetOtherPoint(double lon1, double lat1,
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double distance, double azimuth, out double lng2, out double lat2)
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{
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azimuth = rad(azimuth);
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double ab = distance / EARTH_ARC;// AB间弧线长
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ab = rad(ab);
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double Lat = Math.Asin(Math.Sin(lat1) * Math.Cos(ab) + Math.Cos(lat1)
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* Math.Sin(ab) * Math.Cos(azimuth));
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double Lon = lon1
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+ Math.Asin(Math.Sin(azimuth) * Math.Sin(ab) / Math.Cos(Lat));
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// System.out.println(Lon + "," + Lat);
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double a = Math.Acos(Math.Cos(90 - lon1) * Math.Cos(ab)
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+ Math.Sin(90 - lon1) * Math.Sin(ab) * Math.Cos(azimuth));
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double C = Math.Asin(Math.Sin(ab) * Math.Sin(azimuth) / Math.Sin(a));
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// System.out.println("c=" + C);
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lng2 = lon1 + C;
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lat2 = 90 - a;
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return ;
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}
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/**
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* 已知一点经纬度A，和与另一点B的距离和方位角，求B的经纬度
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*
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* @param lon1
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* A的经度
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* @param lat1
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* A的纬度
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* @param distance
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* AB距离（单位：米）
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* @param azimuth
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* AB方位角
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* @return B的经纬度
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* */
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public static void ConvertDistanceToLogLat(double lng1, double lat1,
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double distance, double azimuth, out double lng2, out double lat2)
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{
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azimuth = rad(azimuth);
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// 将距离转换成经度的计算公式
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lng2 = lng1 + (distance * Math.Sin(azimuth))
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/ (EARTH_ARC * Math.Cos(rad(lat1)));
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// 将距离转换成纬度的计算公式
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lat2 = lat1 + (distance * Math.Cos(azimuth)) / EARTH_ARC;
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return ;
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}
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public static MyLatLng getMyLatLng(MyLatLng A, double distance, double angle)
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{
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double dx = distance * 1000 * Math.Sin((Math.PI / 180) * angle);
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double dy = distance * 1000 * Math.Cos((Math.PI / 180) * angle);
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double bjd = (dx / A.Ed + A.m_RadLo) * 180.0/ Math.PI;
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double bwd = (dy / A.Ec + A.m_RadLa) * 180.0/ Math.PI;
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return new MyLatLng(bjd, bwd);
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}
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/**
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* 获取AB连线与正北方向的角度
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* @param A A点的经纬度
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* @param B B点的经纬度
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* @return AB连线与正北方向的角度（0~360）
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*/
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public static double getAngle(MyLatLng A, MyLatLng B)
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{
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double dx = (B.m_RadLo - A.m_RadLo) * A.Ed;
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double dy = (B.m_RadLa - A.m_RadLa) * A.Ec;
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double angle = 0.0;
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angle = Math.Atan(Math.Abs(dx / dy)) * 180.0/ Math.PI;
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double dLo = B.m_Longitude - A.m_Longitude;
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double dLa = B.m_Latitude - A.m_Latitude;
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if (dLo > 0 && dLa <= 0)
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{
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angle = (90.0- angle) + 90;
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}
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else if (dLo <= 0 && dLa < 0)
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{
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angle = angle + 180.0;
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}
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else if (dLo < 0 && dLa >= 0)
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{
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angle = (90.0- angle) + 270;
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}
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if (Double.IsNaN(angle)) angle = 0.0;
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return angle;
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}
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public class MyLatLng
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{
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static double Rc = 6378137;
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static double Rj = 6356725;
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public double m_LoDeg, m_LoMin, m_LoSec;
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public double m_LaDeg, m_LaMin, m_LaSec;
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public double m_Longitude, m_Latitude;
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public double m_RadLo, m_RadLa;
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public double Ec;
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public double Ed;
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public MyLatLng(double longitude, double latitude)
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{
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m_LoDeg = (int)longitude;
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m_LoMin = (int)((longitude - m_LoDeg) * 60);
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m_LoSec = (longitude - m_LoDeg - m_LoMin / 60.0) * 3600;
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m_LaDeg = (int)latitude;
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m_LaMin = (int)((latitude - m_LaDeg) * 60);
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m_LaSec = (latitude - m_LaDeg - m_LaMin / 60.0) * 3600;
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m_Longitude = longitude;
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m_Latitude = latitude;
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m_RadLo = longitude * Math.PI / 180.0;
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m_RadLa = latitude * Math.PI / 180.0;
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Ec = Rj + (Rc - Rj) * (90.0- m_Latitude) / 90.0;
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Ed = Ec * Math.Cos(m_RadLa);
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}
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}
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}
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}
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@ -101,11 +101,11 @@ namespace Plane.FormationCreator.Formation
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break;
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case FlightTaskType.TakeOff:
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//多架同时起飞
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await MutilRunTakeOffTaskAsync(2).ConfigureAwait(false);
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await MutilRunTakeOffTaskAsync(5).ConfigureAwait(false);
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break;
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case FlightTaskType.ReturnToLand: // Added by ZJF
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//多架同时返航
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await MutilRunReturnToLandTaskAsync(2).ConfigureAwait(false);
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await MutilRunReturnToLandTaskAsync(5).ConfigureAwait(false);
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break;
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default:
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throw new InvalidOperationException();
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@ -102,15 +102,27 @@
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<v:CopterListView />
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<StackPanel Grid.Row="1">
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<Separator />
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<v:ControlPanelView />
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<StackPanel Grid.Row="2"
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Visibility="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource InversiveBooleanToVisibilityConverter}}">
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<Separator Grid.ColumnSpan="2" />
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<v:ControlPanelView />
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</StackPanel>
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<StackPanel Visibility="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource BooleanToVisibilityConverter}}">
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<Separator />
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<v:ModifyTaskView />
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</StackPanel>
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</StackPanel>
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<StackPanel Grid.Row="2">
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<StackPanel Grid.Row="2"
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Visibility="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource InversiveBooleanToVisibilityConverter}}">
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<Separator Grid.ColumnSpan="2" />
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<v:CopterInfoView DataContext="{Binding Path=CopterListViewModel.SelectedCopter}" />
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</StackPanel>
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@ -141,6 +141,7 @@
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<Compile Include="Maps\OpenStreetMapTileSource.cs" />
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<Compile Include="ServiceLocatorConfigurer.cs" />
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<Compile Include="Test.cs" />
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<Compile Include="CalculationLogLatDistance.cs" />
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<Compile Include="ViewModels\ConnectViewModel.cs" />
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<Compile Include="ViewModels\ControlPanelViewModel.cs" />
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<Compile Include="ViewModels\CopterListViewModel.cs" />
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@ -41,6 +41,8 @@ namespace Plane.FormationCreator.ViewModels
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private int _virtualCopterId = 1;
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private LatLng? _lastVirtualCopterLocation;
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private ICommand _AddVirtualCopterCommand;
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public ICommand AddVirtualCopterCommand
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{
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@ -98,249 +100,6 @@ namespace Plane.FormationCreator.ViewModels
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}
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private ICommand _AverageCommand;
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public ICommand AverageCommand
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{
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get
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{
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return _AverageCommand ?? (_AverageCommand = new RelayCommand<int>(async alignmentLine =>
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{
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double maxlat = 0;
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double tlat = 0;
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double minlat = 0;
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double maxlng = 0;
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double minlng = 0;
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double tlng = 0;
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double avgl=0;
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if (alignmentLine == 0)
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{
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var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
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bool copterisselect;
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int selectednumber = _copterManager.SelectedCopters.Count()-1;
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for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
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{
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copterisselect = false;
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selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
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foreach (var capter in _copterManager.SelectedCopters)
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{
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if (capter == selectedCopter)
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copterisselect = true;
|
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|
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}
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if (copterisselect)
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{
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tlng = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
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if (minlng == 0)
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minlng = tlng;
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if (tlng > maxlng)
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maxlng = tlng;
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else if (tlng < minlng)
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minlng = tlng;
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||||
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}
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}
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avgl = (maxlng - minlng) / selectednumber;
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int coptnum = 0;
|
||||
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng= minlng+ avgl*coptnum;
|
||||
coptnum++;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (alignmentLine == 90)
|
||||
{
|
||||
|
||||
var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
bool copterisselect;
|
||||
int selectednumber = _copterManager.SelectedCopters.Count() - 1;
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
tlat = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
|
||||
if (minlat == 0)
|
||||
minlat = tlat;
|
||||
if (tlat > maxlat)
|
||||
maxlat = tlat;
|
||||
else if (tlat < minlat)
|
||||
minlat = tlat;
|
||||
|
||||
}
|
||||
}
|
||||
avgl = (maxlat - minlat) / selectednumber;
|
||||
int coptnum = 0;
|
||||
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = minlat + avgl * coptnum;
|
||||
coptnum++;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
await Task.Delay(100); // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
private ICommand _AlignmentCommand;
|
||||
public ICommand AlignmentCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _AlignmentCommand ?? (_AlignmentCommand = new RelayCommand<int>(async alignmentLine =>
|
||||
{
|
||||
double maxlat = 0;
|
||||
double tlat = 0;
|
||||
|
||||
double maxlng = 0;
|
||||
double tlng = 0;
|
||||
|
||||
if (alignmentLine == 0)
|
||||
{
|
||||
|
||||
var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
bool copterisselect;
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
tlat = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
|
||||
if (tlat > maxlat)
|
||||
maxlat = tlat;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = maxlat;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if (alignmentLine == 90)
|
||||
{
|
||||
|
||||
|
||||
var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
bool copterisselect;
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
tlng = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
|
||||
if (tlng > maxlng)
|
||||
maxlng = tlng;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng = maxlng;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
await Task.Delay(100); // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@ -16,9 +16,10 @@ namespace Plane.FormationCreator.ViewModels
|
||||
{
|
||||
public class ModifyTaskViewModel : ViewModelBase
|
||||
{
|
||||
public ModifyTaskViewModel(FlightTaskManager flightTaskManager)
|
||||
public ModifyTaskViewModel(FlightTaskManager flightTaskManager, CopterManager copterManager)
|
||||
{
|
||||
_flightTaskManager = flightTaskManager;
|
||||
_copterManager = copterManager;
|
||||
//_flightTaskManager.SingleCopterInfoChanged += (sender, e) =>
|
||||
//{
|
||||
// var changedSingleInfo = e.ChangedSingleCopterInfo;
|
||||
@ -117,7 +118,10 @@ namespace Plane.FormationCreator.ViewModels
|
||||
}
|
||||
|
||||
private FlightTaskManager _flightTaskManager;
|
||||
private CopterManager _copterManager;
|
||||
public FlightTaskManager FlightTaskManager { get { return _flightTaskManager; } }
|
||||
public CopterManager CopterManager { get { return _copterManager; } }
|
||||
|
||||
//private void InvokeForSelectedSingleCopterInfos(Action<FlightTaskSingleCopterInfo> action)
|
||||
//{
|
||||
// var modifyingTask = _flightTaskManager.SelectedTask as FlyToFlightTask;
|
||||
@ -208,5 +212,506 @@ namespace Plane.FormationCreator.ViewModels
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
private ICommand _LevelAverageCommand;
|
||||
public ICommand LevelAverageCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _LevelAverageCommand ?? (_LevelAverageCommand = new RelayCommand<int>(async =>
|
||||
{
|
||||
double maxlng = 0;
|
||||
double minlng = 0;
|
||||
double tlng = 0;
|
||||
double avgl = 0;
|
||||
|
||||
|
||||
|
||||
var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
bool copterisselect;
|
||||
int selectednumber = _copterManager.SelectedCopters.Count() - 1;
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
tlng = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
|
||||
if (minlng == 0)
|
||||
minlng = tlng;
|
||||
if (tlng > maxlng)
|
||||
maxlng = tlng;
|
||||
else if (tlng < minlng)
|
||||
minlng = tlng;
|
||||
|
||||
}
|
||||
}
|
||||
avgl = (maxlng - minlng) / selectednumber;
|
||||
int coptnum = 0;
|
||||
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng = minlng + avgl * coptnum;
|
||||
coptnum++;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
///////////////////////
|
||||
|
||||
// await Task.Delay(100); // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
private ICommand _VerticlAverageCommand;
|
||||
public ICommand VerticlAverageCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _VerticlAverageCommand ?? (_VerticlAverageCommand = new RelayCommand<int>(async =>
|
||||
{
|
||||
double maxlat = 0;
|
||||
double tlat = 0;
|
||||
double minlat = 0;
|
||||
|
||||
double avgl = 0;
|
||||
|
||||
|
||||
//////////////////////
|
||||
|
||||
var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
bool copterisselect;
|
||||
int selectednumber = _copterManager.SelectedCopters.Count() - 1;
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
tlat = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
|
||||
if (minlat == 0)
|
||||
minlat = tlat;
|
||||
if (tlat > maxlat)
|
||||
maxlat = tlat;
|
||||
else if (tlat < minlat)
|
||||
minlat = tlat;
|
||||
|
||||
}
|
||||
}
|
||||
avgl = (maxlat - minlat) / selectednumber;
|
||||
int coptnum = 0;
|
||||
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = minlat + avgl * coptnum;
|
||||
coptnum++;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
///////////////////////
|
||||
|
||||
// await Task.Delay(100); // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
private ICommand _LevelAlignmentCommand;
|
||||
public ICommand LevelAlignmentCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _LevelAlignmentCommand ?? (_LevelAlignmentCommand = new RelayCommand<int>(async =>
|
||||
{
|
||||
double maxlat = 0;
|
||||
double tlat = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
bool copterisselect;
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
tlat = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
|
||||
if (tlat > maxlat)
|
||||
maxlat = tlat;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = maxlat;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//await Task.Delay(100); // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
private ICommand _VerticlAlignmentCommand;
|
||||
public ICommand VerticlAlignmentCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _VerticlAlignmentCommand ?? (_VerticlAlignmentCommand = new RelayCommand<int>(async =>
|
||||
{
|
||||
|
||||
double maxlng = 0;
|
||||
double tlng = 0;
|
||||
var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
bool copterisselect;
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
tlng = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
|
||||
if (tlng > maxlng)
|
||||
maxlng = tlng;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng = maxlng;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
//await Task.Delay(100); // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
public static double DistanceOfTwoPoints(double lng1, double lat1, double lng2, double lat2, GaussSphere gs)
|
||||
{
|
||||
double radLat1 = Rad(lat1);
|
||||
double radLat2 = Rad(lat2);
|
||||
double a = radLat1 - radLat2;
|
||||
double b = Rad(lng1) - Rad(lng2);
|
||||
double s = 2 * Math.Asin(Math.Sqrt(Math.Pow(Math.Sin(a / 2), 2) +
|
||||
Math.Cos(radLat1) * Math.Cos(radLat2) * Math.Pow(Math.Sin(b / 2), 2)));
|
||||
s = s * (gs == GaussSphere.WGS84 ? 6378137.0 : (gs == GaussSphere.Xian80 ? 6378140.0 : 6378245.0));
|
||||
s = Math.Round(s * 10000) / 10000;
|
||||
return s;
|
||||
}
|
||||
|
||||
private static double Rad(double d)
|
||||
{
|
||||
return d * Math.PI / 180.0;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 高斯投影中所选用的参考椭球
|
||||
/// </summary>
|
||||
public enum GaussSphere
|
||||
{
|
||||
Beijing54,
|
||||
Xian80,
|
||||
WGS84,
|
||||
}
|
||||
|
||||
//水平旋转
|
||||
private ICommand _LevelRotateCommand;
|
||||
public ICommand LevelRotateCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _LevelRotateCommand ?? (_LevelRotateCommand = new RelayCommand<int>(async RotateLine =>
|
||||
{
|
||||
|
||||
|
||||
|
||||
double lngsum = 0;
|
||||
double latsum = 0;
|
||||
int selectcount = 0;
|
||||
double centlng = 0;
|
||||
double centlat = 0;
|
||||
var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
bool copterisselect;
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
lngsum+= _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
|
||||
latsum+= _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
|
||||
selectcount++;
|
||||
|
||||
}
|
||||
}
|
||||
//计算旋转中心
|
||||
if (selectcount > 0)
|
||||
{
|
||||
centlng = lngsum / selectcount;
|
||||
centlat = latsum / selectcount;
|
||||
}
|
||||
else return;
|
||||
|
||||
|
||||
//////////计算旋转，经测试用下面的函数组合计算比较准确
|
||||
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
{
|
||||
double lpDistance = CalculationLogLatDistance.GetDistanceOne(centlng, centlat,
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng,
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat);
|
||||
|
||||
CalculationLogLatDistance.MyLatLng mypos1, mypos2;
|
||||
mypos1 = new CalculationLogLatDistance.MyLatLng(centlng, centlat);
|
||||
mypos2 = new CalculationLogLatDistance.MyLatLng(_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng
|
||||
, _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat);
|
||||
double lpAzimuth = CalculationLogLatDistance.getAngle(mypos1, mypos2);
|
||||
double lng2 = 0;
|
||||
double lat2=0;
|
||||
CalculationLogLatDistance.ConvertDistanceToLogLat(centlng, centlat, lpDistance,
|
||||
lpAzimuth + (double)RotateLine,out lng2, out lat2);
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng = lng2;
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = lat2;
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
////
|
||||
await Task.Delay(100); // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//垂直旋转
|
||||
private ICommand _VerticlRotateCommand;
|
||||
public ICommand VerticlRotateCommand
|
||||
{
|
||||
get
|
||||
{
|
||||
return _VerticlRotateCommand ?? (_VerticlRotateCommand = new RelayCommand<int>(async RotateLine =>
|
||||
{
|
||||
double lngsum = 0;
|
||||
double latsum = 0;
|
||||
int selectcount = 0;
|
||||
double centlng = 0;
|
||||
double centlat = 0;
|
||||
var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
|
||||
bool copterisselect;
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
copterisselect = false;
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
copterisselect = true;
|
||||
|
||||
}
|
||||
if (copterisselect)
|
||||
{
|
||||
|
||||
lngsum += _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
|
||||
latsum += _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
|
||||
selectcount++;
|
||||
|
||||
}
|
||||
}
|
||||
//计算旋转中心
|
||||
if (selectcount > 0)
|
||||
{
|
||||
centlng = lngsum / selectcount;
|
||||
centlat = latsum / selectcount;
|
||||
}
|
||||
else return;
|
||||
double dx = 0;
|
||||
double dy = 0;
|
||||
double ax = 0;
|
||||
double ay = 0;
|
||||
double x = centlng;
|
||||
double y = centlat;
|
||||
double k = (double)RotateLine / 180 * Math.PI;
|
||||
|
||||
for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
|
||||
{
|
||||
selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
|
||||
foreach (var capter in _copterManager.SelectedCopters)
|
||||
{
|
||||
if (capter == selectedCopter)
|
||||
{
|
||||
ax = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
|
||||
ay = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
|
||||
dx = (ax - x) * Math.Cos(k) + (ay - y) * Math.Sin(k) + x; //此为最后的横坐标
|
||||
dy = -(ax - x) * Math.Sin(k) + (ay - y) * Math.Cos(k) + y; //此为最后的纵坐标
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng = dx;
|
||||
_flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = dy;
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
await Task.Delay(100); // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
|
||||
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@ -29,7 +29,8 @@
|
||||
Command="{Binding DisconnectCommand}" />
|
||||
</WrapPanel>-->
|
||||
|
||||
<TextBlock Text="基础控制" />
|
||||
<TextBlock Text="飞行控制"
|
||||
Margin="5,0,0,8"/>
|
||||
<WrapPanel>
|
||||
<Button Content="解锁"
|
||||
Command="{Binding UnlockCommand}" />
|
||||
@ -39,8 +40,7 @@
|
||||
Command="{Binding HoverCommand}" />
|
||||
<Button Content="手动"
|
||||
Command="{Binding FloatCommand}" />
|
||||
<Button Content="标记"
|
||||
Command="{Binding FlagCommand}" />
|
||||
|
||||
</WrapPanel>
|
||||
<WrapPanel>
|
||||
<Button Content="返航"
|
||||
@ -49,9 +49,14 @@
|
||||
Command="{Binding LandCommand}" />
|
||||
<Button Content="上锁"
|
||||
Command="{Binding LockCommand}" />
|
||||
<Button Content="跳过"
|
||||
Command="{Binding FlagCommand}" />
|
||||
<Button Content="测试"
|
||||
Visibility="Hidden"
|
||||
Command="{Binding TestCommand}" />
|
||||
<TextBox Width="50" Text="{Binding AltP, UpdateSourceTrigger=PropertyChanged}" />
|
||||
<TextBox Width="50"
|
||||
Visibility="Hidden"
|
||||
Text="{Binding AltP, UpdateSourceTrigger=PropertyChanged}" />
|
||||
</WrapPanel>
|
||||
|
||||
<!--// 林俊清, 20150920, 目前不再使用 FormationController，删除相关按钮。
|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
d:DesignHeight="300"
|
||||
d:DesignWidth="300"
|
||||
d:DataContext="{d:DesignInstance Type=ec:FakeCopter, IsDesignTimeCreatable=True}">
|
||||
<StackPanel>
|
||||
<TextBlock Text="飞行信息" />
|
||||
<Grid>
|
||||
<Grid.Resources>
|
||||
<Style x:Key="CopterInfo_ComboBox"
|
||||
@ -161,4 +163,5 @@
|
||||
</StackPanel>
|
||||
</StackPanel>
|
||||
</Grid>
|
||||
</StackPanel>
|
||||
</UserControl>
|
||||
|
||||
@ -59,26 +59,14 @@
|
||||
Margin="0,0,5,0"
|
||||
Text="3"
|
||||
VerticalContentAlignment="Center" />
|
||||
<Button Content="添加虚拟"
|
||||
<Button Content="添加虚拟飞行器"
|
||||
VerticalContentAlignment="Center"
|
||||
Command="{Binding AddVirtualCopterCommand}"
|
||||
CommandParameter="{Binding ElementName=txtVirtualCopterCount, Path=Text}" />
|
||||
<Button Content="清除"
|
||||
Margin="5,0,5,0"
|
||||
Command="{Binding ClearCoptersCommand}" />
|
||||
<TextBox x:Name="txtAlignmentLine"
|
||||
Width="30"
|
||||
Margin="0,0,5,0"
|
||||
Text="0"
|
||||
VerticalContentAlignment="Center" />
|
||||
<Button Content="对齐"
|
||||
|
||||
Command="{Binding AlignmentCommand}"
|
||||
CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
|
||||
<Button Content="均分"
|
||||
|
||||
Command="{Binding AverageCommand}"
|
||||
CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
|
||||
|
||||
|
||||
</StackPanel>
|
||||
</Grid>
|
||||
|
||||
|
||||
@ -18,6 +18,7 @@
|
||||
</Style>
|
||||
</StackPanel.Resources>
|
||||
<StackPanel>
|
||||
|
||||
<Button Content="导出任务"
|
||||
Margin="0,5,0,0"
|
||||
Command="{Binding ExportTasksCommand}" />
|
||||
@ -25,30 +26,71 @@
|
||||
Margin="5,5,0,0"
|
||||
Command="{Binding ImportTasksCommand}" />
|
||||
|
||||
<TextBox Grid.Column="1"
|
||||
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<Button Content="上对齐"
|
||||
Margin="0,5,5,0"
|
||||
Command="{Binding LevelAlignmentCommand}" />
|
||||
<Button Content="右对齐"
|
||||
Margin="0,5,5,0"
|
||||
Command="{Binding VerticlAlignmentCommand}" />
|
||||
<Button Content="水平均分"
|
||||
Margin="0,5,5,0"
|
||||
Command="{Binding LevelAverageCommand}" />
|
||||
<Button Content="垂直均分"
|
||||
Margin="0,5,5,0"
|
||||
Command="{Binding VerticlAverageCommand}" />
|
||||
|
||||
|
||||
|
||||
</StackPanel>
|
||||
<StackPanel>
|
||||
<Button Content="水平旋转"
|
||||
Margin="0,5,5,0"
|
||||
Command="{Binding LevelRotateCommand}"
|
||||
CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
|
||||
<Button Content="垂直旋转"
|
||||
Margin="0,5,5,0"
|
||||
Command="{Binding VerticlRotateCommand}"
|
||||
CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
|
||||
<TextBox x:Name="txtAlignmentLine"
|
||||
Width="30"
|
||||
Margin="5, 5, 5, 0"
|
||||
Margin="0,5,5,0"
|
||||
Text="0"
|
||||
VerticalContentAlignment="Center" />
|
||||
<TextBlock Text="度" Margin="0, 5, 5, 0"/>
|
||||
|
||||
</StackPanel>
|
||||
|
||||
<StackPanel>
|
||||
|
||||
<Button Content="计算距离"
|
||||
Margin="0,5,5,0" Click="Button_Click"
|
||||
/>
|
||||
<TextBox Grid.Column="1"
|
||||
Width="25"
|
||||
Margin="0, 5, 5, 0"
|
||||
HorizontalContentAlignment="Right"
|
||||
Name="firstCopter"
|
||||
Text="0" />
|
||||
|
||||
<TextBox Grid.Column="1"
|
||||
Width="30"
|
||||
Margin="5, 5, 5, 0"
|
||||
HorizontalContentAlignment="Right"
|
||||
Name="secondCopter"
|
||||
Text="1" />
|
||||
|
||||
<TextBox Grid.Column="1"
|
||||
Width="25"
|
||||
Margin="0, 5, 5, 0"
|
||||
HorizontalContentAlignment="Right"
|
||||
Name="secondCopter"
|
||||
Text="2" />
|
||||
|
||||
<TextBox Grid.Column="1"
|
||||
Width="40"
|
||||
Margin="5, 5, 5, 0"
|
||||
Margin="0, 5, 5, 0"
|
||||
HorizontalContentAlignment="Right"
|
||||
Name="distanceCopters"
|
||||
Text="" />
|
||||
<TextBlock Text="米" Margin="0, 5, 5, 0"/>
|
||||
|
||||
|
||||
<Button Content="计算"
|
||||
Margin="5,5,0,0" Click="Button_Click"
|
||||
/>
|
||||
</StackPanel>
|
||||
<TabControl Margin="0,5"
|
||||
Grid.IsSharedSizeScope="True"
|
||||
|
||||
@ -40,8 +40,8 @@ namespace Plane.FormationCreator.Views
|
||||
|
||||
if (_flightTaskManager.SelectedTask != null)
|
||||
{
|
||||
var firstCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[firstIndex];
|
||||
var secondCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[secondIndex];
|
||||
var firstCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[firstIndex-1];
|
||||
var secondCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[secondIndex-1];
|
||||
double distance = GeographyUtils.CalcDistance(firstCopterInfo.TargetLat, firstCopterInfo.TargetLng, firstCopterInfo.TargetAlt,
|
||||
secondCopterInfo.TargetLat, secondCopterInfo.TargetLng, secondCopterInfo.TargetAlt);
|
||||
|
||||
@ -50,5 +50,8 @@ namespace Plane.FormationCreator.Views
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user