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

Plane.FormationCreator/App.xaml

@@ -33,8 +33,8 @@
                                                   True="Collapsed" />
         <cnv:InverseBooleanConverter x:Key="InverseBooleanConverter" />
         <cnv:BooleanToStringConverter x:Key="ShowModifyTaskViewButtonContentConverter"
-                                      False="显示任务编辑面板"
+                                      False="【飞行模式】"
-                                      True="隐藏任务编辑面板" />
+                                      True="【编辑模式】" />
         <cnv:BooleanToResourceConverter x:Key="CheckSignConverter"
                                         FalseKey="CloseIcon"
                                         TrueKey="CheckIcon" />

Plane.FormationCreator/CalculationLogLatDistance.cs

@@ -0,0 +1,350 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Plane.FormationCreator
+{
+        /** 
+         *  
+         * 计算经纬度、距离、方位角 
+         *  
+         * */
+        public class CalculationLogLatDistance
+        {
+        /** 
+         * 地球赤道半径(km) 
+         * */
+         static public double EARTH_RADIUS = 6378.137;
+        /** 
+         * 地球每度的弧长(km) 
+         * */
+        static public   double EARTH_ARC = 111.199;
+
+            /** 
+             * 转化为弧度(rad) 
+             * */
+            public static double rad(double d)
+            {
+                return d * Math.PI / 180.0;
+            }
+
+            /** 
+             * 求两经纬度距离 
+             *  
+             * @param lon1 
+             *            第一点的经度 
+             * @param lat1 
+             *            第一点的纬度 
+             * @param lon2 
+             *            第二点的经度 
+             * @param lat2 
+             *            第二点的纬度 
+             * @return 两点距离，单位km 
+             * */
+            public static double GetDistanceOne(double lon1, double lat1, double lon2,
+                    double lat2)
+            {
+                double r1 = rad(lat1);
+                double r2 = rad(lon1);
+                double a = rad(lat2);
+                double b = rad(lon2);
+                double s = Math.Acos(Math.Cos(r1) * Math.Cos(a) * Math.Cos(r2 - b)
+                        + Math.Sin(r1) * Math.Sin(a))
+                        * EARTH_RADIUS;
+                return s;
+            }
+
+            /** 
+             * 求两经纬度距离(google maps源码中) 
+             *  
+             * @param lon1 
+             *            第一点的经度 
+             * @param lat1 
+             *            第一点的纬度 
+             * @param lon2 
+             *            第二点的经度 
+             * @param lat2 
+             *            第二点的纬度 
+             * @return 两点距离，单位km 
+             * */
+            public static double GetDistanceTwo(double lon1, double lat1, double lon2,
+                    double lat2)
+            {
+                double radLat1 = rad(lat1);
+                double radLat2 = rad(lat2);
+                double a = radLat1 - radLat2;
+                double b = rad(lon1) - rad(lon2);
+                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 * EARTH_RADIUS;
+                return s;
+            }
+
+            /** 
+             * 求两经纬度距离 
+             *  
+             * @param lon1 
+             *            第一点的经度 
+             * @param lat1 
+             *            第一点的纬度 
+             * @param lon2 
+             *            第二点的经度 
+             * @param lat2 
+             *            第二点的纬度 
+             * @return 两点距离，单位km 
+             * */
+            public static double GetDistanceThree(double lon1, double lat1,
+                    double lon2, double lat2)
+            {
+                double radLat1 = rad(lat1);
+                double radLat2 = rad(lat2);
+                double radLon1 = rad(lon1);
+                double radLon2 = rad(lon2);
+                if (radLat1 < 0)
+                    radLat1 = Math.PI / 2 + Math.Abs(radLat1);// south  
+                if (radLat1 > 0)
+                    radLat1 = Math.PI / 2 - Math.Abs(radLat1);// north  
+                if (radLon1 < 0)
+                    radLon1 = Math.PI * 2 - Math.Abs(radLon1);// west  
+                if (radLat2 < 0)
+                    radLat2 = Math.PI / 2 + Math.Abs(radLat2);// south  
+                if (radLat2 > 0)
+                    radLat2 = Math.PI / 2 - Math.Abs(radLat2);// north  
+                if (radLon2 < 0)
+                    radLon2 = Math.PI * 2 - Math.Abs(radLon2);// west  
+                double x1 = Math.Cos(radLon1) * Math.Sin(radLat1);
+                double y1 = Math.Sin(radLon1) * Math.Sin(radLat1);
+                double z1 = Math.Cos(radLat1);
+
+                double x2 = Math.Cos(radLon2) * Math.Sin(radLat2);
+                double y2 = Math.Sin(radLon2) * Math.Sin(radLat2);
+                double z2 = Math.Cos(radLat2);
+
+                double d = Math.Pow((x1 - x2), 2) + Math.Pow((y1 - y2), 2)
+                        + Math.Pow((z1 - z2), 2);
+                // // 余弦定理求夹角  
+                // double theta = Math.Acos((2 - d) / 2);  
+
+                d = Math.Pow(EARTH_RADIUS, 2) * d;
+                // //余弦定理求夹角  
+                double theta = Math.Acos((2 * Math.Pow(EARTH_RADIUS, 2) - d)
+                        / (2 * Math.Pow(EARTH_RADIUS, 2)));
+
+                double dist = theta * EARTH_RADIUS;
+                return dist;
+            }
+
+            /** 
+             * 求两经纬度方向角 
+             *  
+             * @param lon1 
+             *            第一点的经度 
+             * @param lat1 
+             *            第一点的纬度 
+             * @param lon2 
+             *            第二点的经度 
+             * @param lat2 
+             *            第二点的纬度 
+             * @return 方位角，角度（单位：°） 
+             * */
+            public static double GetAzimuth(double lon1, double lat1, double lon2,
+                    double lat2)
+            {
+                lat1 = rad(lat1);
+                lat2 = rad(lat2);
+                lon1 = rad(lon1);
+                lon2 = rad(lon2);
+                double azimuth = Math.Sin(lat1) * Math.Sin(lat2) + Math.Cos(lat1)
+                        * Math.Cos(lat2) * Math.Cos(lon2 - lon1);
+                azimuth = Math.Sqrt(1 - azimuth * azimuth);
+                azimuth = Math.Cos(lat2) * Math.Sin(lon2 - lon1) / azimuth;
+                azimuth = Math.Asin(azimuth) * 180 / Math.PI;
+                if (Double.IsNaN(azimuth))
+                {
+                    if (lon1 < lon2)
+                    {
+                        azimuth = 90.0;
+                    }
+                    else {
+                        azimuth = 270.0;
+                    }
+                }
+                return azimuth;
+            }
+
+            /** 
+             * 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) 
+             *  
+             * @param lon1 
+             *            A的经度 
+             * @param lat1 
+             *            A的纬度 
+             * @param distance 
+             *            AB距离（单位：米） 
+             * @param azimuth 
+             *            AB方位角 
+             * @return B的经纬度 
+             * */
+            public static void GetOtherPoint(double lon1, double lat1,
+                    double distance, double azimuth, out double lng2, out double lat2)
+            {
+                azimuth = rad(azimuth);
+                double ab = distance / EARTH_ARC;// AB间弧线长  
+                ab = rad(ab);
+                double Lat = Math.Asin(Math.Sin(lat1) * Math.Cos(ab) + Math.Cos(lat1)
+                        * Math.Sin(ab) * Math.Cos(azimuth));
+                double Lon = lon1
+                        + Math.Asin(Math.Sin(azimuth) * Math.Sin(ab) / Math.Cos(Lat));
+               // System.out.println(Lon + "," + Lat);
+
+                double a = Math.Acos(Math.Cos(90 - lon1) * Math.Cos(ab)
+                        + Math.Sin(90 - lon1) * Math.Sin(ab) * Math.Cos(azimuth));
+                double C = Math.Asin(Math.Sin(ab) * Math.Sin(azimuth) / Math.Sin(a));
+            // System.out.println("c=" + C);
+                lng2 = lon1 + C;
+                lat2 = 90 - a;
+                return ;
+            }
+
+            /** 
+             * 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 
+             *  
+             * @param lon1 
+             *            A的经度 
+             * @param lat1 
+             *            A的纬度 
+             * @param distance 
+             *            AB距离（单位：米） 
+             * @param azimuth 
+             *            AB方位角 
+             * @return B的经纬度 
+             * */
+            public static void ConvertDistanceToLogLat(double lng1, double lat1,
+                    double distance, double azimuth, out double lng2, out double lat2)
+            {
+                azimuth = rad(azimuth);
+                // 将距离转换成经度的计算公式  
+                 lng2 = lng1 + (distance * Math.Sin(azimuth))
+                        / (EARTH_ARC * Math.Cos(rad(lat1)));
+                // 将距离转换成纬度的计算公式  
+                 lat2 = lat1 + (distance * Math.Cos(azimuth)) / EARTH_ARC;
+                return ;
+            }
+
+
+
+        public static MyLatLng getMyLatLng(MyLatLng A, double distance, double angle)
+        {
+
+            double dx = distance * 1000 * Math.Sin((Math.PI / 180) * angle);
+            double dy = distance * 1000 * Math.Cos((Math.PI / 180) * angle);
+
+            double bjd = (dx / A.Ed + A.m_RadLo) * 180.0/ Math.PI;
+            double bwd = (dy / A.Ec + A.m_RadLa) * 180.0/ Math.PI;
+            return new MyLatLng(bjd, bwd);
+        }
+
+
+        /** 
+           * 获取AB连线与正北方向的角度 
+           * @param A  A点的经纬度 
+           * @param B  B点的经纬度 
+           * @return  AB连线与正北方向的角度（0~360） 
+           */
+        public static double getAngle(MyLatLng A, MyLatLng B)
+        {
+            double dx = (B.m_RadLo - A.m_RadLo) * A.Ed;
+            double dy = (B.m_RadLa - A.m_RadLa) * A.Ec;
+            double angle = 0.0;
+            angle = Math.Atan(Math.Abs(dx / dy)) * 180.0/ Math.PI;
+            double dLo = B.m_Longitude - A.m_Longitude;
+            double dLa = B.m_Latitude - A.m_Latitude;
+            if (dLo > 0 && dLa <= 0)
+            {
+                angle = (90.0- angle) + 90;
+            }
+            else if (dLo <= 0 && dLa < 0)
+            {
+                angle = angle + 180.0;
+            }
+            else if (dLo < 0 && dLa >= 0)
+            {
+                angle = (90.0- angle) + 270;
+            }
+            if (Double.IsNaN(angle)) angle = 0.0;
+
+                return angle;
+        }
+        public class MyLatLng
+        {
+             static double Rc = 6378137;
+             static double Rj = 6356725;
+            public double m_LoDeg, m_LoMin, m_LoSec;
+            public double m_LaDeg, m_LaMin, m_LaSec;
+            public double m_Longitude, m_Latitude;
+            public double m_RadLo, m_RadLa;
+            public double Ec;
+            public double Ed;
+            public MyLatLng(double longitude, double latitude)
+            {
+                m_LoDeg = (int)longitude;
+                m_LoMin = (int)((longitude - m_LoDeg) * 60);
+                m_LoSec = (longitude - m_LoDeg - m_LoMin / 60.0) * 3600;
+
+                m_LaDeg = (int)latitude;
+                m_LaMin = (int)((latitude - m_LaDeg) * 60);
+                m_LaSec = (latitude - m_LaDeg - m_LaMin / 60.0) * 3600;
+
+                m_Longitude = longitude;
+                m_Latitude = latitude;
+                m_RadLo = longitude * Math.PI / 180.0;
+                m_RadLa = latitude * Math.PI / 180.0;
+                Ec = Rj + (Rc - Rj) * (90.0- m_Latitude) / 90.0;
+                Ed = Ec * Math.Cos(m_RadLa);
+            }
+
+        }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+    }
+
+
+
+
+
+
+
+
+}

Plane.FormationCreator/Formation/FlightTask.cs

@@ -101,11 +101,11 @@ namespace Plane.FormationCreator.Formation
                     break;
                 case FlightTaskType.TakeOff:
                     //多架同时起飞
-                    await MutilRunTakeOffTaskAsync(2).ConfigureAwait(false);
+                    await MutilRunTakeOffTaskAsync(5).ConfigureAwait(false);
                     break;
                 case FlightTaskType.ReturnToLand:   // Added by ZJF
                     //多架同时返航
-                    await MutilRunReturnToLandTaskAsync(2).ConfigureAwait(false);
+                    await MutilRunReturnToLandTaskAsync(5).ConfigureAwait(false);
                     break;
                 default:
                     throw new InvalidOperationException();

Plane.FormationCreator/MainWindow.xaml

@@ -102,15 +102,27 @@
                 <v:CopterListView />
 
                 <StackPanel Grid.Row="1">
-                    <Separator />
+  
-                    <v:ControlPanelView />
+                    
+                    <StackPanel Grid.Row="2"
+                            Visibility="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource InversiveBooleanToVisibilityConverter}}">
+
+                        <Separator Grid.ColumnSpan="2" />
+                        <v:ControlPanelView  />
+                    </StackPanel>
+
+
+                    
+                    
                     <StackPanel Visibility="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource BooleanToVisibilityConverter}}">
                         <Separator />
                         <v:ModifyTaskView />
                     </StackPanel>
                 </StackPanel>
 
-                <StackPanel Grid.Row="2">
+                <StackPanel Grid.Row="2"
+                            Visibility="{Binding AppEx.ShowModifyTaskView, Converter={StaticResource InversiveBooleanToVisibilityConverter}}">
+                    
                     <Separator Grid.ColumnSpan="2" />
                     <v:CopterInfoView DataContext="{Binding Path=CopterListViewModel.SelectedCopter}" />
                 </StackPanel>

Plane.FormationCreator/Plane.FormationCreator.csproj

@@ -141,6 +141,7 @@
     <Compile Include="Maps\OpenStreetMapTileSource.cs" />
     <Compile Include="ServiceLocatorConfigurer.cs" />
     <Compile Include="Test.cs" />
+    <Compile Include="CalculationLogLatDistance.cs" />
     <Compile Include="ViewModels\ConnectViewModel.cs" />
     <Compile Include="ViewModels\ControlPanelViewModel.cs" />
     <Compile Include="ViewModels\CopterListViewModel.cs" />

Plane.FormationCreator/ViewModels/CopterListViewModel.cs

@@ -41,6 +41,8 @@ namespace Plane.FormationCreator.ViewModels
 
         private int _virtualCopterId = 1;
         private LatLng? _lastVirtualCopterLocation;
+
+
         private ICommand _AddVirtualCopterCommand;
         public ICommand AddVirtualCopterCommand
         {
@@ -98,249 +100,6 @@ namespace Plane.FormationCreator.ViewModels
         }
 
 
-        private ICommand _AverageCommand;
-        public ICommand AverageCommand
-        {
-            get
-            {
-                return _AverageCommand ?? (_AverageCommand = new RelayCommand<int>(async alignmentLine =>
-                {
-                    double maxlat = 0;
-                    double tlat = 0;
-                    double minlat = 0;
-
-                    double maxlng = 0;
-                    double minlng = 0;
-                    double tlng = 0;
-                    double avgl=0;
-
-                    if (alignmentLine == 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++;
-
-                            }
-                        }
-
-                    }
-
-
-
-                    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。
-
-                }));
-            }
-        }
 
     }
 }

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -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。
+
+                }));
+            }
+        }
+
+
+
+
     }
 }

Plane.FormationCreator/Views/ControlPanelView.xaml

@@ -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。

Plane.FormationCreator/Views/CopterInfoView.xaml

@@ -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>

Plane.FormationCreator/Views/CopterListView.xaml

@@ -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>
 

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -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"

Plane.FormationCreator/Views/ModifyTaskView.xaml.cs

@@ -40,8 +40,8 @@ namespace Plane.FormationCreator.Views
 
             if (_flightTaskManager.SelectedTask != null)
             {
-                var firstCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[firstIndex];
+                var firstCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[firstIndex-1];
-                var secondCopterInfo = _flightTaskManager.SelectedTask.SingleCopterInfos[secondIndex];
+                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
             }
             
         }
+
+
+
     }
 }