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返回点不再飞往航点位置，飞往起飞坐标

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This commit is contained in:
zxd 2019-07-16 18:38:55 +08:00
parent bb911aa840
commit 148ecb410d
1 changed files with 16 additions and 8 deletions
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24
Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
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@ -143,18 +143,26 @@ namespace Plane.FormationCreator.Formation
if (info.Copter.State != Plane.Copters.CopterState.CommandMode)
await info.Copter.GuidAsync();
/*
for (int i = 0; i < 5; i++)
/*
for (int i = 0; i < 5; i++)
{
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, info.TargetAlt);
await Task.Delay(10).ConfigureAwait(false);
}
*/
double targetLat = info.TargetLat;
double targetLng = info.TargetLng;
if (info.IsLandWaypoint)
{
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, info.TargetAlt);
await Task.Delay(10).ConfigureAwait(false);
targetLat = info.Copter.TakeOffPoint.Latitude;
targetLng = info.Copter.TakeOffPoint.Longitude;
}
*/
//发送目标航点1次
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, info.TargetAlt);
await info.Copter.FlyToAsync(targetLat, targetLng, info.TargetAlt);
await Task.Delay(10).ConfigureAwait(false);
dtNow = DateTime.Now;
@ -231,7 +239,7 @@ namespace Plane.FormationCreator.Formation
sendFlyToTimes++;
for (int i = 0; i < 2; i++)
{
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, info.TargetAlt);
await info.Copter.FlyToAsync(targetLat, targetLng, info.TargetAlt);
await Task.Delay(10).ConfigureAwait(false);
}