From 148ecb410d66eeda6459670fcf543577ead9b394 Mon Sep 17 00:00:00 2001 From: zxd Date: Tue, 16 Jul 2019 18:38:55 +0800 Subject: [PATCH] =?UTF-8?q?=E8=BF=94=E5=9B=9E=E7=82=B9=E4=B8=8D=E5=86=8D?= =?UTF-8?q?=E9=A3=9E=E5=BE=80=E8=88=AA=E7=82=B9=E4=BD=8D=E7=BD=AE=EF=BC=8C?= =?UTF-8?q?=E9=A3=9E=E5=BE=80=E8=B5=B7=E9=A3=9E=E5=9D=90=E6=A0=87?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Formation/FlightTask_FlyTo.cs | 24 ++++++++++++------- 1 file changed, 16 insertions(+), 8 deletions(-) diff --git a/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs b/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs index fc01eb5..9b8451a 100644 --- a/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs +++ b/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs @@ -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); }