[FlightTask_FlyTo.cs]修改bug暂停后无法继续-未进入guided模式

[FlightTask_LoiterTime.cs]飞机标记时以后任务跳过
[FlightTask_TakeOff.cs]解锁加入5秒时间限制
[ControlPanelViewModel.cs]加入解锁测试功能，解锁全部飞机保持10秒再加锁
[ControlPanelView.xaml]打开测试按钮

Plane.FormationCreator/Formation/FlightTask_FlyTo.cs

@@ -643,10 +643,15 @@ namespace Plane.FormationCreator.Formation
             int taskIndex = _flightTaskManager.CurrentRunningTaskIndex;
             int copterIndex = SingleCopterInfos.IndexOf(info);
 
+            // 当该飞机被标记时，跳过飞行任务
             if ((bool)_copterManager.CopterStatus[copterIndex])
                 return;
 
             await info.Copter.SetShowLEDAsync(info.FlytoShowLED);
+            
+            if (info.Copter.State != Plane.Copters.CopterState.CommandMode)
+                 await info.Copter.GuidAsync();
+
             DateTime dtNow = DateTime.Now;
             DateTime dtLastTime = DateTime.Now;
             TimeSpan ts = dtNow - dtLastTime;

Plane.FormationCreator/Formation/FlightTask_LoiterTime.cs

@@ -355,6 +355,17 @@ namespace Plane.FormationCreator.Formation
 
             //       await Task.Delay(200).ConfigureAwait(false);
 
+            int copterIndex = SingleCopterInfos.IndexOf(info);
+            // 当该飞机被标记时，跳过飞行任务
+            if ((bool)_copterManager.CopterStatus[copterIndex])
+                return;
+
+
+
+
+
+
+
             var tasks = new Task[1];
             tasks[0] = Task.Run(async () =>
             {
@@ -383,6 +394,11 @@ namespace Plane.FormationCreator.Formation
         {
             var copter = info.Copter;
 
+            int copterIndex = SingleCopterInfos.IndexOf(info);
+            // 当该飞机被标记时，跳过飞行任务
+            if ((bool)_copterManager.CopterStatus[copterIndex])
+                return;
+
             var tasks = new Task[1];
             tasks[0] = Task.Run(async () =>
             {
@@ -434,6 +450,12 @@ namespace Plane.FormationCreator.Formation
         private async Task LEDFlashTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info, bool isOn) 
         {
             var copter = info.Copter;
+
+            int copterIndex = SingleCopterInfos.IndexOf(info);
+            // 当该飞机被标记时，跳过飞行任务
+            if ((bool)_copterManager.CopterStatus[copterIndex])
+                return;
+
             // float gpsLed = await c.GetParamAsync("NOTI_GPSLED");
 
             /*

Plane.FormationCreator/Formation/FlightTask_TakeOff.cs

@@ -163,10 +163,16 @@ namespace Plane.FormationCreator.Formation
                 //{
                 //    return;
                 //}
+                //5秒内每1000毫秒尝试解锁一次
+                //解锁间隔一定要超过1s否则导致飞控以后无法解锁
+
+                if (i > 200)
+                    break;
                 if (i % (1000 / 25) == 1000 / 25 - 1)
                 {
                     await copter.UnlockAsync(); // 每 1000 毫秒重试一次。
                 }
+
                 await Task.Delay(25).ConfigureAwait(false);
             }
 

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -48,11 +48,14 @@ namespace Plane.FormationCreator.ViewModels
 
                     await Task.WhenAll(_copterManager.AcceptingControlCopters.Select( async c => {
                         await c.UnlockAsync();
+                        //解锁间隔一定要超过1s否则导致飞控以后无法解锁
                         for (int i = 0; !c.IsUnlocked; i++)
                         {
+                            if (i > 200)
+                                break;
                             if (i % (1000 / 25) == 1000 / 25 - 1)
                             {
-                                await c.UnlockAsync(); // 每 1000 毫秒重试一次。
+                                await c.UnlockAsync(); // 每 1000 毫秒重试一次。解锁间隔一定要超过1s否则导致飞控以后无法解锁
                             }
                             await Task.Delay(25).ConfigureAwait(false);
                         }
@@ -255,6 +258,33 @@ namespace Plane.FormationCreator.ViewModels
             {
                 return _TestCommand ?? (_TestCommand = new RelayCommand(async () =>
                 {
+
+                       foreach (var vcopter in _copterManager.Copters)
+                        {
+                          await vcopter.UnlockAsync();
+                    }
+
+                    await Task.Delay(10000);
+
+                        foreach (var vcopter in _copterManager.Copters)
+                        {
+                            await vcopter.LockAsync();
+                     }
+
+
+                    return;
+
+
+
+
+
+
+
+
+
+
+
+
                     var firstCopter = _copterManager.Copters.First();
 
                     // Test TurnAsync.

Plane.FormationCreator/Views/ControlPanelView.xaml

@@ -52,7 +52,7 @@
             <Button Content="跳过"
                     Command="{Binding FlagCommand}" />
             <Button Content="测试"
-                    Visibility="Hidden"
+                  
                     Command="{Binding TestCommand}" />
             <TextBox Width="50" 
                       Visibility="Hidden"