1解决无法退出问题

2按下shift后可以批量点中航点选择
3倒计时视觉bug

Plane.FormationCreator/AppConfig.cs

@@ -69,6 +69,7 @@ namespace Plane.FormationCreator
             }
             set
             {
+                if (_config!=null)
                 _config.Center = $"{value.Lat},{value.Lng}";
             }
         }
@@ -89,7 +90,8 @@ namespace Plane.FormationCreator
             }
             set
             {
-                _config.ZoomLevel = value;
+                if (_config != null)
+                    _config.ZoomLevel = value;
             }
         }
 
@@ -99,7 +101,8 @@ namespace Plane.FormationCreator
             {
                 Directory.CreateDirectory(_dirPath);
             }
-            File.WriteAllText(_filePath, JsonConvert.SerializeObject(_config));
+            if (_config != null)
+                File.WriteAllText(_filePath, JsonConvert.SerializeObject(_config));
         }
     }
 }

Plane.FormationCreator/Formation/CopterManager.cs

@@ -87,6 +87,11 @@ namespace Plane.FormationCreator.Formation
         //}
 
 
+        public bool shiftkeydown;
+
+
+
+
         public IEnumerable<ICopter> SelectedCopters { get { return _selectedCoptersGetter().Cast<ICopter>(); } }
 
         /// <summary>

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -363,6 +363,7 @@ namespace Plane.FormationCreator.Formation
         public void RestoreFlyToTask(bool staggerRoutes, dynamic singleCopterInfos)
         {
             var copters = _copterManager.Copters;
+            float tagalt = 15;
             if (!copters.Any()) return;
             AppEx.Current.AppMode = AppMode.ModifyingTask;
             var lastTask = Tasks.LastOrDefault();
@@ -371,11 +372,23 @@ namespace Plane.FormationCreator.Formation
             var center = nullableCenter.Value;
             var newTask = new FlightTask(FlightTaskType.FlyTo) { StaggerRoutes = staggerRoutes };
             // TODO: 林俊清, 20150801, 处理实际飞行器数目与记录中数目不一致的情况。
-            for (int i = 0; i < copters.Count && i < singleCopterInfos.Count; i++)
+            for (int i = 0; i < copters.Count; i++)
             {
                 var copter = copters[i];
-                var singleCopterInfoObj = singleCopterInfos[i];
+                FlightTaskSingleCopterInfo newSingleCopterInfo;
-                var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, new LatLng((double)singleCopterInfoObj.latOffset, (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt,(bool)singleCopterInfoObj.showLED);
+                if (i < singleCopterInfos.Count)
+                {
+                    var singleCopterInfoObj = singleCopterInfos[i];
+                    tagalt = (float)singleCopterInfoObj.targetAlt;
+                    newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, new LatLng((double)singleCopterInfoObj.latOffset, (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt, (bool)singleCopterInfoObj.showLED);
+
+                }
+                else
+                {
+                    newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask
+                        (copter, (double)copter.Latitude, (double)copter.Longitude, tagalt, (bool)false);
+
+                }
                 newTask.SingleCopterInfos.Add(newSingleCopterInfo);
             }
             Tasks.Add(newTask);
@@ -495,12 +508,32 @@ namespace Plane.FormationCreator.Formation
 
 
             // foreach (var copter in copters)
-            for (int i=0; i < copters.Count && i < singleCopterInfos.Count; i++)
+            for (int i=0; i < copters.Count ; i++)
             {
                 var copter = copters[i];
-                var singleCopterInfoObj = singleCopterInfos[i];
+                float tagalt = 15;
-                var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForLoiterTimeTask(copter, new LatLng((double)singleCopterInfoObj.latOffset, (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt);
+
+             //   var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForLoiterTimeTask(copter, new LatLng((double)singleCopterInfoObj.latOffset, (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt);
+
+                FlightTaskSingleCopterInfo newSingleCopterInfo;
+                if (i < singleCopterInfos.Count)
+                {
+                    var singleCopterInfoObj = singleCopterInfos[i];
+                    tagalt = (float)singleCopterInfoObj.targetAlt;
+                    newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForLoiterTimeTask(copter, new LatLng((double)singleCopterInfoObj.latOffset, (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt);
+
+                }
+                else
+                {
+                    newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForLoiterTimeTask
+                        (copter, (double)copter.Latitude,
+                        (double)copter.Longitude, tagalt);
+
+
+                }
                 loiterTimeTask.SingleCopterInfos.Add(newSingleCopterInfo);
+
+
             }
             Tasks.Add(loiterTimeTask);
             TaskAdded?.Invoke(this, new FlightTaskAddedEventArgs { LastTask = lastTask, AddedTask = loiterTimeTask });
@@ -755,9 +788,15 @@ namespace Plane.FormationCreator.Formation
                             RestoreCircleTask(task.singleCopterInfos);
                             break;
                         case FlightTaskType.Loiter:
-                            RestoreLoiterTimeTask((float)task.loiterTimeAttr, (bool)task.flashCheck, (float)task.flashCheckPeriod,
+                            if (task.numberShow!=null)
-                                (bool)task.oneByOneCheck, (float)task.oneByOneCheckPeriod, (string)task.flashNameArray,
+                                RestoreLoiterTimeTask((float)task.loiterTimeAttr, (bool)task.flashCheck, (float)task.flashCheckPeriod,
-                                (string)task.flashIndexArray, (bool)task.ChangeYaw, (float)task.HeadYaw , (bool)task.numberShow, task.singleCopterInfos);
+                                    (bool)task.oneByOneCheck, (float)task.oneByOneCheckPeriod, (string)task.flashNameArray,
+                                    (string)task.flashIndexArray, (bool)task.ChangeYaw, (float)task.HeadYaw , (bool)task.numberShow, task.singleCopterInfos);
+                            else
+                                RestoreLoiterTimeTask((float)task.loiterTimeAttr, (bool)task.flashCheck, (float)task.flashCheckPeriod,
+                                    (bool)task.oneByOneCheck, (float)task.oneByOneCheckPeriod, (string)task.flashNameArray,
+                                    (string)task.flashIndexArray, (bool)task.ChangeYaw, (float)task.HeadYaw, false, task.singleCopterInfos);
+
 
                             break;
                         case FlightTaskType.SimpleCircle:
@@ -796,9 +835,14 @@ namespace Plane.FormationCreator.Formation
                         RestoreCircleTask(task.singleCopterInfos);
                         break;
                     case FlightTaskType.Loiter:
-                        RestoreLoiterTimeTask( (float)task.loiterTimeAttr, (bool)task.flashCheck, (float)task.flashCheckPeriod, 
+                        if (task.numberShow != null)
-                            (bool)task.oneByOneCheck, (float)task.oneByOneCheckPeriod, (string)task.flashNameArray, 
+                            RestoreLoiterTimeTask((float)task.loiterTimeAttr, (bool)task.flashCheck, (float)task.flashCheckPeriod,
-                            (string)task.flashIndexArray, (bool)task.ChangeYaw, (float)task.HeadYaw, (bool)task.numberShow,  task.singleCopterInfos);
+                                (bool)task.oneByOneCheck, (float)task.oneByOneCheckPeriod, (string)task.flashNameArray,
+                                (string)task.flashIndexArray, (bool)task.ChangeYaw, (float)task.HeadYaw, (bool)task.numberShow, task.singleCopterInfos);
+                        else
+                            RestoreLoiterTimeTask((float)task.loiterTimeAttr, (bool)task.flashCheck, (float)task.flashCheckPeriod,
+                                (bool)task.oneByOneCheck, (float)task.oneByOneCheckPeriod, (string)task.flashNameArray,
+                                (string)task.flashIndexArray, (bool)task.ChangeYaw, (float)task.HeadYaw, false, task.singleCopterInfos);
                         
                         break;
                     case FlightTaskType.SimpleCircle:
@@ -818,7 +862,7 @@ namespace Plane.FormationCreator.Formation
 
             // 在悬停任务时，左键waypoint为选中
             // 在悬停任务模式，且LED控制被选中时
-            if ((this.SelectedTask.TaskType == FlightTaskType.Loiter) && (this.SelectedTask.flashAttr || this.SelectedTask.oneByOneAttr|| this.SelectedTask.numberShow))
+            if ((this.SelectedTask.TaskType == FlightTaskType.Loiter) && (this.SelectedTask.flashAttr || this.SelectedTask.oneByOneAttr || this.SelectedTask.numberShow))
             {
                 string copterNameStr = this.SelectedTask.flashCopterNameArray;
 
@@ -839,15 +883,22 @@ namespace Plane.FormationCreator.Formation
                     if (copterArray[0].Equals(""))
                     {
                         this.SelectedTask.flashCopterNameArray += copter.Name;
-                     //   SelectedTask.flashCopterIndexArray += Name2Index(copter.Name);
+                        //   SelectedTask.flashCopterIndexArray += Name2Index(copter.Name);
                     }
                     else
                     {
                         this.SelectedTask.flashCopterNameArray += "," + copter.Name;
-                    //    SelectedTask.flashCopterIndexArray += "," + Name2Index(copter.Name);
+                        //    SelectedTask.flashCopterIndexArray += "," + Name2Index(copter.Name);
                     }
 
                 }
+            }
+            else
+            {
+
+
+
+
             }
             
         }

Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_LoiterTime.cs

@@ -18,5 +18,20 @@ namespace Plane.FormationCreator.Formation
             };
             return info;
         }
+
+        public static FlightTaskSingleCopterInfo CreateForLoiterTimeTask(ICopter copter, double targetLat, double targetLng, float targetAlt)
+        {
+            var info = new FlightTaskSingleCopterInfo(copter)
+            {
+                TargetLat = targetLat,
+                TargetLng = targetLng,
+                TargetAlt = targetAlt,
+            };
+            return info;
+        }
+
+
+
+
     }
 }

Plane.FormationCreator/Formation/FlightTask_LoiterTime.cs

@@ -269,11 +269,11 @@ namespace Plane.FormationCreator.Formation
         private int[] lineTen = { 25 };
 
 
-        private int[] numberfive = { 0, 1, 2, 3, 5, 6, 7, 9,10,11, 12 };
+        private int[] numberfive = { 0, 1, 2, 4, 5, 6, 7, 8,10,11, 12 };
-        private int[] numberFour = { 0, 2, 3, 4, 5, 6, 7, 9, 12 };
+        private int[] numberFour = { 2, 4, 5, 6, 7,8, 9,10, 12 };
         private int[] numberthree = { 0, 1, 2, 4, 5, 6, 7, 9, 10, 11, 12 };
-        private int[] numbertwo = { 0, 1, 2, 4, 5, 6, 7, 8, 10, 11, 12 };
+        private int[] numbertwo = { 0, 1, 2, 3, 5, 6, 7, 9, 10, 11, 12 };
-        private int[] numberone = {  2, 4, 7, 9, 12 };
+        private int[] numberone = {  0, 4, 7, 9, 12 };
         private int[] numberzero = { 0, 1, 2, 3, 4,5, 7, 8,9, 10, 11, 12 };
 
 
@@ -838,5 +838,38 @@ namespace Plane.FormationCreator.Formation
             await Task.WhenAll(tasks_selected).ConfigureAwait(false);
         }
 
+
+        private async Task LEDNumberFlashAsync(bool isOn)
+        {
+            List<int> numberfivenew = new List<int>();
+            var infos = SingleCopterInfos;
+
+            if (flashCopterNameArray.Equals(""))
+                return;
+            string[] copterArray = flashCopterIndexArray.Split(',');
+            //没有13架
+            if (copterArray.Count() != 13)
+                return;
+            var tasks_selected = new Task[copterArray.Count()];
+
+            // 转换序号
+            for (int i = 0; i < copterArray.Length; i++)
+            {
+                if (copterArray[i] == "") break;
+
+
+                int index = int.Parse(copterArray[i]);
+                var info = infos[index];
+                tasks_selected[i] = await Task.Factory.StartNew(async () =>
+                {
+                    var internalInfo = info;
+                    await LEDFlashTaskFlySingleCopterAsync(internalInfo, isOn);
+
+
+                });
+
+            }
+            await Task.WhenAll(tasks_selected).ConfigureAwait(false);
+        }
     }
 }

Plane.FormationCreator/MainWindow.xaml.cs

@@ -107,7 +107,9 @@ namespace Plane.FormationCreator
 
                 case Key.LeftShift:
                    {
+                        var copters = _copterManager.AcceptingControlCopters;
                         Shiftkeydown = true;
+                        _copterManager.shiftkeydown = true;
                         break;
                    }
                 //开关SHOWLED
@@ -359,6 +361,8 @@ namespace Plane.FormationCreator
                 case Key.LeftShift:
                     {
                         Shiftkeydown = false;
+                        _copterManager.shiftkeydown = false;
+
                         break;
                     }
                 case Key.W:

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -290,56 +290,60 @@ namespace Plane.FormationCreator.ViewModels
 
 
                         var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
-                        bool copterisselect;
+                        if (_flightTaskManager.SelectedTask != null)
-                        int selectednumber = _copterManager.SelectedCopters.Count() - 1;
-                        for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                         {
-                            copterisselect = false;
+                            bool copterisselect;
-                            selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
+                            int selectednumber = _copterManager.SelectedCopters.Count() - 1;
-                            foreach (var capter in _copterManager.SelectedCopters)
+                            for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                             {
-                                if (capter == selectedCopter)
+                                copterisselect = false;
-                                    copterisselect = true;
+                                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;
+
+                                }
                             }
-                            if (copterisselect)
+                            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;
 
-                                tlng = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng;
+                                }
-                                if (minlng == 0)
+                                if (copterisselect)
-                                    minlng = tlng;
+                                {
-                                if (tlng > maxlng)
-                                    maxlng = tlng;
-                                else if (tlng < minlng)
-                                    minlng = tlng;
 
+                                    _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLng = minlng + avgl * coptnum;
+                                    coptnum++;
+
+                                }
                             }
+
                         }
-                        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。
@@ -371,56 +375,59 @@ namespace Plane.FormationCreator.ViewModels
                         //////////////////////
 
                         var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
-                        bool copterisselect;
+                        if (_flightTaskManager.SelectedTask != null)
-                        int selectednumber = _copterManager.SelectedCopters.Count() - 1;
-                        for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                         {
-                            copterisselect = false;
+                            bool copterisselect;
-                            selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
+                            int selectednumber = _copterManager.SelectedCopters.Count() - 1;
-                            foreach (var capter in _copterManager.SelectedCopters)
+                            for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                             {
-                                if (capter == selectedCopter)
+                                copterisselect = false;
-                                    copterisselect = true;
+                                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;
+
+                                }
                             }
-                            if (copterisselect)
+                            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;
 
-                                tlat = _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat;
+                                }
-                                if (minlat == 0)
+                                if (copterisselect)
-                                    minlat = tlat;
+                                {
-                                if (tlat > maxlat)
-                                    maxlat = tlat;
-                                else if (tlat < minlat)
-                                    minlat = tlat;
 
+                                    _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetLat = maxlat - 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。
                         }
-                        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 = maxlat - 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。
                     }
                 }));
             }
@@ -442,6 +449,8 @@ namespace Plane.FormationCreator.ViewModels
                 
 
                         var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
+                    if (_flightTaskManager.SelectedTask != null)
+                    {
                         bool copterisselect;
                         for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                         {
@@ -482,13 +491,48 @@ namespace Plane.FormationCreator.ViewModels
 
                             }
                         }
-                   
-
-
-                 
                     //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。
 
-                }));
+                }
+            else
+            //调整飞机
+            {
+                //模拟飞机才能调整
+                if (selectedCopter is FakeCopter)
+                {
+                    foreach (var capter in _copterManager.SelectedCopters)
+                    {
+                                tlat = capter.Latitude;
+                        if (tlat > maxlat)
+                                    maxlat = tlat;
+                    }
+
+                    foreach (var capter in _copterManager.SelectedCopters)
+                    {
+                        var copterfk = (FakeCopter)capter;
+                        copterfk.SetProperties(
+                        latitude: maxlat,
+                         longitude: copterfk.Longitude);
+                    }
+                }
+            }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+        }));
             }
         }
 
@@ -510,6 +554,8 @@ public ICommand VerticlAlignmentCommand
             double tlng = 0;
                var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
                 bool copterisselect;
+            if (_flightTaskManager.SelectedTask != null)
+            {
                 for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                 {
                     copterisselect = false;
@@ -550,9 +596,32 @@ public ICommand VerticlAlignmentCommand
                     }
                 }
 
-    //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。
+                //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。
+            }
+            else
+            //调整飞机
+            {
+                //模拟飞机才能调整
+                if (selectedCopter is FakeCopter)
+                {
+                    foreach (var capter in _copterManager.SelectedCopters)
+                    {
+                        tlng = capter.Longitude;
+                        if (tlng > maxlng)
+                            maxlng = tlng;
+                    }
 
-                }));
+                    foreach (var capter in _copterManager.SelectedCopters)
+                    {
+                        var copterfk = (FakeCopter)capter;
+                        copterfk.SetProperties(
+                        latitude: copterfk.Latitude,
+                         longitude: maxlng );
+                    }
+                }
+            }
+
+        }));
             }
         }
 
@@ -628,8 +697,11 @@ public ICommand VerticlAlignmentCommand
                     double centlng = 0;
                     double centlat = 0;
                     var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
-                    bool copterisselect;
+                    if (_flightTaskManager.SelectedTask != null)
-                    for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
+                    {
+
+                        bool copterisselect;
+                     for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                     {
                         copterisselect = false;
                         selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
@@ -690,7 +762,76 @@ public ICommand VerticlAlignmentCommand
                     ////
                     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。
 
-                }));
+
+                }
+            else
+            //调整飞机
+            {
+                //模拟飞机才能调整
+                if (selectedCopter is FakeCopter)
+                {
+                    foreach (var capter in _copterManager.SelectedCopters)
+                    {
+                                lngsum += capter.Longitude;
+                                latsum += capter.Latitude;
+                                selectcount++;
+                    }
+
+                    //计算旋转中心
+                    if (selectcount > 0)
+                    {
+                        centlng = lngsum / selectcount;
+                        centlat = latsum / selectcount;
+                    }
+                    else return;
+
+                    foreach (var capter in _copterManager.SelectedCopters)
+                    {
+
+
+                                double lpDistance = CalculationLogLatDistance.GetDistanceOne(centlng, centlat,
+                                      capter.Longitude,
+                                      capter.Latitude);
+
+                                CalculationLogLatDistance.MyLatLng mypos1, mypos2;
+                                mypos1 = new CalculationLogLatDistance.MyLatLng(centlng, centlat);
+                                mypos2 = new CalculationLogLatDistance.MyLatLng(
+                                    capter.Longitude
+                                    , capter.Latitude);
+                                double lpAzimuth = CalculationLogLatDistance.getAngle(mypos1, mypos2);
+                                double lng2 = 0;
+                                double lat2 = 0;
+                                CalculationLogLatDistance.ConvertDistanceToLogLat(centlng, centlat, lpDistance,
+                                    lpAzimuth + (double)RotateLine, out lng2, out lat2);
+
+                                var copterfk = (FakeCopter)capter;
+                                copterfk.SetProperties(
+                                latitude: lat2,
+                                 longitude: lng2);
+                            }
+                }
+            }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+        }));
             }
         }
 
@@ -796,7 +937,9 @@ public ICommand VerticlAlignmentCommand
                     double centlat = 0;
                     double centalt = 0;
                     var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
-                    bool copterisselect;
+                    if (_flightTaskManager.SelectedTask != null)
+                    {
+                        bool copterisselect;
                     for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                     {
                         copterisselect = false;
@@ -888,13 +1031,15 @@ public ICommand VerticlAlignmentCommand
                         }
                     }
                     ////
-
-
-
-
                     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/CopterListView.xaml.cs

@@ -32,7 +32,7 @@ namespace Plane.FormationCreator.Views
 
             _copterManager.SetSelectionDelegates(
                 () => lvwDrones.SelectedItems,
-                copter => lvwDrones.SelectedItem = copter
+                SelectitemMessage
             );
             lvwDrones.SelectionChanged += (sender, e) =>
             {
@@ -41,5 +41,14 @@ namespace Plane.FormationCreator.Views
         }
 
         private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
+        private void SelectitemMessage(ICopter copter)
+        {
+            
+
+            if (!_copterManager.shiftkeydown)
+                lvwDrones.SelectedItem = copter; 
+            else
+                lvwDrones.SelectedItems.Add(copter);
+        }
     }
 }

Plane.FormationCreator/Views/MapView_CopterDrawing.cs

@@ -345,6 +345,7 @@ namespace Plane.FormationCreator.Views
             private void RegisterEventHandlersForTaskInfo(Ellipse wp, int taskIndex)
             {
                 var info = _flightTaskManager.Tasks[taskIndex].SingleCopterInfos.FirstOrDefault(i => i.Copter == this.Copter);
+                if (info == null) return;
                 info.PropertyChanged += (sender, e) =>
                 {
                     switch (e.PropertyName)