group/Plane.FormationCreator
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修改达到航点精度为1。5米

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修改RTK模式浮点解也能起飞
This commit is contained in:
pxzleo 2017-09-14 23:48:05 +08:00
parent 1b574fa118
commit 412d0436bb
2 changed files with 4 additions and 4 deletions
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4
Plane.FormationCreator/Formation/Extensions.cs
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@ -13,9 +13,9 @@ namespace Plane.FormationCreator.Formation
static class Extensions static class Extensions
{ {
public const float GpsArrivedDis = 2.0f; //GPS模式下航点到达精度 public const float GpsArrivedDis = 2.0f; //GPS模式下航点到达精度
public const float RTKArrivedDis = 0.8f; //RTK模式航点达到精度 public const float RTKArrivedDis = 1.5f; //RTK模式航点达到精度
public const float GpsCloseDis = 2.0f; //GPS模式下碰撞检测最近距离 public const float GpsCloseDis = 2.0f; //GPS模式下碰撞检测最近距离
public const float RTKClosedDis = 0.5f; //RTK模式下碰撞检测最近距离 public const float RTKClosedDis = 1.0f; //RTK模式下碰撞检测最近距离
public static LatLng? GetCenter(this IEnumerable<ICopter> copters) public static LatLng? GetCenter(this IEnumerable<ICopter> copters)

4
Plane.FormationCreator/Formation/FlightTaskManager.cs
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@ -985,9 +985,9 @@ namespace Plane.FormationCreator.Formation
//RTK //RTK
if (gpstype == 15) if (gpstype == 15)
{ {
if (copter.GpsFixType != GpsFixType.RTKFIXED) if ((copter.GpsFixType != GpsFixType.RTKFIXED) && (copter.GpsFixType != GpsFixType.RTKFLOAT))
{ {
Message.Show(copter.Id+ ",是RTK定位，但未进入RTKFIX模式"); Message.Show(copter.Id+ ",是RTK定位，但未进入RTKFIX或RTKFLOAT模式");
return; return;
} }
} }