修改一些小问题

[App.xaml.cs]修复Checkbox无法显示对勾
[FlightTaskManager.cs]增加选中闪烁，悬停机头控制
[FlightTask_LoiterTime.cs]改变机头方向和灯的闪烁方式
[FlightTask_TakeOff.cs] 解锁起飞开始亮灯（暂时没启用）
[MainWindow.xaml.cs]增加C按键控制灯开关，机头转向采用以前的方法
[ModifyTaskView.xaml]增加机头方向设置显示

Plane.FormationCreator/App.xaml.cs

@@ -80,7 +80,7 @@ namespace Plane.FormationCreator
             base.OnStartup(e);
 
             var md = Resources.MergedDictionaries;
-            md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/Controls.xaml") });
+    //        md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/Controls.xaml") });
             md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/Fonts.xaml") });
             md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/Colors.xaml") });
             md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/MahApps.Metro;component/Styles/VS/Colors.xaml") });

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -47,6 +47,7 @@ namespace Plane.FormationCreator.Formation
                         }
                     }
                 }
+                selectedCopter.SetShowLEDFlashAsync(1, 100);
             };
 
             TaskAdded += (sender, e) =>
@@ -349,6 +350,7 @@ namespace Plane.FormationCreator.Formation
         // added by ZJF
         private void RestoreLoiterTimeTask(float LoiteTimeTmp, bool flashCheck, float flashCheckPeriod, 
             bool oneByOneCheck, float oneByOneCheckPeriod, string flashNameArray, string flashIndexArray,
+            bool ChangeYaw, float HeadYaw,
             dynamic singleCopterInfos)
         {
             var copters = _copterManager.Copters;
@@ -366,6 +368,9 @@ namespace Plane.FormationCreator.Formation
             loiterTimeTask.oneByOnePeriodAttr = oneByOneCheckPeriod;
             loiterTimeTask.flashCopterNameArray = flashNameArray;
             loiterTimeTask.flashCopterIndexArray = flashIndexArray;
+            loiterTimeTask.ChangeYaw = ChangeYaw;
+            loiterTimeTask.HeadYaw = HeadYaw;
+
             // foreach (var copter in copters)
             for (int i=0; i < copters.Count && i < singleCopterInfos.Count; i++)
             {
@@ -523,6 +528,10 @@ namespace Plane.FormationCreator.Formation
                             oneByOneCheckPeriod = task.oneByOnePeriodAttr,
                             flashNameArray = task.flashCopterNameArray,
                             flashIndexArray = task.flashCopterIndexArray,
+                            ChangeYaw = task.ChangeYaw,
+                            HeadYaw = task.HeadYaw,
+
+
                             singleCopterInfos = task.SingleCopterInfos.Select(info =>
                             {
                                 var offset = info.LatLngOffset;
@@ -607,7 +616,8 @@ namespace Plane.FormationCreator.Formation
                     case FlightTaskType.Loiter:
                         RestoreLoiterTimeTask( (float)task.loiterTimeAttr, (bool)task.flashCheck, (float)task.flashCheckPeriod, 
                             (bool)task.oneByOneCheck, (float)task.oneByOneCheckPeriod, (string)task.flashNameArray, 
-                            (string)task.flashIndexArray, task.singleCopterInfos);
+                            (string)task.flashIndexArray, (bool)task.ChangeYaw, (float)task.HeadYaw,  task.singleCopterInfos);
+                        
                         break;
                     case FlightTaskType.SimpleCircle:
                         RestoreSimpleCircleTask(task.singleCopterInfos);

Plane.FormationCreator/Formation/FlightTask_LoiterTime.cs

@@ -18,6 +18,33 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
+
+        
+
+        // 改变机头
+        private bool _ChangeYaw = false;
+        public bool ChangeYaw
+        {
+            get { return _ChangeYaw; }
+            set
+            {
+                Set(nameof(ChangeYaw), ref _ChangeYaw, value);
+            }
+        }
+
+        // 机头方向0为北，顺时针360
+        private float _HeadYaw = 1.0f;
+        public float HeadYaw
+        {
+            get { return _HeadYaw; }
+            set
+            {
+                Set(nameof(HeadYaw), ref _HeadYaw, value);
+            }
+        }
+
+
+
         // LED灯闪烁
         private bool _flashAttr = false;
         public bool flashAttr
@@ -121,11 +148,23 @@ namespace Plane.FormationCreator.Formation
 
         public async Task RunLoiterTimeTaskAsync()
         {
+
+            if (ChangeYaw)
+            {
+                await Task.WhenAll(SingleCopterInfos.Select(info => SetCopterYawAsync(info,HeadYaw)));
+            }
+
+
+
+
+
+
+
+
                 // 判断flashPeriodAttr, oneByOnePeriodAttr的值，执行不同的闪烁模式
                 // 当flashPeriodAttr小于10，正常闪烁，即没有预制闪烁模式
                 // 当flashPeriodAttr大于等于10，小于20，执行预制闪烁模式
                 // 当flashPeriodAttr大于等于20， 改变飞控闪烁模式，以oneByOnePeriodAttr作为周期值
-
                 if ((flashPeriodAttr >= 10.0f) && (flashPeriodAttr < 20.0f))
             {
                 await LEDFlashPlanAsync();
@@ -258,11 +297,58 @@ namespace Plane.FormationCreator.Formation
             }
             await Task.WhenAll(tasks_selected).ConfigureAwait(false);
         }
+        private async Task SetCopterYawAsync(FlightTaskSingleCopterInfo info, float headyaw)
+        {
+            var copter = info.Copter;
 
+     //       await Task.Delay(200).ConfigureAwait(false);
+
+            var tasks = new Task[1];
+            tasks[0] = Task.Run(async () =>
+            {
+                try
+                {
+                    await copter.SetMobileControlAsync(yaw: headyaw);
+
+                     while (!copter.ArrivedHeading((short)headyaw))
+                    {
+                        if (_flightTaskManager.IsPaused == true)
+                        {
+                            await info.Copter.HoverAsync();
+                            return;
+                        }
+                        await Task.Delay(25).ConfigureAwait(false);
+                    }
+                }
+                catch (TimeoutException ex)
+                {
+                    _logger.Log($"SetYAWtimeout, {ex.Message}, CopterId: {copter.Id}。");
+                }
+            });
+            await Task.WhenAll(tasks).ConfigureAwait(false);
+        }
         private async Task LEDParaModifySingleCopterAsync(FlightTaskSingleCopterInfo info, float count)
         {
             var copter = info.Copter;
 
+            var tasks = new Task[1];
+            tasks[0] = Task.Run(async () =>
+            {
+                try
+                {
+                    if (count == 1.0)
+                        await copter.SetShowLEDAsync(true);
+                    else
+                        await copter.SetShowLEDAsync(false);
+                    //await copter.SetParamAsync("NTF_SHOWLED", count, 5000);
+                }
+                catch (TimeoutException ex)
+                {
+                    _logger.Log($"SetShowLEDAsync 超时, {ex.Message}, CopterId: {copter.Id}。");
+                }
+            });
+
+            /*
             var tasks = new Task[2];
             tasks[0] = Task.Run(async () =>
             {
@@ -286,6 +372,7 @@ namespace Plane.FormationCreator.Formation
                     _logger.Log($"NOTI_ARMLED 超时, {ex.Message}, CopterId: {copter.Id}。");
                 }
             });
+            */
             await Task.WhenAll(tasks).ConfigureAwait(false);
         }
 
@@ -296,11 +383,29 @@ namespace Plane.FormationCreator.Formation
         {
             var copter = info.Copter;
             // float gpsLed = await c.GetParamAsync("NOTI_GPSLED");
-            float ledControl = 0.0f;
+
+            /*
+            float ledControl = 0.0f;  //关灯
             if (isOn)
             {
-                ledControl = 1.0f;
+                ledControl = 1.0f; //长亮
             }
+            */
+            var tasks = new Task[1];
+            tasks[0] = Task.Run(async () =>
+            {
+                try
+                {
+                    await copter.SetShowLEDAsync(isOn);
+               //     await copter.SetParamAsync("NTF_SHOWLED", ledControl, 5000);
+                }
+                catch (TimeoutException ex)
+                {
+                    _logger.Log($"SetShowLED 超时, {ex.Message}, CopterId: {copter.Id}。");
+                }
+            });
+
+            /*
             var tasks = new Task[2];
             tasks[0] = Task.Run(async () =>
             {
@@ -324,6 +429,7 @@ namespace Plane.FormationCreator.Formation
                     _logger.Log($"NOTI_ARMLED 超时, {ex.Message}, CopterId: {copter.Id}。");
                 }
             });
+            */
             await Task.WhenAll(tasks).ConfigureAwait(false);
         }
 

Plane.FormationCreator/Formation/FlightTask_TakeOff.cs

@@ -143,6 +143,7 @@ namespace Plane.FormationCreator.Formation
             {
                 return;
             }
+            //await copter.SetShowLEDAsync(true);
             await copter.UnlockAsync();
             for (int i = 0; !copter.IsUnlocked; i++)
             {

Plane.FormationCreator/MainWindow.xaml.cs

@@ -101,8 +101,23 @@ namespace Plane.FormationCreator
             if (e.OriginalSource is TextBox || e.OriginalSource is PasswordBox) return;
 
             var isInFastMode = AppEx.Current.IsInFastMode;
+            bool isledon;
             switch (e.Key)
             {
+                //开关SHOWLED
+                case Key.C:
+                    {
+
+                        var copters = _copterManager.AcceptingControlCopters;
+                        await Task.WhenAll(copters.Select(async copter =>
+                        {
+                            isledon = await copter.GetShowLEDAsync();
+                            await copter.SetShowLEDAsync(!isledon);
+                        })).ConfigureAwait(false);
+
+                        break;
+                    }
+                //俯仰控制
                 case Key.W:
                 case Key.S:
                     {
@@ -120,6 +135,7 @@ namespace Plane.FormationCreator
                         })).ConfigureAwait(false);
                         break;
                     }
+                //横滚控制
                 case Key.A:
                 case Key.D:
                     {
@@ -137,6 +153,7 @@ namespace Plane.FormationCreator
                         })).ConfigureAwait(false);
                         break;
                     }
+                //高度控制
                 case Key.I:
                 case Key.K:
                     {
@@ -154,13 +171,14 @@ namespace Plane.FormationCreator
                         })).ConfigureAwait(false);
                         break;
                     }
+                 //航向控制
                 case Key.J:
                 case Key.L:
                     {
                         var copters = _copterManager.AcceptingControlCopters;
                         await Task.WhenAll(copters.Select(async copter =>
                         {
-                            //await copter.SetMobileControlAsync(yaw: (copter.Yaw + (e.Key == Key.J ? -10 : 10)) % 360);
+                            //await copter.SetMobileControlAsync(yaw: (copter.Yaw + (e.Key == Key.J ? -20 : 20)) % 360);
                             await copter.SetChannelsAsync(ch4: e.Key == Key.J ? (ushort)1200 : (ushort)1800);
                         })).ConfigureAwait(false);
                         break;
@@ -196,6 +214,7 @@ namespace Plane.FormationCreator
                         }
                         break;
                     }
+                //设置6通道
                 case Key.P:
                     {
                         var copters = _copterManager.AcceptingControlCopters;
@@ -219,6 +238,7 @@ namespace Plane.FormationCreator
                         })).ConfigureAwait(false);
                         break;
                     }
+                //设置7通道
                 case Key.O:
                     {
                         var copters = _copterManager.AcceptingControlCopters;
@@ -291,6 +311,7 @@ namespace Plane.FormationCreator
                           //  await copter.SetMobileControlAsync(yaw: (copter.Yaw + (e.Key == Key.J ? -10 : 10)) % 360);
                             await copter.SetChannelsAsync(ch4: 1500);
                         })).ConfigureAwait(false);
+                        
                         break;
                     }
                 case Key.M: // 停止低速下降。

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -266,17 +266,18 @@
                                 <RowDefinition />
                                 <RowDefinition />
                                 <RowDefinition />
+                                <RowDefinition />
                             </Grid.RowDefinitions>
                             <Grid.ColumnDefinitions>
                                 <ColumnDefinition />
                                 <ColumnDefinition />
                             </Grid.ColumnDefinitions>
                             
-                            <TextBlock Text="悬停时间: " />
+                            <TextBlock Text="悬停时间:（秒） " />
                             <TextBox Grid.Column="1" 
                                      Text="{Binding LoiterTimeAttr, UpdateSourceTrigger=PropertyChanged}" />
                             
-                            <TextBlock Grid.Row="1" Grid.Column="0" Text="闪烁: " />
+                            <TextBlock Grid.Row="1" Grid.Column="0" Text="闪烁:(次数) " />
                             <Grid Grid.Row="1" Grid.Column="1">
                                 <Grid.RowDefinitions>
                                     <RowDefinition />
@@ -307,6 +308,20 @@
                             </Grid>
 
                             <TextBox Grid.Row="3" Grid.ColumnSpan="2" IsReadOnly="True" Text="{Binding flashCopterNameArray, UpdateSourceTrigger=PropertyChanged}" />
+                            <TextBlock Grid.Row="4" Grid.Column="0" Text="机头方向: " />
+                            <Grid Grid.Row="4" Grid.Column="1">
+                                <Grid.RowDefinitions>
+                                    <RowDefinition />
+                                </Grid.RowDefinitions>
+                                <Grid.ColumnDefinitions>
+                                    <ColumnDefinition />
+                                    <ColumnDefinition />
+                                </Grid.ColumnDefinitions>
+                                <CheckBox Grid.Row="0" Grid.Column="0"
+                                      IsChecked="{Binding ChangeYaw, UpdateSourceTrigger=PropertyChanged}" />
+                                <TextBox Grid.Column="1" Grid.Row="0"
+                                     Text="{Binding HeadYaw, UpdateSourceTrigger=PropertyChanged}" />
+                            </Grid>
                         </Grid>
                     </Grid>
                 </Grid>