From 625bd3ade991b1ff5d54e9f82c978d7ec8b82f19 Mon Sep 17 00:00:00 2001
From: pxzleo <pxzleo@126.com>
Date: Sun, 17 Sep 2017 12:56:45 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=82=AC=E5=81=9C=E4=BB=BB?=
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---
 .../Formation/FlightTask_LoiterTime.cs        | 20 ++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/Plane.FormationCreator/Formation/FlightTask_LoiterTime.cs b/Plane.FormationCreator/Formation/FlightTask_LoiterTime.cs
index 35e3bb2..73c83a7 100644
--- a/Plane.FormationCreator/Formation/FlightTask_LoiterTime.cs
+++ b/Plane.FormationCreator/Formation/FlightTask_LoiterTime.cs
@@ -353,8 +353,26 @@ namespace Plane.FormationCreator.Formation
                 // LED灯全亮
                 await Task.WhenAll(SingleCopterInfos.Select(info => LEDFlashTaskFlySingleCopterAsync(info, true)));
                 //延时等待
-                await Task.Delay((int)(LoiterTimeAttr * 1000)).ConfigureAwait(false);
+      
+                //判断是否下一步
+                DateTime start = DateTime.Now;
 
+                while (true)
+                {
+                    if (_flightTaskManager.IsPaused == true)
+                    {
+                        await Task.WhenAll(SingleCopterInfos.Select(info => (info.Copter.HoverAsync())));
+                        return;
+                    }
+
+                    DateTime end = DateTime.Now;
+                    TimeSpan ts = end - start;
+                    //等待指定时间
+                    if (ts.TotalMilliseconds > LoiterTimeAttr * 1000)
+                        return;
+                    await Task.Delay(20).ConfigureAwait(false);
+
+                }
 
             }
             else if (oneByOneAttr)    // LED走马灯显示效果