1加入RTCM数据广播到指定端口功能

2将降低广播数据作为可选项在发送界面（只影响通讯模块，不影响端口转发）
3修改一个严重BUG:
   RTCM协议解析BUG，这个BUG是因为F9P地面站有UBX协议数据和RTCM协议数据，由于之前没有解析UBX数据导致RTCM数据也解析不了，导致3秒才发一次RTCM数据到飞机

Plane.FormationCreator/Formation/RtcmManager.cs

@@ -22,6 +22,10 @@ namespace Plane.FormationCreator.Formation
     public class RtcmManager: ObservableObject
     {
         private rtcm3 rtcm = new rtcm3();
+        // ubx detection
+        private static Ubx ubx_m8p = new Ubx();
+        static nmea nmea = new nmea();
+
         private Hashtable msgseen = new Hashtable();
 
         private ICommsSerial comPort;
@@ -31,17 +35,20 @@ namespace Plane.FormationCreator.Formation
         private ControlPanelViewModel ControlPanelVM = ServiceLocator.Current.GetInstance<ControlPanelViewModel>();
         private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
         private bool _rtcmthreadrun = false;
+        private bool _smallrtcmdata = false;  //减少传输数据--用于带宽不够的通讯模块-对数传广播无效
         private bool _enrecom = false;//是否转发到另外串口
 
         //         rtcm发送类型0:直接发送，
         //                     1：1秒只发一种卫星，1秒发GPS,第2秒发北斗，第3秒发格洛纳斯，其他数据随来随发
-        private int _rtcmsendtype = 1;
+
         private int _resendtocom = 1;
         const int MSG_GPS = 1074;
         const int MSG_GLONASS = 1084;
         const int MSG_Beidou = 1124;
         const int MSG_BasePos = 1005;
         const int MSG_REV = 1033;
+        const int MSG_GLONASS_PHASE = 1230;
+
 
         public string rtcm_typename(int msgtype)
         {
@@ -54,6 +61,9 @@ namespace Plane.FormationCreator.Formation
                 case MSG_GLONASS:
                     typename = "GLONASS";
                     break;
+                case MSG_GLONASS_PHASE:
+                    typename = "GLONASS相位差";
+                    break;
                 case MSG_Beidou:
                     typename = "北斗";
                     break;
@@ -84,7 +94,18 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
+        public bool SmallRtcmData
+        {
+            get { return _smallrtcmdata; }
+            set
+            {
+                Set(nameof(SmallRtcmData), ref _smallrtcmdata, value);
+            }
+        }
+
+        //接收速率
         private int bps;
+        //发送速率
         private int bpsusefull;
 
         private int _bps = 0;
@@ -180,7 +201,7 @@ namespace Plane.FormationCreator.Formation
             dispatcherTimer.Start();
         }
 
-        //用于刷新界面，显示消息状态，基站和卫星是否有效等
+        //用于刷新界面，显示消息状态，基站和卫星是否有效等---1HZ
         private void OnTimedEvent(object sender, EventArgs e)
         {
             BaseState = baseTime > DateTime.Now;
@@ -386,6 +407,8 @@ namespace Plane.FormationCreator.Formation
             //await _commModuleManager.StartRtcmLoop();
             while (Rtcmthreadrun)
             {
+                //   Console.WriteLine(string.Format("{0:T}  1", DateTime.Now));
+
                 try
                 {
                     try
@@ -405,97 +428,151 @@ namespace Plane.FormationCreator.Formation
                         }
                     }
                     catch { }
-                
+
                     if (!comPort.IsOpen)
                     {
                         return;
                     }
-
+                    /////////////////////////////////重写发送RTCM数据部分---23/10/18 by panxu 
-                    //rtcm size=180
+                    ///
-                    byte[] buffer = new byte[180];// new byte[180];
+                    // limit to 180 byte packet if using new packet
-                    //一次读取180个字节
+                    byte[] buffer = new byte[180];
-                    int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
+                    while (comPort.BytesToRead > 0)
-                    if (read > 0)
                     {
-                        lastrecv = DateTime.Now;
+                        int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
-                    }
+                        Console.WriteLine(string.Format("{0:T} - read:{1:D}", DateTime.Now, read));
-                    bps += read;
+                        if (read > 0)
-                    for (int a = 0; a < read; a++)
+                            lastrecv = DateTime.Now;
-                    {
+                        bps += read; //接收速率bps,byte需要*8到bit
-                        int seenmsg = -1;
+                        // check for valid rtcm/sbp/ubx packets
-                        // rtcm类解析RTCM数据  如果 rtcm.Read>0解析成功返回消息号码-1解析失败
+                        for (int a = 0; a < read; a++)
-                        if ((seenmsg = rtcm.Read(buffer[a])) > 0)
                         {
-                            bpsusefull += rtcm.length;
+                            int seenmsg = -1;
-                            string msgshowname = rtcm_typename(seenmsg);
+                            // rtcm and not can
-                            _commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
+                            if ((seenmsg = rtcm.Read(buffer[a])) > 0)
-                            if (_rtcmsendtype == 0)
                             {
-                                await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
+                                //  Console.WriteLine(string.Format("{0:T}------------RTCM Send {1:D}", DateTime.Now, rtcm.length));
-                            }else
+                                ubx_m8p.resetParser();
-                            if (_rtcmsendtype == 1)
+                                nmea.resetParser();
-                            {
+                                string msgshowname = rtcm_typename(seenmsg);
-                                Ensend = false;
+                                //广播数据直接发送不受小带宽数据选项影响
-                                //第1秒是gps,第2秒是GLONASS，第3秒是 Beidou
+                                if (_enrecom)
-                                //1秒内可能发送多个同一种类型的数据，看数据大小和原始频率
-                                long curr_s = CurrentTimeMillis()/1000;
-                                int sendtype = (int) (curr_s % 3);  
-                                switch (seenmsg)
                                 {
-                                    case MSG_GPS:
+                                    Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--广播Rtcm长度: " + (ushort)rtcm.length + "  类型: " + msgshowname + " (" + seenmsg + ")");
-                                        if (sendtype==0)  //第1秒是gps,
+                                    _commModuleManager.BroadcastGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
-                                            Ensend = true;
+                                }
-                                        break;
 
-                                    case MSG_GLONASS:
+                                //直接发送
-                                        if (sendtype == 1)  //第2秒是GLONASS，
+                                if (!SmallRtcmData)
-                                            Ensend = true;
+                                {
-                                        break;
+                                    //发送到飞机
-                                    case MSG_Beidou:
+                                    Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--通讯模块发送Rtcm长度: " + (ushort)rtcm.length + "  类型: " + msgshowname + " (" + seenmsg + ")");
-                                        if (sendtype == 2)  //第3秒是 Beidou
+                                    await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
-                                             Ensend = true;
+                                    //累加消息数量，用于界面显示
-                                        break;
+                                    bpsusefull += rtcm.length;
-                                    //位置4秒发一次就可以了
+                                }
-                                    case MSG_BasePos:
+                                else
-                                        {
+                                //为了减少发送数据量：
-                                            long curr_send_pos = CurrentTimeMillis();
+                                //1：1秒只发一种卫星，1秒发GPS,第2秒发北斗，第3秒发格洛纳斯，其他数据随来随发
-                                            if ((curr_send_pos - last_send_pos) > 4000)
+                               
-                                            {
+                                {
-                                                last_send_pos = curr_send_pos;
+
+                                    Ensend = false; //是否发送
+                                    //第1秒是gps,第2秒是GLONASS，第3秒是 Beidou
+                                    //1秒内可能发送多个同一种类型的数据，看数据大小和原始频率
+                                    long curr_s = CurrentTimeMillis() / 1000;
+                                    int sendtype = (int)(curr_s % 3);
+                                    switch (seenmsg)
+                                    {
+                                        case MSG_GPS:
+                                            if (sendtype == 0)  //第1秒是gps,
                                                 Ensend = true;
+                                            break;
+
+                                        case MSG_GLONASS:
+                                        case MSG_GLONASS_PHASE:
+                                            if (sendtype == 1)  //第2秒是GLONASS，
+                                                Ensend = true;
+                                            break;
+                                        case MSG_Beidou:
+                                            if (sendtype == 2)  //第3秒是 Beidou
+                                                Ensend = true;
+                                            break;
+                                        //位置4秒发一次就可以了
+                                        case MSG_BasePos:
+                                            {
+                                                long curr_send_pos = CurrentTimeMillis();
+                                                if ((curr_send_pos - last_send_pos) > 4000)
+                                                {
+                                                    last_send_pos = curr_send_pos;
+                                                    Ensend = true;
+                                                }
                                             }
-                                        }
+                                            break;
-                                        break;
+                                        case MSG_REV:  //这个没必要发
-                                    case MSG_REV:  //这个没必要发
+                                            Ensend = false;
-                                        Ensend = false;
+                                            break;
-                                        break;
+                                        default:          //其他类型数据随到随发
-                                   default:          //其他类型数据随到随发
+                                            Ensend = true;
-                                        Ensend = true;
+                                            break;
-                                        break;
+                                    }
-                                }
+                                    if (Ensend)
-                                if (Ensend)
+                                    {
-                                {
+                                        Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--通讯模块发送Rtcm长度: " + (ushort)rtcm.length + "  类型: " + msgshowname + " (" + seenmsg + ")");
-                                    // Plane.Windows.Messages.Message.Show(DateTime.Now.ToString("HH:mm:ss")+"--Rtcm长度:  " + (ushort)rtcm.length+"   , 类型:   "+ seenmsg);
+                                        await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
-                                    Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--Rtcm长度: " + (ushort)rtcm.length + "  类型: " + msgshowname + " ("+ seenmsg+")");
+                                        //累加消息数量，用于界面显示
-                                    await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length, _enrecom);
+                                        bpsusefull += rtcm.length;
-                                }
+                                    }
-                                //else
-                                 //   Console.WriteLine(DateTime.Now.ToString("HH:mm:ss") + "--放弃发送-----Rtcm长度:  " + (ushort)rtcm.length + "   类型:   " + msgshowname + " (" + seenmsg + ")");
 
 
+                                }
+
+
+
+
+                                string msgname = rtcm_typename(seenmsg);
+                                if (!msgseen.ContainsKey(msgname))
+                                    msgseen[msgname] = 0;
+                                msgseen[msgname] = (int)msgseen[msgname] + 1;
+                                //检测基站定位状态和卫星定位状态，用于在界面上显示
+                                await ExtractBasePos(seenmsg);
+                            }
+
+                            // ubx
+                            if ((seenmsg = ubx_m8p.Read(buffer[a])) > 0)
+                            {
+                                Console.WriteLine(string.Format("{0:T}----------------------------ubx_m8p ", DateTime.Now));
+                                rtcm.resetParser();
+                                nmea.resetParser();
+                                /*
+                                 //Ubx协议数据不用显示
+                                string msgname = "Ubx" + seenmsg.ToString("X4");
+                                if (!msgseen.ContainsKey(msgname))
+                                    msgseen[msgname] = 0;
+                                msgseen[msgname] = (int)msgseen[msgname] + 1;
+                                */
+                            }
+                            // nmea
+                            if ((seenmsg = nmea.Read(buffer[a])) > 0)
+                            {
+                                Console.WriteLine(string.Format("{0:T}----------------------------nmea ", DateTime.Now));
+                                rtcm.resetParser();
+                                ubx_m8p.resetParser();
+                                /*
+                                 //NMEA协议数据不用显示
+                                string msgname = "NMEA";
+                                if (!msgseen.ContainsKey(msgname))
+                                    msgseen[msgname] = 0;
+                                msgseen[msgname] = (int)msgseen[msgname] + 1;
+                                */
                             }
 
-                            //累加消息数量，用于界面显示
-                            if (!msgseen.ContainsKey(msgshowname))
-                                msgseen[msgshowname] = 0;
-                             msgseen[msgshowname] = (int)msgseen[msgshowname] + 1;                            
-                            //检测基站定位状态和卫星定位状态，用于在界面上显示
-                            await ExtractBasePos(seenmsg); 
                         }
+                        ////////////////////////////解析/发送RTCM结束
+                        await Task.Delay(10);
                     }
-                    await Task.Delay(10);
                 }
-                catch(Exception ex)
+                catch (Exception ex)
                 {
                     Plane.Windows.Messages.Message.Show(ex.Message);
                 }

Plane.FormationCreator/Plane.FormationCreator.csproj

@@ -211,10 +211,12 @@
     </Compile>
     <Compile Include="Util\ICommsSerial.cs" />
     <Compile Include="Util\ICorrections.cs" />
+    <Compile Include="Util\nmea.cs" />
     <Compile Include="Util\OptimizeRoute.cs" />
     <Compile Include="Util\ParamFile.cs" />
     <Compile Include="Util\PasswordBoxHelper.cs" />
     <Compile Include="Util\rtcm3.cs" />
+    <Compile Include="Util\ubx_m8p.cs" />
     <Compile Include="Util\VersionControl.cs" />
     <Compile Include="ViewModels\CalibrationViewModel.cs" />
     <Compile Include="ViewModels\ConfigVirtualIdViewModel.cs" />

Plane.FormationCreator/Util/nmea.cs

@@ -0,0 +1,123 @@
+using System;
+
+using uint8_t = System.Byte;
+using uint16_t = System.UInt16;
+using int32_t = System.Int32;
+using uint32_t = System.UInt32;
+using int8_t = System.SByte;
+using System.Runtime.InteropServices;
+
+namespace Plane.Util
+{
+    public class nmea : ICorrections
+    {
+        int step = 0;
+
+        public byte[] buffer = new byte[1024 * 1];
+        int payloadlen = 0;
+        int msglencount = 0;
+
+        public int length
+        {
+            get
+            {
+                return 2 + 2 + 2 + 2 + payloadlen; // header2, class,subclass,length2,data,crc2
+            }
+        }
+
+        public byte[] packet
+        {
+            get
+            {
+                return buffer;
+            }
+        }
+
+        public bool resetParser()
+        {
+            step = 0;
+            return true;
+        }
+
+        public int Read(byte data)
+        {
+            switch (step)
+            {
+                default:
+                case 0:
+                    if (data == '$')
+                    {
+                        step = 1;
+                        msglencount = 0;
+                        buffer[0] = data;
+                    }
+                    break;
+                case 1:
+                    if (data == 'G')
+                    {
+                        buffer[1] = data;
+                        step++;
+                    }
+                    else
+                        step = 0;
+                    break;
+                case 2:
+                    if (msglencount > 1000)
+                    {
+                        step = 0;
+
+                    }
+
+                        buffer[msglencount + 2] = data;
+                        msglencount++;
+                    if(data == '\n')
+                    {
+                        var line = System.Text.ASCIIEncoding.ASCII.GetString(buffer, 0, msglencount + 2);
+                        string[] items = line.Trim().Split(',', '*');
+                        if (items[items.Length-1] == GetChecksum(line))
+                        {
+                            return 1;
+                        }
+                        step = 0;
+                    }
+                    break;
+            }
+
+            return -1;
+        }
+
+        // Calculates the checksum for a sentence
+        string GetChecksum(string sentence)
+        {
+            // Loop through all chars to get a checksum
+            int Checksum = 0;
+            foreach (char Character in sentence.ToCharArray())
+            {
+                switch (Character)
+                {
+                    case '$':
+                        // Ignore the dollar sign
+                        break;
+                    case '*':
+                        // Stop processing before the asterisk
+                        return Checksum.ToString("X2");
+                    default:
+                        // Is this the first value for the checksum?
+                        if (Checksum == 0)
+                        {
+                            // Yes. Set the checksum to the value
+                            Checksum = Convert.ToByte(Character);
+                        }
+                        else
+                        {
+                            // No. XOR the checksum with this character's value
+                            Checksum = Checksum ^ Convert.ToByte(Character);
+                        }
+                        break;
+                }
+            }
+            // Return the checksum formatted as a two-character hexadecimal
+            return Checksum.ToString("X2");
+        }
+    }
+}

Plane.FormationCreator/Util/ubx_m8p.cs

@@ -0,0 +1,573 @@
+using System;
+
+using uint8_t = System.Byte;
+using uint16_t = System.UInt16;
+using int32_t = System.Int32;
+using uint32_t = System.UInt32;
+using int8_t = System.SByte;
+
+using System.Runtime.InteropServices;
+using System.Threading;
+
+namespace Plane.Util
+{
+    public class Ubx : ICorrections
+    {
+        int step = 0;
+
+        public byte[] buffer = new byte[1024 * 8];
+        int payloadlen = 0;
+        int msglencount = 0;
+
+        public byte @class
+        {
+            get { return buffer[2]; }
+        }
+
+        public byte subclass
+        {
+            get { return buffer[3]; }
+        }
+
+        public int length
+        {
+            get
+            {
+                return 2 + 2 + 2 + 2 + payloadlen; // header2, class,subclass,length2,data,crc2
+            }
+        }
+
+        public byte[] packet
+        {
+            get { return buffer; }
+        }
+
+        public bool resetParser()
+        {
+            step = 0;
+            return true;
+        }
+
+        public int Read(byte data)
+        {
+            switch (step)
+            {
+                default:
+                case 0:
+                    if (data == 0xb5)
+                    {
+                        step = 1;
+                        buffer[0] = data;
+                    }
+
+                    break;
+                case 1:
+                    if (data == 0x62)
+                    {
+                        buffer[1] = data;
+                        step++;
+                    }
+                    else
+                        step = 0;
+
+                    break;
+                case 2:
+                    buffer[2] = data;
+                    step++;
+                    break;
+                case 3:
+                    buffer[3] = data;
+                    step++;
+                    break;
+                case 4:
+                    buffer[4] = data;
+                    payloadlen = data;
+                    step++;
+                    break;
+                case 5:
+                    buffer[5] = data;
+                    step++;
+                    payloadlen += (data << 8);
+                    msglencount = 0;
+                    // reset on oversize packet
+                    if (payloadlen > buffer.Length)
+                        step = 0;
+                    break;
+                case 6:
+                    if (msglencount < (payloadlen))
+                    {
+                        buffer[msglencount + 6] = data;
+                        msglencount++;
+
+                        if (msglencount == payloadlen)
+                            step++;
+                    }
+
+                    break;
+                case 7:
+                    buffer[msglencount + 6] = data;
+                    step++;
+                    break;
+                case 8:
+                    buffer[msglencount + 6 + 1] = data;
+
+                    var crc = ubx_checksum(buffer, payloadlen + 6);
+
+                    var crcpacket = new byte[] { buffer[msglencount + 6], data };
+
+                    if (crc[0] == crcpacket[0] && crc[1] == crcpacket[1])
+                    {
+                        step = 0;
+                        return (@class << 8) + subclass;
+                    }
+
+                    step = 0;
+                    break;
+            }
+
+            return -1;
+        }
+
+        private static byte[] ubx_checksum(byte[] packet, int size, int offset = 2)
+        {
+            uint a = 0x00;
+            uint b = 0x00;
+            var i = offset;
+            while (i < size)
+            {
+                a += packet[i++];
+                b += a;
+            }
+
+            var ans = new byte[2];
+
+            ans[0] = (byte)(a & 0xFF);
+            ans[1] = (byte)(b & 0xFF);
+
+            return ans;
+        }
+
+        public static byte[] generate(byte cl, byte subclass, byte[] payload)
+        {
+            var data = new byte[2 + 2 + 2 + 2 + payload.Length];
+            data[0] = 0xb5;
+            data[1] = 0x62;
+            data[2] = cl;
+            data[3] = subclass;
+            data[4] = (byte)(payload.Length & 0xff);
+            data[5] = (byte)((payload.Length >> 8) & 0xff);
+
+            Array.ConstrainedCopy(payload, 0, data, 6, payload.Length);
+
+            var checksum = ubx_checksum(data, data.Length - 2);
+
+            data[data.Length - 2] = checksum[0];
+            data[data.Length - 1] = checksum[1];
+
+            return data;
+        }
+
+        [StructLayout(LayoutKind.Sequential, Pack = 1)]
+        public struct ubx_mon_ver
+        {
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 30)]
+            public byte[] swVersion;
+
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
+            public Byte[] hwVersion;
+
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 30)]
+            public byte[] extension;
+        }
+
+        [StructLayout(LayoutKind.Sequential, Pack = 1)]
+        public struct ubx_mon_hw
+        {
+            public int pinSel;
+            public int pinBank;
+            public int pinDir;
+            public int pinVal;
+            public ushort noisePerMS;
+            public ushort agcCnt;
+            public byte aStatus;
+            public byte aPower;
+            public byte flags;
+            public byte reserved1;
+            public int usedMask;
+
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 17)]
+            public byte[] VP;
+
+            public byte jamInd;
+            public ushort reserved3;
+            public int pinIrq;
+            public int pullH;
+            public int pullL;
+        }
+
+        [StructLayout(LayoutKind.Sequential, Pack = 1)]
+        public struct ubx_nav_pvt
+        {
+            public uint32_t itow;
+            public uint16_t year;
+            public uint8_t month, day, hour, min, sec;
+            public uint8_t valid;
+            public uint32_t t_acc;
+            public int32_t nano;
+            public uint8_t fix_type;
+            public uint8_t flags;
+            public uint8_t flags2;
+            public uint8_t num_sv;
+            public int32_t lon, lat;
+            public int32_t height, h_msl;
+            public uint32_t h_acc, v_acc;
+            public int32_t velN, velE, velD, gspeed;
+            public int32_t head_mot;
+            public uint32_t s_acc;
+            public uint32_t head_acc;
+            public uint16_t p_dop;
+
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
+            public uint8_t[] reserved1;
+
+            public uint32_t headVeh;
+
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
+            public uint8_t[] reserved2;
+        }
+
+        [StructLayout(LayoutKind.Sequential, Pack = 1)]
+        public struct ubx_nav_svin
+        {
+            public uint8_t version;
+
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
+            public uint8_t[] reserved1;
+
+            public uint32_t iTOW;
+            public uint32_t dur;
+            public int32_t meanX;
+            public int32_t meanY;
+            public int32_t meanZ;
+            public int8_t meanXHP;
+            public int8_t meanYHP;
+            public int8_t meanZHP;
+            public uint8_t reserved2;
+            public uint32_t meanAcc;
+            public uint32_t obs;
+            public uint8_t valid;
+            public uint8_t active;
+
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)]
+            public uint8_t[] reserved3;
+
+            public double[] getECEF()
+            {
+                var X = meanX / 100.0 + meanXHP * 0.0001;
+                var Y = meanY / 100.0 + meanYHP * 0.0001;
+                var Z = meanZ / 100.0 + meanZHP * 0.0001;
+
+                return new double[] { X, Y, Z };
+            }
+        }
+
+        [StructLayout(LayoutKind.Sequential, Pack = 1)]
+        public struct ubx_nav_velned
+        {
+            public uint iTOW;
+            public int velN;
+            public int velE;
+            public int velD;
+            public uint speed;
+            public uint gSpeed;
+            public int heading;
+            public uint sAcc;
+            public uint cAcc;
+        }
+
+        [StructLayout(LayoutKind.Sequential, Pack = 1)]
+        public struct ubx_cfg_nav5_getset_s
+        {
+            public uint16_t mask;
+            public uint8_t dynModel;
+            public uint8_t fixMode;
+            public int32_t fixedAlt;
+            public uint32_t fixedAltVar;
+            public int8_t minElev;
+            public uint8_t drLimit;
+            public uint16_t pDop;
+            public uint16_t tDop;
+            public uint16_t pAcc;
+            public uint16_t tAcc;
+            public uint8_t staticHoldThresh;
+            public uint8_t dgnssTimeout;
+            public uint8_t cnoThreshNumSVs;
+            public uint8_t cnoThresh;
+
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)]
+            public uint8_t[] reserved1;
+
+            public uint16_t staticHoldMaxDist;
+            public uint8_t utcStandard;
+
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 5)]
+            public uint8_t[] reserved2;
+        }
+
+        [StructLayout(LayoutKind.Sequential, Pack = 1, Size = 40)]
+        public struct ubx_cfg_tmode3
+        {
+            public ubx_cfg_tmode3(double lat, double lng, double alt, double acc = 0.001)
+            {
+                version = 0;
+                reserved1 = 0;
+                if (Math.Abs(lat) > 90)
+                {
+                    flags = 2; // fixed mode ecef
+                    ecefXorLat = (int)(lat * 100);
+                    ecefYorLon = (int)(lng * 100);
+                    ecefZorAlt = (int)(alt * 100);
+                    ecefXOrLatHP = (sbyte)((lat * 100 - ecefXorLat) * 100.0);
+                    ecefYOrLonHP = (sbyte)((lng * 100 - ecefYorLon) * 100.0);
+                    ecefZOrAltHP = (sbyte)((alt * 100 - ecefZorAlt) * 100.0);
+                }
+                else
+                {
+                    flags = 256 + 2; // lla + fixed mode
+                    ecefXorLat = (int)(lat * 1e7);
+                    ecefYorLon = (int)(lng * 1e7);
+                    ecefZorAlt = (int)(alt * 100.0);
+                    ecefXOrLatHP = (sbyte)((lat * 1e7 - ecefXorLat) * 100.0);
+                    ecefYOrLonHP = (sbyte)((lng * 1e7 - ecefYorLon) * 100.0);
+                    ecefZOrAltHP = (sbyte)((alt * 100.0 - ecefZorAlt) * 100.0);
+                }
+
+                reserved2 = 0;
+                fixedPosAcc = (uint)(acc * 1000.0);
+                svinMinDur = 60;
+                svinAccLimit = 2000;
+                reserved3 = new byte[8];
+            }
+
+            public ubx_cfg_tmode3(uint DurationS, double AccLimit)
+            {
+                version = 0;
+                reserved1 = 0;
+                flags = 1; // surveyin mode
+                ecefXorLat = 0;
+                ecefYorLon = 0;
+                ecefZorAlt = 0;
+                ecefXOrLatHP = (sbyte)0;
+                ecefYOrLonHP = (sbyte)0;
+                ecefZOrAltHP = (sbyte)0;
+                reserved2 = 0;
+                fixedPosAcc = 0;
+                svinMinDur = DurationS;
+                svinAccLimit = (uint)(AccLimit * 10000);
+                reserved3 = new byte[8];
+            }
+
+            public static ubx_cfg_tmode3 Disable
+            {
+                get
+                {
+                    return new ubx_cfg_tmode3()
+                    {
+                        flags = 0, // disable
+                        reserved3 = new byte[8]
+                    };
+                }
+            }
+
+            public static implicit operator byte[] (ubx_cfg_tmode3 input)
+            {
+                return null;// MavlinkUtil.StructureToByteArray(input);
+            }
+
+            public enum modeflags
+            {
+                Disabled = 0,
+                SurveyIn = 1,
+                FixedECEF = 2,
+                LLA = 256,
+                FixedLLA = 258
+            }
+
+            public byte version;
+            public byte reserved1;
+            public ushort flags;
+            public int ecefXorLat; // 1e7
+            public int ecefYorLon;
+            public int ecefZorAlt;
+            public sbyte ecefXOrLatHP;
+            public sbyte ecefYOrLonHP;
+            public sbyte ecefZOrAltHP;
+            public byte reserved2;
+            public uint fixedPosAcc;
+            public uint svinMinDur;
+            public uint svinAccLimit;
+
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
+            public byte[] reserved3;
+
+
+
+            public void SetupM8P(ICommsSerial port, bool m8p_130plus = false, bool movingbase = false)
+            {
+                port.BaseStream.Flush();
+
+                var bauds = new[] { port.BaudRate, 9600, 38400, 57600, 115200, 230400, 460800 };
+
+                // change the baudrate
+                foreach (var baud in bauds)
+                {
+                    port.BaudRate = baud;
+
+                    System.Threading.Thread.Sleep(50);
+                    // U = bit  01010101  - often used for autobaud
+                    port.Write("UU");
+                    // port config - 460800 - uart1
+                    var packet = generate(0x6, 0x00, new byte[]
+                    {
+                    0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0x08,
+                    0x07, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00
+                    });
+                    port.Write(packet, 0, packet.Length);
+                    port.BaseStream.Flush();
+                    System.Threading.Thread.Sleep(100);
+                }
+
+                {
+                    // port config - usb
+                    var packet = generate(0x6, 0x00, new byte[]
+                    {
+                    0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+                    0x00, 0x00, 0x23, 0x00, 0x23, 0x00, 0x00, 0x00, 0x00, 0x00
+                    });
+                    port.Write(packet, 0, packet.Length);
+                    System.Threading.Thread.Sleep(300);
+
+                    port.BaseStream.Flush();
+
+                    port.BaudRate = 460800;
+                }
+
+                {
+                    // set rate to 1hz
+                    var packet = generate(0x6, 0x8, new byte[] { 0xE8, 0x03, 0x01, 0x00, 0x01, 0x00 });
+                    port.Write(packet, 0, packet.Length);
+                    System.Threading.Thread.Sleep(200);
+
+                    // set navmode to stationary
+                    {
+                        packet = generate(0x6, 0x24,
+                            new byte[]
+                            {
+                            0xFF, 0xFF, 0x02, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x0F, 0x00, 0xFA,
+                            0x00,
+                            0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x23, 0x10, 0x27, 0x00, 0x00, 0x00,
+                            0x00,
+                            0x00, 0x00, 0x00, 0x00
+                            });
+                        port.Write(packet, 0, packet.Length);
+                        System.Threading.Thread.Sleep(200);
+                    }
+                }
+
+                // turn off all nmea
+                for (int a = 0; a <= 0xf; a++)
+                {
+                    if (a == 0xb || a == 0xc || a == 0xe)
+                        continue;
+                    turnon_off(port, 0xf0, (byte)a, 0);
+                }
+
+                // mon-ver
+                poll_msg(port, 0xa, 0x4);
+
+                // surveyin msg - for feedback
+                turnon_off(port, 0x01, 0x3b, 1);
+
+                // pvt msg - for feedback
+                turnon_off(port, 0x01, 0x07, 1);
+
+                // 1005 - 5s
+                turnon_off(port, 0xf5, 0x05, 5);
+
+                byte rate1 = 1;
+                byte rate2 = 0;
+
+                if (m8p_130plus)
+                {
+                    rate1 = 0;
+                    rate2 = 1;
+                }
+
+                // 1074 - 1s
+                turnon_off(port, 0xf5, 0x4a, rate2);
+                // 1077 - 1s
+                turnon_off(port, 0xf5, 0x4d, rate1);
+
+                // 1084 - 1s
+                turnon_off(port, 0xf5, 0x54, rate2);
+                // 1087 - 1s
+                turnon_off(port, 0xf5, 0x57, rate1);
+
+                // 1094 - 1s
+                turnon_off(port, 0xf5, 0x5e, rate2);
+                // 1097 - 1s
+                turnon_off(port, 0xf5, 0x61, rate1);
+
+                // 1124 - 1s
+                turnon_off(port, 0xf5, 0x7c, rate2);
+                // 1127 - 1s
+                turnon_off(port, 0xf5, 0x7f, rate1);
+
+                // 4072
+                turnon_off(port, 0xf5, 0xFE, 0);
+
+                // 1230 - 5s
+                turnon_off(port, 0xf5, 0xE6, 5);
+
+                // NAV-VELNED - 1s
+                turnon_off(port, 0x01, 0x12, 1);
+
+                // rxm-raw/rawx - 1s
+                turnon_off(port, 0x02, 0x15, 1);
+                turnon_off(port, 0x02, 0x10, 1);
+
+                // rxm-sfrb/sfrb - 2s
+                turnon_off(port, 0x02, 0x13, 2);
+                turnon_off(port, 0x02, 0x11, 2);
+
+                // mon-hw - 2s
+                turnon_off(port, 0x0a, 0x09, 2);
+
+                System.Threading.Thread.Sleep(100);
+            }
+
+
+            public void turnon_off(ICommsSerial port, byte clas, byte subclass, byte every_xsamples)
+            {
+                byte[] datastruct1 = { clas, subclass, 0, every_xsamples, 0, every_xsamples, 0, 0 };
+
+                var packet = generate(0x6, 0x1, datastruct1);
+
+                port.Write(packet, 0, packet.Length);
+
+                System.Threading.Thread.Sleep(10);
+            }
+
+            public void poll_msg(ICommsSerial port, byte clas, byte subclass)
+            {
+                byte[] datastruct1 = { };
+
+                var packet = generate(clas, subclass, datastruct1);
+
+                port.Write(packet, 0, packet.Length);
+
+                System.Threading.Thread.Sleep(10);
+            }
+        }
+    }
+}

Plane.FormationCreator/ViewModels/RtcmInfoViewModel.cs

@@ -40,6 +40,17 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(SerialPortResend), ref _serialPortResend, value); }
 
         }
+        
+        private bool _smalldatamk;
+        public bool SmalldataMK 
+        {
+            get { return _smalldatamk; }
+            set
+            {
+                Set(nameof(SmalldataMK), ref _smalldatamk, value);
+                _rtcmManager.SmallRtcmData= value;
+            }
+        }
 
         private bool _resendtocommk;
         public bool ResendToComMK
@@ -83,6 +94,7 @@ namespace Plane.FormationCreator.ViewModels
         public void RefreshPorts()
         {
             string lastSelectValue = SerialPortsSelectdValue;
+            string lastSelectValue_re = SerialPortResend;
             serialPorts.Clear();
             serialPorts.Add("魔方基站");
             serialPorts.Add("千寻");
@@ -93,6 +105,17 @@ namespace Plane.FormationCreator.ViewModels
             }
             if (serialPorts.Contains(lastSelectValue))
                 SerialPortsSelectdValue = lastSelectValue;
+
+            serialRePorts.Clear();
+           
+            foreach (var item in commports)
+            {
+                serialRePorts.Add(item);
+            }
+            if (serialRePorts.Contains(lastSelectValue_re))
+                SerialPortResend = lastSelectValue_re;
+
+
         }
 
         private ICommand _ConnectRtcmCommand;

Plane.FormationCreator/Views/RtcmInfoView.xaml

@@ -5,24 +5,43 @@
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
              xmlns:local="clr-namespace:Plane.FormationCreator.Views"
              xmlns:c="http://metro.mahapps.com/winfx/xaml/controls"
-             mc:Ignorable="d" 
+             mc:Ignorable="d" d:DesignWidth="800"
-             d:DesignHeight="300" d:DesignWidth="800"
+             Height="426" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0" Title="RTK控制" ResizeMode="NoResize">
-             Height="350" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0" Title="RTK控制" ResizeMode="NoResize">
     <Grid Margin="0,0,0,0">
         <Grid.RowDefinitions>
             <RowDefinition Height="Auto"/>
             <RowDefinition />
         </Grid.RowDefinitions>
         <StackPanel Margin="5" Orientation="Horizontal" VerticalAlignment="Center">
-            <ComboBox Width="120" Height="25" Foreground="White" SelectedIndex="0" 
+            <Border  Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
+                <StackPanel  Margin="0" Orientation="Vertical">
+                    <StackPanel Margin="0" Orientation="Horizontal">
+                        <ComboBox Width="120" Height="25" Foreground="White" SelectedIndex="0" 
                       Margin="10" ItemsSource="{Binding serialPorts, Mode=OneWay}"
                       SelectedValue="{Binding SerialPortsSelectdValue}"
                       DropDownOpened="ComboBox_DropDownOpened"/>
-            <Button Margin="6" Width="80" Height="28"  
+                        <Button Margin="6" Width="80" Height="28"  
                     Content="{Binding RtcmManager.Rtcmthreadrun,Converter={StaticResource SendConverter}}" 
                     Command="{Binding ConnectRtcmCommand}"/>
-            <Label  Margin="6,6,0,6" Height="28" Content="总数："/>
+                        <Label  Margin="6,6,0,6" Height="28" Content="卫星数："/>
-            <Label  Margin="0,6,6,6" Height="28" Content="{Binding RtcmManager.rtcmInfoList.Count,UpdateSourceTrigger=PropertyChanged}"></Label>
+                        <Label  Margin="0,6,6,6" Height="28" Content="{Binding RtcmManager.rtcmInfoList.Count,UpdateSourceTrigger=PropertyChanged}"></Label>
+                    </StackPanel>
+                    <StackPanel Margin="6,0,0,6" Orientation="Horizontal">
+                        <CheckBox x:Name="checkBox" Content="同时发送到："  
+                      Margin="4,5,5,0" Width="90" 
+                        IsChecked="{Binding ResendToComMK}"/>
+                        <ComboBox Width="90" Height="25" Foreground="White" SelectedIndex="0" 
+                      Margin="0,0,5,0" ItemsSource="{Binding serialRePorts, Mode=OneWay}"
+                      SelectedValue="{Binding SerialPortResend}"
+                      DropDownOpened="ComboBox_DropDownOpened"/>
+                        <CheckBox x:Name="cBsmalldata" Content="减少广播数据"  
+                      Margin="20,5,5,0" Width="95" 
+                        IsChecked="{Binding SmalldataMK}"/>
+                    </StackPanel>
+
+                </StackPanel>
+
+            </Border>
 
             <Border  Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
                 <StackPanel  Margin="5" Orientation="Vertical">
@@ -30,10 +49,10 @@
                         <TextBlock Text="接收速率： "/>
                         <TextBlock TextAlignment="Right" Width="30" 
                                    Text="{Binding RtcmManager.Bps}"/>
-                        <TextBlock Text=" bps；发送速率："/>
+                        <TextBlock Text=" 字节/秒；发送速率："/>
                         <TextBlock TextAlignment="Right" Width="30" 
                                    Text="{Binding RtcmManager.Bpsusefull}"/>
-                        <TextBlock Text=" bps"/>
+                        <TextBlock Text=" 字节/秒"/>
                     </StackPanel>
 
                     <StackPanel Margin="5" Orientation="Horizontal">
@@ -42,8 +61,8 @@
                                    />
                     </StackPanel>
                 </StackPanel>
-                
+
-             
+
             </Border>
 
             <Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
@@ -70,22 +89,15 @@
                         <TextBlock Margin="2,5" Text="-"/>
                         <TextBlock Margin="2,5" Text="{Binding RtcmManager.StationTime}"/>
                     </StackPanel>
-                    
+
                 </StackPanel>
             </Border>
-            <CheckBox x:Name="checkBox" Content="同时发送到："  
+
-                      Margin="20,30,5,20" Width="90" 
+
-                        IsChecked="{Binding ResendToComMK}"/>
-           
-            <ComboBox Width="120" Height="25" Foreground="White" SelectedIndex="0" 
-                      Margin="10" ItemsSource="{Binding serialRePorts, Mode=OneWay}"
-                      SelectedValue="{Binding SerialPortResend}"
-                      DropDownOpened="ComboBox_DropDownOpened"/>
-            
         </StackPanel>
 
         <ItemsControl Grid.Row="1" 
-                      ItemsSource="{Binding Path = RtcmManager.rtcmInfoList}"
+                      ItemsSource="{Binding Path = RtcmManager.rtcmInfoList}" Margin="0,0.333,-0.333,-80" Height="303" VerticalAlignment="Top"
                       >
             <ItemsControl.ItemsPanel>
                 <ItemsPanelTemplate>
@@ -116,7 +128,7 @@
                             <Line  Stroke="Red" X2="1000" StrokeThickness="3" />
                             <TextBlock  Text="40" Foreground="Black"/>
                         </StackPanel>
-                        
+
 
                     </Grid>