写入航点时停止发送RTK

调整按钮位置，分开选中和整体的操作
修改电压后面信息无法显示的bug
加入显示所有航点功能

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -758,7 +758,7 @@ namespace Plane.FormationCreator.ViewModels
                 return _TurnOffTestLightsCommand ?? (_TurnOffTestLightsCommand = new RelayCommand(async () =>
                 {
                     int num = 0;
-                    //var o = new { NTF_G_RTLOFF = 1 };
+                    //正式飞行
                     num = await _commModuleManager.SetMultipleParamAsync(
                                                                 "NTF_G_RTLOFF",  "1",
                                                                 "FS_GCS_ENABLE", "0", 
@@ -766,7 +766,27 @@ namespace Plane.FormationCreator.ViewModels
                                                                 "WAYPOINT_GLED", "0",
                                                                 "FS_BATT_VOLTAGE", "14.2",
                                                                 "RTL_ALT","3000",
-                                                                "RTL_ALT_MAX","5000");
+                                                                "RTL_ALT_MAX","5000",
+                                                                "FC_LOG_LEVEL", "0",
+                                                                "FC_LOG_TYPE", "0",
+                                                                "FS_GPS_RTL", "4");
+
+                    //测试飞行
+                    /*
+                    num = await _commModuleManager.SetMultipleParamAsync(
+                                                                "NTF_G_RTLOFF", "0",
+                                                                "FS_GCS_ENABLE", "1",
+                                                                "NTF_G_RTKTEST", "1",
+                                                                "WAYPOINT_GLED", "1",
+                                                                "FS_BATT_VOLTAGE", "14.2",
+                                                                "RTL_ALT", "3000",
+                                                                "RTL_ALT_MAX", "5000",
+                                                                "FC_LOG_LEVEL","3",
+                                                                "FC_LOG_TYPE", "1",
+                                                                "FS_GPS_RTL", "4"
+                                                               );
+                                                               */
+
                     Alert.Show($"广播完成！ 当前序列号：{num}");
                 }));
             }
@@ -1321,6 +1341,14 @@ namespace Plane.FormationCreator.ViewModels
                     int taskcount = _flightTaskManager.Tasks.Count;
                     if (taskcount < 2) return;
 
+                    var _RtcmInfoViewModel = ServiceLocator.Current.GetInstance<RtcmInfoViewModel>();
+                    if (_RtcmInfoViewModel.RtcmManager.Rtcmthreadrun)
+                    {
+                        Alert.Show("RTK数据正在发送，将自动关闭！", "提示");
+                        await _RtcmInfoViewModel.RtcmManager.Close();
+                    }
+
+                    Alert.Show("开始写入航点，请稍等！", "提示");
                     _commModuleManager.ClearMissionWriteState();
                     for (int i = 0; i < coptercount; i++)
                     {

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -184,7 +184,12 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(directionvalue), ref _directionvalue, value); }
         }
 
-
+        private float _directionvalueall = 0;
+        public float directionvalueall
+        {
+            get { return _directionvalueall; }
+            set { Set(nameof(directionvalueall), ref _directionvalueall, value); }
+        }
 
         private double _FlyToLat;
         public double FlyToLat
@@ -221,13 +226,35 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(OnlySelected), ref _OnlySelected, value); }
         }
 
+
+
+        
+        private ICommand _ShowallTaskpointCommand;
+        public ICommand ShowallTaskpointCommand
+
+        {
+            get
+            {
+                return _ShowallTaskpointCommand ?? (_ShowallTaskpointCommand = new RelayCommand<float>(async =>
+                {
+                    MapManager _mapManager = Microsoft.Practices.ServiceLocation.ServiceLocator.Current.GetInstance<MapManager>();
+                    _mapManager.MapView.ShowAllWaypoint();
+
+                    //_flightTaskManager.SelectedTask = null;
+                 }));
+            }
+
+
+
+
+        }
         //调整所有任务经度
         private ICommand _ModiAllPosCommand;
         public ICommand ModiAllPosCommand
         {
             get
             {
-                return _ModiAllPosCommand ?? (_ModiAllPosCommand = new RelayCommand<double>(async =>
+                return _ModiAllPosCommand ?? (_ModiAllPosCommand = new RelayCommand<float>( cModialtvalue =>
                 {
                     if (_flightTaskManager.Tasks.Count < 2) return;
 
@@ -259,14 +286,14 @@ namespace Plane.FormationCreator.ViewModels
                             targetLatLng = GeographyUtils.CalcLatLngSomeMetersAway2D(
                                 _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLat,
                                 _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLng,
-                                directionvalue,
+                                directionvalueall,
-                                Modialtvalue
+                                cModialtvalue
                                 );
                             _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLat = targetLatLng.Item1;
                             _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetLng = targetLatLng.Item2;
                         }
                     }
-                    Alert.Show("指定步骤任务位置已向" + directionvalue + "度改变" + Modialtvalue + "米，注意是否有障碍物!");
+                    Alert.Show("指定步骤任务位置已向" + directionvalueall + "度改变" + cModialtvalue + "米，注意是否有障碍物!");
 
                 }));
             }
@@ -1402,7 +1429,7 @@ public ICommand VerticlAlignmentCommand
         {
             get
             {
-                return _ModiAltCommand ?? (_ModiAltCommand = new RelayCommand<double>(async =>
+                return _ModiAltCommand ?? (_ModiAltCommand = new RelayCommand<double>( cModialtvalue =>
                 {
                     if (_flightTaskManager.Tasks.Count < 2) return;
                     
@@ -1429,7 +1456,7 @@ public ICommand VerticlAlignmentCommand
                      
                         for (int j = 0; j < _flightTaskManager.Tasks[i].SingleCopterInfos.Count; j++)
                         {
-                            _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetAlt += Modialtvalue;
+                            _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetAlt +=(float) cModialtvalue;
                             if (lowalt > _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetAlt)
                             {
                                 lowalt = _flightTaskManager.Tasks[i].SingleCopterInfos[j].TargetAlt;
@@ -1438,7 +1465,7 @@ public ICommand VerticlAlignmentCommand
                             }
                         }
                     }
-                    Alert.Show("指定步骤任务高度已改变"+ Modialtvalue + "米，步骤["+ lowtask + "],ID["+
+                    Alert.Show("指定步骤任务高度已改变"+ cModialtvalue + "米，步骤["+ lowtask + "],ID["+
                         _flightTaskManager.Tasks[lowtask].SingleCopterInfos[lowCopter].Copter.Id
                         + "]最低飞行高度"+ lowalt + "米，注意是否太低!");
 

Plane.FormationCreator/Views/CopterInfoView.xaml

@@ -292,16 +292,24 @@
 
             <StackPanel>
                     <TextBlock Text="电压：" />
-                    <Slider Style="{StaticResource Slider_CustomStyle}" x:Name="sldChannel3"
+                    <Slider x:Name="sldChannel3"
-                        Width="80"
+                        Width="75"
-                        Minimum="12"
+                        Minimum="1100"
-                        Maximum="16.8"
+                        Maximum="1900"
-                        IsEnabled="False"
+                        Value="{Binding Channel3, Mode=OneWay}"
-                        Value="{Binding Path=Voltage}"
                         ValueChanged="sldChannel3_ValueChanged">
-                        
+                        <Slider.Resources>
+                            <ResourceDictionary>
+                                <ResourceDictionary.MergedDictionaries>
+                                    <ResourceDictionary Source="pack://application:,,,/MaterialDesignThemes.Wpf;component/Themes/MaterialDesignTheme.Light.xaml" />
+                                    <ResourceDictionary Source="pack://application:,,,/MaterialDesignThemes.Wpf;component/Themes/MaterialDesignTheme.Defaults.xaml" />
+                                    <ResourceDictionary Source="pack://application:,,,/MaterialDesignColors;component/Themes/Recommended/Primary/MaterialDesignColor.Blue.xaml" />
+                                    <ResourceDictionary Source="pack://application:,,,/MaterialDesignColors;component/Themes/Recommended/Accent/MaterialDesignColor.Lime.xaml" />
+                                </ResourceDictionary.MergedDictionaries>
+                            </ResourceDictionary>
+                        </Slider.Resources>
                     </Slider>
-            </StackPanel>
+                </StackPanel>
             <StackPanel>
                 <TextBlock Text="电压值：" />
                 <TextBlock Text="{Binding Path=Voltage}" />

Plane.FormationCreator/Views/MapView.xaml.cs

@@ -366,6 +366,19 @@ namespace Plane.FormationCreator.Views
             }
         }
 
+
+        
+
+        public void ShowAllWaypoint()
+        {
+
+            foreach (var item in _copterDrawings)
+            {
+                var copterDrawing = item.Value;
+                 copterDrawing.ShowAllWaypoint();
+            }
+        }
+
         public void ClearCopters()
         {
             /*

Plane.FormationCreator/Views/MapView_CopterDrawing.cs

@@ -296,6 +296,8 @@ namespace Plane.FormationCreator.Views
                 //this.Dot.Fill = _brush;
             }
 
+
+
             public void ShowWaypoint(int taskIndex)
             {
                 var wpIndex = taskIndex - 1;    // Waypoints 中没有起飞点。
@@ -304,9 +306,6 @@ namespace Plane.FormationCreator.Views
                 {
                     _map.Markers.Remove(item);
                 }
-
-
-
                 if (wpIndex >= 0 && wpIndex < Waypoints.Count)
                 {
 
@@ -317,6 +316,22 @@ namespace Plane.FormationCreator.Views
                     _map.Markers.Add(wpmarker);  //消耗大量时间费时
 
                 }
+
+            }
+
+            public void ShowAllWaypoint()
+            {
+                 foreach (var item in this.Waypoints)
+                {
+                    _map.Markers.Remove(item);
+                }
+
+                foreach (var item in this.Waypoints)
+                {
+                    _map.Markers.Add(item);
+                }
+
+  
             }
 
 
@@ -334,7 +349,7 @@ namespace Plane.FormationCreator.Views
                 marker.Shape = shapesContainer;
 
                 Waypoints.Add(marker);
-                // _map.Markers.Add(marker);  //消耗大量时间费时 ，为了提高效率改为选中才添加见ShowWaypoint
+                //_map.Markers.Add(marker);  //消耗大量时间费时 ，为了提高效率改为选中才添加见ShowWaypoint
                 marker.ZIndex = 100;
                 //MapLayer.SetZIndex(shapesContainer, 100);
                 //var wpPos = _map.LocationToViewportPoint(location);

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -29,8 +29,8 @@
                         <TextBlock Margin="5" Text="起飞任务" Height="20" VerticalAlignment="Center" />
 
 
-                        <Separator />
+                        <Separator Margin="5,0,5,0"  />
-                        <Grid DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}">
+                        <Grid  Margin="5" DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}">
                             <Grid.ColumnDefinitions>
                                 <ColumnDefinition/>
                                 <ColumnDefinition/>
@@ -43,17 +43,17 @@
                                 <RowDefinition/>
                             </Grid.RowDefinitions>
 
-                            <TextBlock Margin="5" Text="起飞延时"/>
+                            <TextBlock Margin="5" Text="起飞延时"  VerticalAlignment="Center"  HorizontalAlignment="Left"/>
                             <TextBox Margin="5" Grid.Column="2"
                                      Text="{Binding TakeOffWaitTime, UpdateSourceTrigger=PropertyChanged}"/>
                             <Button Content="应用所选" Margin="5" Grid.Column="3"
                                     Command="{Binding SetSelTakeOffWaitCommand}"/>
-                            <Separator Grid.Row="1" Grid.ColumnSpan="4"/>
+                            <Separator  Margin="5,5,5,5" Grid.Row="1" Grid.ColumnSpan="4"/>
 
-                            <TextBlock  Text="随机时间" Grid.Row="2"/>
+                            <TextBlock  Margin="5" Text="随机时间" Grid.Row="2"  VerticalAlignment="Center"  HorizontalAlignment="Left"/>
-                            <TextBox Margin="10,0" Grid.Row="2" Grid.Column="1" Text="{Binding TakeOffMinTime}"/>
+                            <TextBox Margin="5" Grid.Row="2" Grid.Column="1" Text="{Binding TakeOffMinTime}"/>
-                            <TextBox Margin="10,0" Grid.Row="2" Grid.Column="2" Text="{Binding TakeOffMaxTime}"/>
+                            <TextBox Margin="5" Grid.Row="2" Grid.Column="2" Text="{Binding TakeOffMaxTime}"/>
-                            <Button Margin="10,0" Content="应用所选" Grid.Row="2" Grid.Column="3"
+                            <Button Margin="5" Content="应用所选" Grid.Row="2" Grid.Column="3"
                                     Command="{Binding SetRandomOffWaitDelayCommand}"/>
                         </Grid>
 
@@ -67,18 +67,34 @@
                             </Style>
                         </StackPanel.Resources>
                         <StackPanel>
-                            <TextBlock Margin="5" Text="航点任务        " VerticalAlignment="Center" />
+                            <TextBlock Margin="0,5,5,0" Text="所有：" VerticalAlignment="Center"  HorizontalAlignment="Center"/>
-                            <Button Margin="5" Content="导入航点" Command="{Binding ImportWayPointCommand}" 
+                            <Button Margin="0,5,5,0" Content="导入航点" Command="{Binding ImportWayPointCommand}" 
                                     Visibility="Collapsed"/>
-                            <Button Margin="5" Content="优化路线" Command="{Binding OptimizeRouteCommand}" 
+                            <Button Margin="0,5,5,0" Content="优化路线"  Width="105" Command="{Binding OptimizeRouteCommand}" 
                                     />
-                            <Button Margin="5" Content="导入航点" Command="{Binding ImportBlenderWayPointCommand}"/>
+                            <Button Margin="0,5,5,0" Content="导出到C4D"  Width="105" Command="{Binding ExportWayPointCommand}"/>
-                            <Button Margin="5" Content="导出航点" Command="{Binding ExportWayPointCommand}"/>
+                            <Button Margin="0,5,5,0" Content="估计飞行时间"  Width="105" Command="{Binding AutoWayPointTmCommand}"/>
-                            <Button Margin="5" Content="估计时间" Command="{Binding AutoWayPointTmCommand}"/>
+
+                        </StackPanel>
+                        <StackPanel>
+
+                            <Button Content="回前一高度"
+                                     Margin="40,5,5,0" Width="105"
+                                    Command="{Binding PrealtCommand}" />
+                            <Button Content="回上一任务"
+                                     Margin="0,5,5,0" Width="105"
+                                    Command="{Binding BackToPreviousTaskPoint}" />
+                            <Button Content="回起飞点"
+                                    Margin="0,5,5,0"  Width="105"
+                                    Command="{Binding BackTakeOffPointCommand}" />
+
+
+
                         </StackPanel>
 
-                        <Separator Margin="0,1"/>
+                        <Separator Margin="5,5,5,0" />
                         <StackPanel>
+                            <TextBlock Text="选中：" Margin="0,5,5,0"  VerticalAlignment="Center"   HorizontalAlignment="Center"/>
                             <Button Content="上边对齐"
                                     Margin="0,5,5,0"
                                     Command="{Binding LevelAlignmentCommand}" />
@@ -91,14 +107,12 @@
                             <Button Content="垂直均分"
                                     Margin="0,5,5,0"
                                     Command="{Binding VerticlAverageCommand}" />
-                            <Button Content="回起飞点"
+                           
-                                    Margin="0,5,5,0"
-                                    Command="{Binding BackTakeOffPointCommand}" />
                         </StackPanel>
 
                         <StackPanel>
                             <Button Content="水平旋转"
-                                    Margin="0,5,5,0"
+                                    Margin="40,5,5,0"
                                     Command="{Binding LevelRotateCommand}" 
                                     CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
                             <Button Content="垂直旋转"
@@ -106,71 +120,63 @@
                                     Command="{Binding VerticlRotateCommand}" 
                                     CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
 
-                            <Button Content="整体旋转"
-                                    Margin="0,5,5,0"
-                                    Command="{Binding TaskRotateCommand}" 
-                                    CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
-
                             <TextBox x:Name="txtAlignmentLine"
-                                     Width="35"
+                                     Width="30"
                                      Margin="0,5,5,0"
                                      Text="0"
-                                     VerticalContentAlignment="Center" />
+                                     VerticalContentAlignment="Center"
-                            <TextBlock Text="度" Margin="0, 10, 5, 0"/>
+                                     HorizontalContentAlignment="Right"/>
-
+                            <TextBlock Text="度" Margin="0, 10, 5, 0"  VerticalAlignment="Center"  HorizontalAlignment="Center"/>
-                            <Button Content="回上一任务"
+                            <Button Content="调整大小"
-                                    Margin="0,5,5,0"
-                                    Command="{Binding BackToPreviousTaskPoint}" />
-                        </StackPanel>
-
-                        <StackPanel>
-                            <Button Content="缩放比例"
                                     Margin="0,5,5,0"
                                     Command="{Binding ScaleCommand}" 
                                     CommandParameter="{Binding ElementName=txtScaleVale, Path=Text}"/>
 
                             <TextBox x:Name="txtScaleVale"
-                                     Width="35"
-                                     Margin="0,5,5,0"
                                      Text="100"
-                                     VerticalContentAlignment="Center" />
+                                     Width="30"
-                            <TextBlock Text="%" Margin="0, 10, 5, 0"/>
+                                     Margin="0,5,5,0"
-                            <Button Content="最小距离"
+                                     VerticalContentAlignment="Center"
+                                     HorizontalContentAlignment="Right" />
+                            <TextBlock Text="%" Margin="0, 10, 5, 0" VerticalAlignment="Center"  HorizontalAlignment="Center"/>
+
+                        </StackPanel>
+
+                   
+
+                        <StackPanel>
+                            <Button Content="调整高度"
+                                    Margin="0,5,5,0" 
+                                    Command="{Binding ModiSelectedAltCommand}"/>
+                            <Button Content="移动航点"
+                                    Margin="0,5,5,0" 
+                                    Command="{Binding ModiSelectedPosCommand}"  />
+                            <TextBox 
+					                Grid.Column="1" 
+					               Width="30"
+                                     Margin="0,5,5,0"
+                                     VerticalContentAlignment="Center"
+                                     HorizontalContentAlignment="Right" 
+					                Text="{Binding Modialtvalue, UpdateSourceTrigger=PropertyChanged}"/>
+                            <TextBlock Text="米 方向" Margin="0, 10, 5, 0" VerticalAlignment="Center"  HorizontalAlignment="Center"/>
+                            <TextBox Grid.Column="1" 
+                                     Width="30"
+                                     Margin="0,5,5,0"
+                                     VerticalContentAlignment="Center"
+                                     HorizontalContentAlignment="Right" 
+                                     Text="{Binding directionvalue, UpdateSourceTrigger=PropertyChanged}"/>
+                            <TextBlock Text="度" Margin="0, 10, 5, 0"  VerticalAlignment="Center"  HorizontalAlignment="Left"/>
+                            <Button Content="最小点距"
                                     Margin="0,5,5,0" 
                                     Command="{Binding calDistinceCommand}"/>
                             <Button Content="最长航距"
                                     Margin="0,5,5,0"
                                     Command="{Binding MaxDistinceAndTimeCommand}"/>
-                            <Button Content="前一高度"
+
-                                    Margin="0,5,5,0"
-                                    Command="{Binding PrealtCommand}" />
                         </StackPanel>
 
-                        <StackPanel>
-                            <Button Content="整体提高"
-                                    Margin="0,5,5,0" 
-                                    Command="{Binding ModiAltCommand}"/>
-                            <Button Content="整体移动"
-                                    Margin="0,5,5,0" 
-                                    Command="{Binding ModiAllPosCommand}"  />
-                            <TextBox 
-					                Grid.Column="1" 
-					                Width="30"
-					                Margin="0, 5, 5, 0"
-					                HorizontalContentAlignment="Right"
-					                Text="{Binding Modialtvalue, UpdateSourceTrigger=PropertyChanged}"/>
-                            <TextBlock Text="米 方向" Margin="0, 10, 5, 0"/>
-                            <TextBox Grid.Column="1" 
-                                     Width="30"
-                                     Margin="0, 5, 5, 0"
-                                     HorizontalContentAlignment="Right"
-                                     Text="{Binding directionvalue, UpdateSourceTrigger=PropertyChanged}"/>
-                            <TextBlock Text="度" Margin="0, 10, 5, 0"/>
-                            <Button Content="提高"  Margin="0,5,5,0" Command="{Binding ModiSelectedAltCommand}"/>
-                            <Button Content="移动"  Margin="0,5,5,0" Command="{Binding ModiSelectedPosCommand}"/>
-                        </StackPanel>
 
-                        <Separator Margin="0,2" />
+                        <Separator Margin="0,5,5,0" />
 
 
                         <Grid Margin="0,2"
@@ -189,33 +195,35 @@
                                 <ColumnDefinition />
                             </Grid.ColumnDefinitions>
 
-                            <TextBlock Text="纬度: " />
+                            <TextBlock Text="纬度: "  VerticalAlignment="Center"  HorizontalAlignment="Left"/>
                             <TextBox Grid.Column="2"
                                      Grid.ColumnSpan="2"
-                                     Margin="0,2,5,0" 
+                                     Margin="0,5,5,0"
                                      Text="{Binding TargetLat, UpdateSourceTrigger=PropertyChanged}" />
 
-                            <TextBlock Grid.Row="1"
+                            <TextBlock Grid.Row="1" VerticalAlignment="Center"  HorizontalAlignment="Left"
                                        Text="经度: " />
                             <TextBox Grid.Row="1"
                                      Grid.Column="2"
                                      Grid.ColumnSpan="2"
-                                     Margin="0,2,5,0"  
+                                     Margin="0,5,5,0"
                                      Text="{Binding TargetLng, UpdateSourceTrigger=PropertyChanged}" />
 
-                            <TextBlock Grid.Row="2"
+                            <TextBlock Grid.Row="2" VerticalAlignment="Center"  HorizontalAlignment="Left"
                                        Text="高度: " />
                             <TextBox Grid.Row="2"
                                      Grid.Column="2"
-                                     Margin="0,2,5,0" 
+                                     Margin="0,5,5,0"
+                                     VerticalContentAlignment="Center"
+                                     HorizontalContentAlignment="Left" 
                                      Text="{Binding TargetAlt, UpdateSourceTrigger=PropertyChanged}" />
 
                             <Button Grid.Row="2" 
                                     Content="应用到所选" 
-                                    Grid.Column="3"  Margin="0,2,5,0" 
+                                    Grid.Column="3"   Margin="0,5,5,0"
                                     Command="{Binding SetAllCopterAltCommand}"/>
                         </Grid>
-                        <Separator Margin="0,2"/>
+                        <Separator Margin="0,5,5,5"/>
                         <Grid Margin="0,2,0,0"
                               DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
                               IsEnabled="{Binding CanModifySingleCopterInfo}" >
@@ -230,7 +238,7 @@
 
 
                         </Grid>
-                        <Separator/>
+                        <Separator Margin="0,5,5,5"      />
                         <Grid Margin="0,2"
                               DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
                               IsEnabled="{Binding CanModifySingleCopterInfo}" >
@@ -246,13 +254,13 @@
                             <CheckBox Content="改变速度" Margin="0,2"
                                       IsChecked="{Binding IsChangeSpeed, UpdateSourceTrigger=PropertyChanged}"/>
                             <StackPanel  Margin="0,0" Grid.Column="1">
-                                <TextBlock Text="水平" Margin="0,0,5,5" VerticalAlignment   ="Center" />
+                                <TextBlock Text="水平" Margin="0,0,5,5" VerticalAlignment="Center"  HorizontalAlignment="Left"/>
                                 <TextBox  Width="45" Margin="5,0,5,5" VerticalAlignment   ="Center"
                                           Text="{Binding LevelSpeed, UpdateSourceTrigger=PropertyChanged}"/>
-                                <TextBlock Text="上升" Margin="0,0,5,5" VerticalAlignment   ="Center"  />
+                                <TextBlock Text="上升" Margin="0,0,5,5" VerticalAlignment="Center"  HorizontalAlignment="Left"  />
                                 <TextBox Width="45" Margin="5,0,0,5"  VerticalAlignment="Center"
                                          Text="{Binding UpSpeed, UpdateSourceTrigger=PropertyChanged}"/>
-                                <TextBlock Text="下降" Margin="5,0,0,5" VerticalAlignment   ="Center"  />
+                                <TextBlock Text="下降" Margin="5,0,0,5" VerticalAlignment="Center"  HorizontalAlignment="Left" />
                                 <TextBox Width="45" Margin="5,0,5,5" VerticalAlignment="Center"
                                          Text="{Binding DownSpeed, UpdateSourceTrigger=PropertyChanged}"/>
                             </StackPanel>
@@ -269,9 +277,9 @@
                                         Value="Horizontal" />
                             </Style>
                         </StackPanel.Resources>
-                        <TextBlock Margin="5" Text="降落任务" VerticalAlignment="Center" />
+                        <TextBlock Margin="5" Text="降落任务" VerticalAlignment="Center"  HorizontalAlignment="Left" />
-                        <Separator/>
+                        <Separator   Margin="5,0,5,5"    />
-                        <Grid DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
+                        <Grid  Margin="5" DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
                               IsEnabled="{Binding CanModifySingleCopterInfo}" >
                             <Grid.ColumnDefinitions>
                                 <ColumnDefinition/>
@@ -279,7 +287,7 @@
                                 <ColumnDefinition/>
                                 <ColumnDefinition/>
                             </Grid.ColumnDefinitions>
-                            <TextBlock Margin="5" Text="降落延时"/>
+                            <TextBlock Margin="5" Text="降落延时" VerticalAlignment="Center"  HorizontalAlignment="Left" />
 
                             <TextBox Margin="5" Grid.Column="2"
                                     Text="{Binding LandWaitTime, UpdateSourceTrigger=PropertyChanged}"/>
@@ -325,7 +333,7 @@
                         </StackPanel>
                         
                     </Grid>
-                    <Separator/>
+                    <Separator Margin="5,5,5,5"   />
                     <StackPanel Orientation="Horizontal">
                         <TextBlock Margin="5,7,0,0" Text="时间"/>
                         <TextBox Margin="5,5,0,3" Width="30" Text="{Binding GradientRampTime}"/>
@@ -336,7 +344,7 @@
                         <Button  Margin="10,5,0,3" Width="120" Content="设置渐变灯"
                                 Command="{Binding SetGradientRampCommand}" />
                     </StackPanel>
-                    <Separator/>
+                    <Separator Margin="5,5,5,5" />
                 </StackPanel>
                 <StackPanel DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}">
                 <Grid >
@@ -442,13 +450,78 @@
 
                 <StackPanel x:Name="PanelDesign1">
                     <StackPanel Orientation="Horizontal" Margin="0,5,0,5" >
+                        <Button Width="120" Margin="10,5,0,5"  Content="C4D导入航点" Command="{Binding ImportBlenderWayPointCommand}"/>
                         <Button Width="120" Content="自动飞行时间" Margin="10,5,0,5"
-                            Command="{Binding AutoWayPointAllTmCommand}" HorizontalAlignment="Right" Height="26"/>
+                            Command="{Binding AutoWayPointAllTmCommand}" HorizontalAlignment="Right" />
                         <Button Width="120" Content="飞行图案设计" Margin="10,5,0,5"
                             Command="{Binding SetHorseRaceLampCommand}" HorizontalAlignment="Right" Height="26"/>
                     </StackPanel>
-                    <Separator/>
+                    <Separator Margin="5,0,5,0" />
                 </StackPanel>
+
+                <StackPanel x:Name="PanelDesign2">
+                    <StackPanel Orientation="Horizontal" Margin="0,5,0,5" >
+                        <Button Content="整体旋转"  Width="120"
+                                    Margin="10,5,0,5"  Height="26"
+                                    Command="{Binding TaskRotateCommand}" 
+                                    CommandParameter="{Binding ElementName=txtAlignmentLine1, Path=Text}"/>
+                        <TextBox x:Name="txtAlignmentLine1"
+                                     Width="120"
+                                    Margin="10,5,0,5"  Height="26"
+                                     Text="0"
+                                     VerticalContentAlignment="Center" />
+                        <TextBlock Text="度" Margin="10, 10, 5, 0" VerticalAlignment="Center"  HorizontalAlignment="Left"/>
+
+                    </StackPanel>
+                    <StackPanel Orientation="Horizontal" Margin="0,0,0,5" >
+
+                        <Button Content="整体调整高度"
+                                    Width="120"
+                                    Margin="10,5,0,5"  Height="26"
+                                    Command="{Binding ModiAltCommand}"
+                                    CommandParameter="{Binding ElementName=txtModialtvalue, Path=Text}"
+                                />
+                        <Button Content="整体移动"
+                                   Width="120"
+                                    Margin="10,5,0,5"  Height="26"
+                                    Command="{Binding ModiAllPosCommand}"  
+                                    CommandParameter="{Binding ElementName=txtModialtvalue, Path=Text}"
+                                />
+
+                        <TextBox  x:Name="txtModialtvalue"
+					                Grid.Column="1" 
+					                Width="35"
+                                    Margin="10,5,0,5"  Height="26"
+					                HorizontalContentAlignment="Right"
+					                Text="0"/>
+                        <TextBlock Text="米 方向"  Margin="5, 10, 5, 0" VerticalAlignment="Center"  HorizontalAlignment="Left"/>
+                        <TextBox Grid.Column="1"  x:Name="txtdirectionvalue"
+                                      Width="35"
+                                    Margin="0,5,0,5"  Height="26"
+                                     HorizontalContentAlignment="Right"
+                                     Text="{Binding directionvalueall, UpdateSourceTrigger=PropertyChanged}"/>
+                        <TextBlock Text="度" Margin="5, 10, 5, 0" VerticalAlignment="Center"  HorizontalAlignment="Left"/>
+
+
+                    </StackPanel>
+                    <Separator Margin="5,0,5,0" />
+                </StackPanel>
+                <StackPanel Orientation="Horizontal" Margin="0,0,0,5" >
+
+                    <Button Content="显示所有航点"  Width="120"
+                                    Margin="10,5,0,5"  Height="26"
+                                    Command="{Binding ShowallTaskpointCommand}" 
+                                    />
+
+
+
+                </StackPanel>
+            
+
+
+
+
+
             </StackPanel>
         </TabItem>
 

Plane.FormationCreator/Views/RtcmInfoView.xaml

@@ -7,7 +7,7 @@
              xmlns:c="http://metro.mahapps.com/winfx/xaml/controls"
              mc:Ignorable="d" 
              d:DesignHeight="300" d:DesignWidth="800"
-             Height="350" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0" Title="RTK控制">
+             Height="350" Width="1500" WindowStartupLocation="CenterScreen" Background="#FF2D2D2D" BorderBrush="#FF039AF0" Title="RTK控制" ResizeMode="NoResize" Topmost="True">
     <Grid Margin="0,0,0,0">
         <Grid.RowDefinitions>
             <RowDefinition Height="Auto"/>