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修改双频不能发送rtk的bug，原因是用的新打包方式发送，暂时改回180字节单独发送模式

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This commit is contained in:
xu 2020-03-16 14:12:15 +08:00
parent 3aa4879511
commit 8facb729f7
3 changed files with 23 additions and 16 deletions
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13
Plane.FormationCreator/Formation/RtcmManager.cs
View File

@ -267,7 +267,10 @@ namespace Plane.FormationCreator.Formation
{
int reconnecttimeout = 10;
DateTime lastrecv = DateTime.MinValue;
await _commModuleManager.StartRtcmLoop();
//新版本打包发送模式
//await _commModuleManager.StartRtcmLoop();
while (Rtcmthreadrun)
{
try
@ -310,11 +313,11 @@ namespace Plane.FormationCreator.Formation
if ((seenmsg = rtcm.Read(buffer[a])) > 0)
{
bpsusefull += rtcm.length;
//用于双频RTK发送
// await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
//用于单频rtk发送
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
//用于双频RTK发送
await _commModuleManager.InjectGpsRTCMDataAsync(rtcm.packet, rtcm.length);
//老的单频rtk发送
//await _commModuleManager.InjectGpsDataAsync(rtcm.packet, (ushort)rtcm.length);
string msgname = "Rtcm" + seenmsg;

12
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -885,7 +885,7 @@ namespace Plane.FormationCreator.ViewModels
{
//Message.Show($"{DateTime.Now.ToString("HH:mm:ss fff")}---packet.length = {packet.Length}");
//新方案的RTK发送，用于双频
/*
int read = packet.Length;
if (read > 0)
{
@ -900,10 +900,12 @@ namespace Plane.FormationCreator.ViewModels
}
}
}
*/
//稳定方案的rtk发送，用于单频
_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
await _commModuleManager.InjectGpsDataAsync(packet, (ushort)packet.Length);
//_commModuleManager.SetAllCoptersForWifi(_copterManager.Copters);
//await _commModuleManager.InjectGpsDataAsync(packet, (ushort)packet.Length);
}
await Task.Delay(10).ConfigureAwait(false);
@ -1018,6 +1020,7 @@ namespace Plane.FormationCreator.ViewModels
}
}
/*
rtcm3 rtcm3 = new rtcm3();
private async Task AnalysisRendRrcmData(byte[] buffer, int length)
{
@ -1032,6 +1035,7 @@ namespace Plane.FormationCreator.ViewModels
}
await Task.Delay(1);
}
*/
private ICommand _LandCommand;

14
Plane.FormationCreator/Views/RtcmInfoView.xaml
View File

@ -27,17 +27,17 @@
<Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
<StackPanel Margin="5" Orientation="Vertical">
<StackPanel Margin="5" Orientation="Horizontal">
<TextBlock Text="Input data rate "/>
<TextBlock Text="接收速率： "/>
<TextBlock TextAlignment="Right" Width="30"
Text="{Binding RtcmManager.Bps}"/>
<TextBlock Text=" bps: put data rate "/>
<TextBlock Text=" bps；发送速率："/>
<TextBlock TextAlignment="Right" Width="30"
Text="{Binding RtcmManager.Bpsusefull}"/>
<TextBlock Text=" bps sent"/>
<TextBlock Text=" bps"/>
</StackPanel>
<StackPanel Margin="5" Orientation="Horizontal">
<TextBlock Text="Messages seen "/>
<TextBlock Text="消息： "/>
<TextBlock Text="{Binding RtcmManager.Messages_seen}"
/>
</StackPanel>
@ -49,7 +49,7 @@
<Border Margin="10,5" BorderBrush="#FFB9B8B8" BorderThickness="1">
<StackPanel Margin="5" Width="488">
<StackPanel Orientation="Horizontal">
<TextBlock Margin="5" Text="Base"/>
<TextBlock Margin="5" Text="基站位置"/>
<Rectangle Margin="0,0,15,0" Width="20" Height="20"
Fill="{Binding RtcmManager.BaseState,Converter={StaticResource ColorConverter}}"/>
<TextBlock Margin="5" Text="Gps"/>
@ -58,12 +58,12 @@
<TextBlock Margin="5" Text="Glonass"/>
<Rectangle Margin="0,0,15,0" Width="20" Height="20"
Fill="{Binding RtcmManager.GpsState,Converter={StaticResource ColorConverter}}"/>
<TextBlock Margin="5" Text="Beidou"/>
<TextBlock Margin="5" Text="北斗"/>
<Rectangle Margin="0,0,15,0" Width="20" Height="20"
Fill="{Binding RtcmManager.BeidouState,Converter={StaticResource ColorConverter}}"/>
</StackPanel>
<StackPanel Orientation="Horizontal" >
<TextBlock Margin="5" Text="RTCM Base"/>
<TextBlock Margin="5" Text="RTCM 位置"/>
<TextBlock Margin="2,5" Text="{Binding RtcmManager.StationLat}"/>
<TextBlock Margin="2,5" Text="{Binding RtcmManager.StationLng}"/>
<TextBlock Margin="2,5" Text="{Binding RtcmManager.StationAlt}"/>