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支持紧急返航

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支持返回飞机错误
飞机有预解锁错误回显示黄色
支持新版低电电压参数
支持重启飞控
支持陀螺仪校准
This commit is contained in:
pxzleo 2024-03-26 22:06:52 +08:00
parent 36875bcdc2
commit af9a86dffd
16 changed files with 1889 additions and 1648 deletions
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7
Plane.FormationCreator/App.xaml
View File

@ -75,9 +75,16 @@
<lcnv:HeartbeatCountToBrushConverter x:Key="HeartbeatCountToBrushConverter" />
<lcnv:AppModeToVisibilityConverter x:Key="AppModeToVisibilityConverter" />
<lcnv:FlightTaskStatusToFillConverter x:Key="FlightTaskStatusToFillConverter" />
<lcnv:ErrorCodeToColorConverter x:Key="ErrorCodeToColorConverter" />
<lcnv:PrecheckToColorConverter x:Key="PrecheckToColorConverter" />
<lcnv:FlightTaskStatusAndTransitionToFillConverter x:Key="FlightTaskStatusAndTransitionToFillConverter" />
<lcnv:FlightTaskIsSelectedToEffectConverter x:Key="FlightTaskIsSelectedToEffectConverter" />
</Application.Resources>
</Application>

47
Plane.FormationCreator/Converters/HeartbeatCountToBrushConverter.cs
View File

@ -15,25 +15,68 @@ namespace Plane.FormationCreator.Converters
public class HeartbeatCountToBrushConverter : IMultiValueConverter
{
private static SolidColorBrush _zeroBrush = new SolidColorBrush(Color.FromArgb(125, 125, 125, 125));
private static SolidColorBrush _zeroBrush_fault = new SolidColorBrush(Color.FromRgb(160, 140, 0));
private static SolidColorBrush _oneBrush = Copter.DefaultBrush;
private static SolidColorBrush _FakeCopterBrush = Copter.DefaultFakeBrush;
private static SolidColorBrush _PreCheckNopassBrush = Copter.YellowBrush;
private static SolidColorBrush _NoconnectedBrush = Copter.RedBrush;
public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
{
if (values[0] == DependencyProperty.UnsetValue) return _zeroBrush;
var heartbeatCount = (ulong)values[0];
if (heartbeatCount % 2 == 0) return _zeroBrush;
/* //绑定的是心跳，所以连接断开时不会调用这个转换器
//如果是真飞机，并且断开了，直接显示红色
if (values[1] is PLCopter)
{
var plcopter = values[1] as PLCopter;
if (!plcopter.CommModuleConnected)
return _NoconnectedBrush;
}
*/
//用于显示收到心跳的闪烁
if (heartbeatCount % 2 == 0)
{
//真飞机如果异常显示暗淡黄色
if (values[1] is PLCopter)
{
var plcopter = values[1] as PLCopter;
if (plcopter.CopterPreCheckPass)
return _zeroBrush;
else return _zeroBrush_fault;
}
else
return _zeroBrush;
}
if (values[1] is FakeCopter)
{
var fkcopter = values[1] as FakeCopter;
if (fkcopter.CopterPreCheckPass)
return _FakeCopterBrush;
else return _PreCheckNopassBrush;
}
if (values[1] is PLCopter)
{
var plcopter = values[1] as PLCopter;
if (plcopter.CopterPreCheckPass)
return _oneBrush;
else return _PreCheckNopassBrush;
}
var copter = values[1] as Copter;
return copter == null ? _oneBrush : copter.Brush;
}
public object[] ConvertBack(object value, Type[] targetTypes, object parameter, CultureInfo culture)

8
Plane.FormationCreator/Formation/Copter.cs
View File

@ -62,7 +62,13 @@ namespace Plane.FormationCreator.Formation
private SolidColorBrush _Brush;
public SolidColorBrush Brush
{
get { return _Brush ?? DefaultBrush; }
get {
if (CopterPreCheckPass)
return _Brush ?? DefaultBrush;
else
return _Brush ?? YellowBrush;
}
set { Set(nameof(Brush), ref _Brush, value); }
}
}

135
Plane.FormationCreator/Formation/FlightTaskManager.cs
View File

@ -26,6 +26,7 @@ using Newtonsoft.Json.Linq;
using GMap.NET.MapProviders;
using GMap.NET;
using static Plane.FormationCreator.CalculationLogLatDistance;
using Plane.CopterManagement;
namespace Plane.FormationCreator.Formation
{
@ -412,6 +413,13 @@ namespace Plane.FormationCreator.Formation
get { return _TaskState; }
private set { Set(nameof(TaskState), ref _TaskState, value); }
}
//真实飞行任务状态
private TasksStatus _TaskState_real = TasksStatus.Stop;
public TasksStatus TaskState_real
{
get { return _TaskState_real; }
private set { Set(nameof(TaskState_real), ref _TaskState_real, value);}
}
public event EventHandler<FlightTaskAddedEventArgs> TaskAdded;
public event EventHandler<FlightTaskDeledEventArgs> TaskDeled;
@ -601,6 +609,7 @@ namespace Plane.FormationCreator.Formation
/// <summary>
/// 起始点作为参考，设置起始点后飞行写入的数据将为相对坐标
/// </summary>
@ -796,7 +805,7 @@ namespace Plane.FormationCreator.Formation
Pause();
//等待暂停或2s超时(80*25ms)
int k = 0;
while ((TaskState != TasksStatus.Paused) || (k > 80))
while ((TaskState != TasksStatus.Paused) && (k < 80))
{
await Task.Delay(25).ConfigureAwait(false);
k++;
@ -2227,7 +2236,7 @@ namespace Plane.FormationCreator.Formation
}
//新开线程异步调用ABypassB并等待返回
public async Task<(List<List<FlightRouteV2.Vector3>>,bool)> ABypassBAsync(FlightRouteV2.Vector3[] aVecs, FlightRouteV2.Vector3[] bVecs)
public async Task<(List<List<FlightRouteV2.Vector3>>,bool)> ABypassBAsync(FlightRouteV2.Vector3[] aVecs, FlightRouteV2.Vector3[] bVecs, List<int> mappingId = null)
{
List<List<FlightRouteV2.Vector3>> ret = null;
bool isPasstmp = false;
@ -2235,7 +2244,7 @@ namespace Plane.FormationCreator.Formation
var task = Task.Run(() =>
{
cts = new CancellationTokenSource();
ret = FlyVecFun.ABypassB(aVecs, bVecs, Routecallback, Cronograma, cts.Token, out isPasstmp);
ret = FlyVecFun.ABypassB(aVecs, bVecs, Routecallback, Cronograma, cts.Token, out isPasstmp, mappingId);
});
try
{
@ -2277,7 +2286,7 @@ namespace Plane.FormationCreator.Formation
var task = Task.Run(() =>
{
ret = FlyVecFun.CollisionLayer(aVecs, bVecs, taskname_a, taskname_b, Routecallback);
ret = FlyVecFun.CollisionLayer(aVecs, bVecs, Routecallback);
});
try
{
@ -2408,7 +2417,7 @@ namespace Plane.FormationCreator.Formation
/// <summary>
/// 自动生成航线2D和3D都用这个-------V2版使用新的碰撞检测和绕行，用flybase.cs库，只用于新版固件--------------
/// </summary>
/// <param name="Is3d">3D计算</param>
/// <param name="Is3d">2D/3D计算</param>
/// <param name="Ischange">是否改变线路的结束点顺序--返回起飞点航线不能交换</param>
/// <param name="Is3dstagger">3D是否自动插入拉开层，用于2D画面回起飞矩阵，拉开2D画面</param>
public async Task OptimizeRouteMeterV2(bool Is3d = false, bool Ischange = true,bool Is3dstagger=false)
@ -2417,6 +2426,10 @@ namespace Plane.FormationCreator.Formation
Dictionary<int, Point3D> prevTaskPoint = new Dictionary<int, Point3D>();
var stopWatch = new Stopwatch();
stopWatch.Start();
//ID映射列表
List<int> mappingId = new List<int>();
//设置随机数种子
FlyVecFun.RandomSeed = (int)DateTime.Now.Ticks;
@ -2435,6 +2448,8 @@ namespace Plane.FormationCreator.Formation
var prevInfo = Tasks[SelectedTaskIndex - 1].SingleCopterInfos[i];
Point3D prevLoc = new Point3D(prevInfo.X * 100, prevInfo.TargetAlt * 100, prevInfo.Y * 100);
prevTaskPoint.Add(i, prevLoc);
//3D计算需要ID映射
mappingId.Add(int.Parse(_copterManager.Copters[i].Id));
}
string taskname_a = SelectedTaskIndex.ToString() + Tasks[SelectedTaskIndex - 1].TaskCnName;
string taskname_b = (SelectedTaskIndex+1).ToString()+SelectedTask.TaskCnName;
@ -2473,7 +2488,9 @@ namespace Plane.FormationCreator.Formation
if (Is3d)
{
bool isPass = false;
var result= await ABypassBAsync(aVecs, bVecs);
var result= await ABypassBAsync(aVecs, bVecs, mappingId);
List<List<FlightRouteV2.Vector3>> flyret = result.Item1;
isPass= result.Item2;
if ((flyret.Count == 0)&&(!isPass))
@ -2483,6 +2500,12 @@ namespace Plane.FormationCreator.Formation
{
Message.Show($"任务{SelectedTaskIndex + 1}无法直接生成3D航线，尝试拉开画面");
cVecs = await NormalPullsync(aVecs, bVecs);
if (cVecs == null)
{
Message.Show($"任务不满足拉开条件，退出");
return;
}
Message.Show($"任务{SelectedTaskIndex + 1}后插入拉开层...");
//插入错层航点
SelectTask(SelectedTaskIndex - 1);
@ -2498,7 +2521,7 @@ namespace Plane.FormationCreator.Formation
SetTaskFlytime(SelectedTaskIndex);
//选到最后一个航点
SelectTask(SelectedTaskIndex + 1);
var result1= await ABypassBAsync(cVecs, bVecs);
var result1= await ABypassBAsync(cVecs, bVecs, mappingId);
flyret = result1.Item1;
isPass = result1.Item2;
}
@ -3260,9 +3283,64 @@ namespace Plane.FormationCreator.Formation
}
}
//任务飞行时长ms
private TimeSpan _taskflyTime ;
public TimeSpan taskflyTime
{
get { return _taskflyTime; }
set { Set(nameof(taskflyTime), ref _taskflyTime, value); }
}
//真实任务飞行时长ms
private TimeSpan _taskflyTime_real;
public TimeSpan taskflyTime_real
{
get { return _taskflyTime_real; }
set { Set(nameof(taskflyTime_real), ref _taskflyTime_real, value); }
}
private DateTime _taskStartTime;
private DateTime _taskStartTime_real;
public DateTime TaskStartTime_real
{
get { return _taskStartTime_real; }
}
public bool RealRunTask(DateTime taskStartTime)
{
if (TaskState_real == TasksStatus.Stop)
//根据传入时间设置真实起飞时间
{
_taskStartTime_real = taskStartTime;
TaskState_real = TasksStatus.Running;
Message.Show($"{taskStartTime.ToString("HH:mm:ss")}：真实任务开始");
return true;
}else
Message.Show($"任务已经开始");
return false;
}
public void RealResetTask()
{
TaskState_real = TasksStatus.Stop;
}
public bool SimRunTask(DateTime taskStartTime)
{
if (TaskState== TasksStatus.Stop)
//根据传入时间设置真实起飞时间
{
_taskStartTime = taskStartTime;
Message.Show($"{taskStartTime.ToString("HH:mm:ss")}：默认任务开始");
return true;
} else
Message.Show($"任务已经开始");
return false;
}
TimeSpan timeSpan;
public DateTime taskStartTime;
public async Task RunTaskAsync()
{
if (Tasks.Count == 0) return;
@ -3290,7 +3368,12 @@ namespace Plane.FormationCreator.Formation
if (CurrentRunningTaskIndex == 0)
{
taskStartTime = DateTime.Now;
if (!SimRunTask(DateTime.Now))
{
Alert.Show($"模拟任务已经开始，请先停止任务！");
return;
}
Message.Show($"{DateTime.Now.ToString("HH:mm:ss")}：任务开始");
}
@ -3307,13 +3390,16 @@ namespace Plane.FormationCreator.Formation
await RunAsync();
taskflyTime = DateTime.Now - _taskStartTime;
if ((IsPaused ?? false) == false)
{
timeSpan = DateTime.Now - taskStartTime;
Message.Show($"{DateTime.Now.ToString("HH:mm:ss")}：任务结束");
Message.Show($"总时长 = {timeSpan.Minutes}分{timeSpan.Seconds}秒");
Message.Show($"总时长 = {taskflyTime.Minutes}分{taskflyTime.Seconds}秒");
}
else
Message.Show($"任务暂停，总时长 = {taskflyTime.TotalSeconds}秒");
}
/// <summary>
/// 开始运行模拟任务
@ -3330,12 +3416,13 @@ namespace Plane.FormationCreator.Formation
task.Status = FlightTaskStatus.Stop;
}
AppEx.Current.AppMode = AppMode.RunningTasks;
StartAvoidingCrash(); //开始碰撞检测
//告诉所有飞机开始任务--模拟飞机不计算起飞延迟，直接传0
foreach (var copter in _copterManager.Copters)
await copter.MissionStartAsync(0, 0, 0, 0, 0);
TaskState = TasksStatus.Running;
StartAvoidingCrash(); //开始碰撞检测
for (int i = CurrentRunningTaskIndex; i < Tasks.Count; i++)
{
var task = Tasks[i];
@ -3474,6 +3561,7 @@ namespace Plane.FormationCreator.Formation
{
rettaskindex = i;
taskflytime = rettime - starttime;
break;
}
starttime += flyedtasktime;
}
@ -3495,7 +3583,7 @@ namespace Plane.FormationCreator.Formation
curLoc = TaskFlyLoc(copterprvLoc, coptercurLoc, taskflytime, Tasks[rettaskindex].FlytoTime);
}
else //正在悬停
curLoc = new PLLocation(curinfo.TargetLat, curinfo.TargetLng, 0);
curLoc = new PLLocation(curinfo.TargetLat, curinfo.TargetLng, curinfo.TargetAlt);
curTaskPoint.Add(i, curLoc);
if (curinfo.TargetLat > taskmaxlat)
@ -3557,15 +3645,22 @@ namespace Plane.FormationCreator.Formation
/// <summary>
/// 开始碰撞检测
/// </summary>
private async void StartAvoidingCrash()
{
await Task.Factory.StartNew(AvoidCrashtoshow);
await Task.Factory.StartNew(LoopToAvoidCrash);
}
/// <summary>
/// 将碰撞显示到UI
/// </summary>
private async void AvoidCrashtoshow()
{
while (IsPaused == false)
Message.Show("开始碰撞检测");
while (TaskState != TasksStatus.Stop) //IsPaused == false
{
try
{
@ -3585,10 +3680,14 @@ namespace Plane.FormationCreator.Formation
await Task.Delay(100).ConfigureAwait(false);
}
}
Message.Show("开始碰撞检测停止");
}
/// <summary>
/// 循环检测碰撞
/// </summary>
private async void LoopToAvoidCrash()
{
while (IsPaused == false)
while (TaskState != TasksStatus.Stop)
{
try
{

4
Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
View File

@ -183,6 +183,10 @@ namespace Plane.FormationCreator.Formation
await info.Copter.HoverAsync();
return;
}
if (_flightTaskManager.IsEmergencyRet == true)
{
return;
}
dtNow = DateTime.Now;
ts = dtNow - dtLastTime;
}

2
Plane.FormationCreator/Formation/FlightTask_TakeOff.cs
View File

@ -112,6 +112,8 @@ namespace Plane.FormationCreator.Formation
info.TargetLng = info.Copter.Longitude;
//info.Copter.takeOffTargetAltitude = takeOffAlt;
FlightTask task = _flightTaskManager.CurrentRunningTask;
if (task==null)
return;
float takeflytime = task.TakeOffTime - info.TakeOffWaitTime;
//飞行目标，开始往上飞
await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt, takeflytime, 1); //秒

13
Plane.FormationCreator/ModifyParam.xaml.cs
View File

@ -1,4 +1,5 @@
using Plane.FormationCreator.Util;
using Microsoft.Practices.ServiceLocation;
using Plane.FormationCreator.Util;
using System;
using System.Collections.Generic;
using System.Linq;
@ -43,7 +44,15 @@ namespace Plane.FormationCreator
private void Modify_Select(object sender, RoutedEventArgs e)
{
textParamName.Text = ((Button)sender).Tag.ToString();
Formation.CopterManager _copterManager = ServiceLocator.Current.GetInstance<Formation.CopterManager>();
String strParamName = ((Button)sender).Tag.ToString();
if (strParamName == "FS_BATT_VOLTAGE")
{
if (_copterManager.FC_VER_NO >= 3)
strParamName = "BATT_LOW_VOLT";
}
textParamName.Text = strParamName;
textParamName_cn.Text = ((Button)sender).Content.ToString();
}

2
Plane.FormationCreator/Plane.FormationCreator.csproj
View File

@ -166,6 +166,8 @@
<Compile Include="AppEx.cs" />
<Compile Include="AppConfig.cs" />
<Compile Include="Converters\AppModeToVisibilityConverter.cs" />
<Compile Include="Converters\PrecheckToColorConverter.cs" />
<Compile Include="Converters\ErrorCodeToColorConverter.cs" />
<Compile Include="Converters\FlightTaskIsSelectedToEffectConverter.cs" />
<Compile Include="Converters\FlightTaskStatusAndTransitionToFillConverter.cs" />
<Compile Include="Converters\FlightTaskStatusToFillConverter.cs" />

41
Plane.FormationCreator/ViewModels/CalibrationViewModel.cs
View File

@ -139,6 +139,47 @@ namespace Plane.FormationCreator.ViewModels
}
public bool IsCalibration { get; set; }
/// <summary>
/// 重启飞控
/// </summary>
private ICommand _RestartFCCommand;
public ICommand RestartFCCommand
{
get
{
return _RestartFCCommand ?? (_RestartFCCommand = new RelayCommand(async () =>
{
if (_copterManager.SelectedCopters.Count() == 0) return;
Message.Show("重启飞控");
await commModule.DoRestartFCAsync(_copterManager.SelectedCopters);
await Task.Delay(50).ConfigureAwait(false);
}));
}
}
/// <summary>
/// 陀螺仪校准
/// </summary>
private ICommand _CalibrationPreflightCommand;
public ICommand CalibrationPreflightCommand
{
get
{
return _CalibrationPreflightCommand ?? (_CalibrationPreflightCommand = new RelayCommand(async () =>
{
if (_copterManager.SelectedCopters.Count() == 0) return;
Message.Show("开始校准陀螺仪");
await commModule.DoCalibrationPreflightAsync(_copterManager.SelectedCopters);
await Task.Delay(50).ConfigureAwait(false);
}));
}
}
/// <summary>
/// 校准指南针
/// </summary>

64
Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
View File

@ -395,6 +395,20 @@ namespace Plane.FormationCreator.ViewModels
}
}
private ICommand _ResetRealMissionCommand;
public ICommand ResetRealMissionCommand
{
get
{
return _ResetRealMissionCommand ?? (_ResetRealMissionCommand = new RelayCommand(async () =>
{
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
_flightTaskManager.RealResetTask();
AllowMissionStart = true;
}));
}
}
private ICommand _EmergencyRetCommand;
public ICommand EmergencyRetCommand
{
@ -402,23 +416,45 @@ namespace Plane.FormationCreator.ViewModels
{
return _EmergencyRetCommand ?? (_EmergencyRetCommand = new RelayCommand(async () =>
{
if (Alert.Show("您确定要紧急返航吗？紧急返航可能导致飞行器碰撞！！！！", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
!= MessageBoxResult.OK)
return; //计算当前图案中心点，起飞图案中心点，图案距离起飞图案中心点最近距离
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
if (_flightTaskManager.Tasks.Count==0)
{
Alert.Show("没有航点无法紧急返航！", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
if ((_flightTaskManager.TaskState_real == TasksStatus.Stop)
&&((_flightTaskManager.IsPaused ?? false) == false))
{
Alert.Show("先暂停任务！", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
//if (Alert.Show("您确定要紧急返航吗？紧急返航可能导致飞行器碰撞！！！！", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
// != MessageBoxResult.OK)
// return;
//计算当前图案中心点，起飞图案中心点，图案距离起飞图案中心点最近距离
//计算无人机返航方向和最近的飞机距离
PLLocation takeoffcentloc;
PLLocation taskcentloc;
double mindistance; //单位米
bool overlapping; //图案否重叠
int rettime= (int)(DateTime.Now - _flightTaskManager.taskStartTime).TotalSeconds;
int rettime=0;
if (_flightTaskManager.TaskState_real!= TasksStatus.Stop)
//计算实际飞行时间
rettime = (int)(DateTime.UtcNow - _flightTaskManager.TaskStartTime_real).TotalSeconds;
else
if (_flightTaskManager.TaskState!= TasksStatus.Stop)
//计算模拟飞行时间
rettime = (int)_flightTaskManager.taskflyTime.TotalSeconds;
if (!_flightTaskManager.EmergencyRet(rettime,out takeoffcentloc,out taskcentloc, out mindistance,out overlapping))
{
Alert.Show("紧急返航数据计算失败！", "提示");
return;
}
rettime += 5; //加5秒延迟用于通讯重复，有些飞机通讯不成功多次发送才收到，比别的飞机慢
//模拟测试
if (_flightTaskManager.TaskState != TasksStatus.Stop)
await _flightTaskManager.sim_DoMissionEmergencyRetAsync(takeoffcentloc, taskcentloc, (float)mindistance, rettime, overlapping);
@ -544,7 +580,8 @@ namespace Plane.FormationCreator.ViewModels
await Task.Delay(1000).ConfigureAwait(false);
}
await Task.Delay(100);
AllowMissionStart = true;
FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
AllowMissionStart = (_flightTaskManager.TaskState_real == TasksStatus.Stop);
/*
await Task.WhenAll(_copterManager.Copters.Select(async c => {
@ -1440,9 +1477,22 @@ namespace Plane.FormationCreator.ViewModels
Alert.Show("作为参照的原点未设置，无法开始任务！", "提示");
return;
}
if (_flightTaskManager.Tasks.Count == 0 )
{
if (Alert.Show("没有导入任务，紧急返航功能不能使用，继续吗？", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
!= MessageBoxResult.OK)
return;
}
//飞机用UTC时间，日志用本地时间记录
DateTime MissionTime = DateTime.UtcNow.AddSeconds(5);
DateTime MissionTime_log = DateTime.Now.AddSeconds(5);
if (!_flightTaskManager.RealRunTask(MissionTime))
{
Alert.Show("任务已经开始，请先重设任务！", "提示");
return;
}
AllowMissionStart = false;
Message.Show("任务开始:" + MissionTime_log.ToString());
//循环3次 发送起飞命令 避免通信问题
for (int i = 0; i < 20; i++) //20

6
Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
View File

@ -959,8 +959,8 @@ namespace Plane.FormationCreator.ViewModels
return _OptimizeRouteCommandRet ?? (_OptimizeRouteCommandRet = new RelayCommand<int>(async =>
{
if (_copterManager.FC_VER_NO >= 3)
//3D计算，不改变ID，可以错层
_flightTaskManager.OptimizeRouteMeter(false, false, true); //采用米计算逻辑，用3D生成，不改变ID，可拉开层(2D回起飞矩阵专用)
//2D计算，不改变ID，不用错层
_flightTaskManager.OptimizeRouteMeter(false, false, false); //采用米计算逻辑，用3D生成，不改变ID，可拉开层(2D回起飞矩阵专用)
else
_flightTaskManager.OptimizeRouteMeter(false, false); //采用米计算逻辑，用2D生成，不改变ID，不拉开层
@ -978,7 +978,7 @@ namespace Plane.FormationCreator.ViewModels
{
if (_copterManager.FC_VER_NO >= 3)
//3D计算，不改变ID，可以错层
_flightTaskManager.OptimizeRouteMeter(true, false, false); //采用米计算逻辑，用3D生成，不改变ID，不拉开层(3D回起飞矩阵专用)
_flightTaskManager.OptimizeRouteMeter(true, false, true); //采用米计算逻辑，用3D生成，不改变ID，拉开层(3D回起飞矩阵专用,结束必须是矩阵)
else
_flightTaskManager.OptimizeRouteMeter(false, false); //采用米计算逻辑，用2D生成，不改变ID，不拉开层

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

@ -6,8 +6,8 @@
xmlns:local="clr-namespace:Plane.FormationCreator.Views"
mc:Ignorable="d"
WindowStartupLocation="CenterScreen"
Title="校准" Height="320" Width="450">
<Grid>
Title="校准" Height="329" Width="455">
<Grid Margin="0,0,0,7">
<Grid.RowDefinitions>
<RowDefinition Height="70*"/>
<RowDefinition Height="30*"/>
@ -25,12 +25,16 @@
</StackPanel>
<StackPanel Grid.Row="1" Margin="10,0,10,10">
<Label Content="指南针" Margin="0,0,0,10" FontWeight="Bold" FontSize="14"/>
<Label Content="其他" Margin="0,0,0,10" FontWeight="Bold" FontSize="14"/>
<WrapPanel HorizontalAlignment="Center">
<Button Content="开始校准" Width="100" Margin="10, 0"
Command="{Binding CalibrationCompassCommand}"/>
<Button Content="放弃校准" Width="100" Margin="10, 0"
Command="{Binding CancelCalibrationCompassCommand}" Visibility="Collapsed"/>
<Button Content="校准指南针" Width="120"
Command="{Binding CalibrationCompassCommand}"/>
<Button Content="校准陀螺仪" Width="120" Margin="20, 0"
Command="{Binding CalibrationPreflightCommand}"/>
<Button Content="重启飞控" Width="100" Margin="10, 0"
Command="{Binding RestartFCCommand}"/>
</WrapPanel>
<ProgressBar Margin="0,20" Height="18" Width="220" Value="{Binding CompassPercent, UpdateSourceTrigger=PropertyChanged}"/>

2
Plane.FormationCreator/Views/ControlPanelView.xaml
View File

@ -203,6 +203,8 @@
<Button Content="紧急返航"
Command="{Binding EmergencyRetCommand}" />
<Button Content="重设任务"
Command="{Binding ResetRealMissionCommand}" />
</WrapPanel>
</StackPanel>

96
Plane.FormationCreator/Views/CopterInfoView.xaml
View File

@ -12,9 +12,12 @@
d:DataContext="{d:DesignInstance Type=ec:FakeCopter, IsDesignTimeCreatable=True}">
<UserControl.Resources>
<Style TargetType="TextBlock">
<Setter Property="FontSize" Value="14" />
</Style>
@ -177,6 +180,7 @@
<StackPanel>
<TextBlock Text="飞行信息" />
<Grid>
<Grid.Resources>
<Style x:Key="CopterInfo_ComboBox"
TargetType="ComboBox"
@ -200,7 +204,7 @@
<ColumnDefinition Width="Auto" />
</Grid.ColumnDefinitions>
<StackPanel Orientation="Vertical">
<StackPanel Orientation="Vertical" >
<StackPanel.Resources>
<Style TargetType="ComboBox"
BasedOn="{StaticResource CopterInfo_ComboBox}" />
@ -250,36 +254,19 @@
<TextBlock Text="高度：" />
<TextBlock Text="{Binding Altitude, StringFormat=0.##}" />
</StackPanel>
<StackPanel>
<TextBlock Text="距离：" />
<TextBlock Text="{Binding FlightDistance, StringFormat=0.##}" />
</StackPanel>
<StackPanel>
<TextBlock Text="锁定类型：" />
<TextBlock Text="{Binding GpsFixType}" />
</StackPanel>
<StackPanel>
<TextBlock Text="返回数据：" />
<StackPanel ToolTip="{Binding RetainInt}">
<TextBlock Text="{Binding Retain[3]}" />
<TextBlock Text="." />
<TextBlock Text="{Binding Retain[2]}" />
<TextBlock Text="." />
<TextBlock Text="{Binding Retain[1]}" />
<TextBlock Text="." />
<TextBlock Text="{Binding Retain[0]}" />
<TextBlock Text="预检查状态：" />
<TextBlock Text="{Binding CopterPreCheckPassStr}"
Foreground="{Binding CopterPreCheckPass, Converter={StaticResource PrecheckToColorConverter}}" />
</StackPanel>
</StackPanel>
</StackPanel>
<!--
<StackPanel>
<TextBlock Text="固件版本：" />
<TextBlock Text="{Binding FirmwareVersionText}" />
</StackPanel>-->
</StackPanel>
<StackPanel Grid.Row="1"
Grid.Column="1"
Orientation="Vertical">
@ -289,27 +276,11 @@
<Style TargetType="StackPanel"
BasedOn="{StaticResource CopterInfo_StackPanel}" />
</StackPanel.Resources>
<StackPanel>
<TextBlock Text="电压：" />
<Slider x:Name="sldChannel3"
Width="75"
Minimum="1100"
Maximum="1900"
Value="{Binding Channel3, Mode=OneWay}"
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 Visibility="Hidden">
<TextBlock Text="电压值：" />
<TextBlock Text="{Binding Path=Voltage}" />
</StackPanel>
<StackPanel>
<TextBlock Text="电压值：" />
<TextBlock Text="{Binding Path=Voltage}" />
@ -331,29 +302,30 @@
<TextBlock Text="经度：" />
<TextBlock Text="{Binding Longitude}" />
</StackPanel>
<StackPanel>
<TextBlock Text="通道3：" />
<TextBlock Text="{Binding Channel3}" />
</StackPanel>
<StackPanel>
<TextBlock Text="通道4：" />
<TextBlock Text="{Binding Channel4}" />
</StackPanel>
<StackPanel>
<TextBlock Text="定位精度：" />
<TextBlock Text="{Binding GpsHdop, StringFormat=0.##}" />
</StackPanel>
<StackPanel>
<TextBlock Text="通信模块版本：" />
<TextBlock Text="{Binding CommModuleVersion}" />
</StackPanel>
<StackPanel>
<TextBlock Text="返回数据：" />
<StackPanel Margin="0,0,0,0" Height="14" ToolTip="{Binding RetainInt}">
<TextBlock Margin="0,-1,0,0" Text="{Binding Retain[3]}" />
<TextBlock Margin="0,-1,0,0" Text="." />
<TextBlock Margin="0,-1,0,0" Text="{Binding Retain[2]}" />
<TextBlock Margin="0,-1,0,0" Text="." />
<TextBlock Margin="0,-1,0,0" Text="{Binding Retain[1]}" />
<TextBlock Margin="0,-1,0,0" Text="." />
<TextBlock Margin="0,-1,0,0" Text="{Binding Retain[0]}" />
</StackPanel>
</StackPanel>
<StackPanel >
<TextBlock Text="最后异常：" />
<TextBlock Text="{Binding CopterErrorString}"/>
</StackPanel>
</StackPanel>
</Grid>
</StackPanel>
</UserControl>

4
Plane.FormationCreator/Views/ModifyTaskView.xaml
View File

@ -74,9 +74,9 @@
/>
<Button Margin="0,5,5,0" Content="3D航线" Width="82" Command="{Binding OptimizeRouteCommand3D}"
/>
<Button Margin="0,5,5,0" Content="2D返航" Width="82" Command="{Binding OptimizeRouteCommandRet}"
<Button Margin="0,5,5,0" Content="2D对应" Width="82" Command="{Binding OptimizeRouteCommandRet}"
/>
<Button Margin="0,5,5,0" Content="3D返航" Width="82" Command="{Binding OptimizeRouteCommandRet3D}"
<Button Margin="0,5,5,0" Content="3D对应" Width="82" Command="{Binding OptimizeRouteCommandRet3D}"
/>