使用通信模块前的提交

添加速度改变

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -220,9 +220,9 @@ namespace Plane.FormationCreator.Formation
                 var newTask = new FlightTask(FlightTaskType.FlyTo);
                 int coptindex = 0;
 
-                int colnum = 5; //自动生成列数=4
+                int colnum = 10; //自动生成列数=4
-                float coldis = 5;//列相距5米
+                float coldis = 5f;//列相距5米
-                float rowdis = 5;//行相距5米
+                float rowdis = 2.5f;//行相距5米
                 float matrixdis = 20; //生成方阵距离30米
 
 

Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo.cs

@@ -84,6 +84,28 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
+        //应用当前是否是降落点到所选
+        private ICommand _SetIsChangeCommand;
+        public ICommand SetIsChangeCommand
+        {
+            get
+            {
+                return _SetIsChangeCommand ?? (_SetIsChangeCommand = new RelayCommand<double>(async =>
+                {
+                    foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
+                    {
+                        if (_copterManager.AcceptingControlCopters.Contains(info.Copter))
+                        {
+                            info.IsChangeSpeed = IsChangeSpeed;
+                            info.LevelSpeed = LevelSpeed;
+                            info.UpSpeed = UpSpeed;
+                            info.DownSpeed = DownSpeed;
+                        }
+                    }
+                }));
+            }
+        }
+
 
         private ICommand _SetSelLandWaitTimeCommand;
         public ICommand SetSelLandWaitTimeCommand

Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_FlyTo.cs

@@ -42,13 +42,58 @@ namespace Plane.FormationCreator.Formation
         }
 
         private bool _IsLandWaypoint = false;
-        //降落前的航点 只有高度有效,自动飞往起飞点，写入航点的经纬为1000 飞控自动认为1000是飞往起点 by张旭东
+
+        /// <summary>
+        /// 降落前的航点 只有高度有效,自动飞往起飞点，写入航点的经纬为90 180 飞控自动认为90 180是飞往起点
+        /// </summary>
         public bool IsLandWaypoint
         {
             get { return _IsLandWaypoint; }
             set { Set(nameof(IsLandWaypoint), ref _IsLandWaypoint, value); }
         }
 
+        private bool _IsChangeSpeed = false;
+
+        /// <summary>
+        /// 是否在当前航点前修改飞行速度
+        /// </summary>
+        public bool IsChangeSpeed
+        {
+            get {return _IsChangeSpeed; }
+            set { Set(nameof(IsChangeSpeed), ref _IsChangeSpeed, value); }
+        }
+
+       
+        private float _LevelSpeed = 5.0f;
+        /// <summary>
+        /// 水平速度 IsChangeSpeed为True有效
+        /// </summary>
+        public float LevelSpeed
+        {
+            get { return _LevelSpeed; }
+            set { Set(nameof(LevelSpeed), ref _LevelSpeed, value); }
+        }
+
+        
+        private float _UpSpeed = 2.5f;
+        /// <summary>
+        /// 上升速度 IsChangeSpeed为True有效
+        /// </summary>
+        public float UpSpeed
+        {
+            get { return _UpSpeed; }
+            set { Set(nameof(UpSpeed), ref _UpSpeed, value); }
+        }
+
+        private float _DownSpeed = 1.5f;
+        /// <summary>
+        /// 下降速度 IsChangeSpeed为True有效
+        /// </summary>
+        public float DownSpeed
+        {
+            get { return _DownSpeed; }
+            set { Set(nameof(DownSpeed), ref _DownSpeed, value); }
+        }
 
         /*
          * //同一个任务每一架飞机的FlytoTime和LoiterTime保持统一,已将FlytoTime和LoiterTime改到FlightTask.cs中

Plane.FormationCreator/MainWindow.xaml

@@ -61,7 +61,7 @@
                     Click="btnConnect_Click" />
             <Menu Name="menuTask"  VerticalAlignment="Center" >
 
-                <MenuItem Header="导入导出" Foreground="#969696">
+                <MenuItem Header="导入导出" Margin="0,2,0,0" Foreground="#969696">
                     <Grid>
                         <Grid.RowDefinitions>
                             <RowDefinition/>

Plane.FormationCreator/ViewModels/ConnectViewModel.cs

@@ -86,7 +86,7 @@ namespace Plane.FormationCreator.ViewModels
             {
                 return _SendCommand ?? (_SendCommand = new RelayCommand(async () =>
                 {
-                    await SendCommandAsync();
+                    await SendCommandAsync(CopterNum);
                 }
                 ));
             }
@@ -132,7 +132,7 @@ namespace Plane.FormationCreator.ViewModels
             {
                 return _WriteIdCommand ?? (_WriteIdCommand = new RelayCommand(async () =>
                 {
-                    await WriteIdCommandAsync(CopterNum, MavComm.COMMANDTYPE4);
+                    await WriteIdCommandAsync(CopterNum, MavComm.COMM_SEARCH_MODE);
                 }
                 ));
             }
@@ -146,7 +146,7 @@ namespace Plane.FormationCreator.ViewModels
             {
                 return _ChangeWriteMissionCommand ?? (_ChangeWriteMissionCommand = new RelayCommand(async () =>
                 {
-                    await WriteIdCommandAsync(0, MavComm.COMM_WRITE_MISSION);
+                    await WriteIdCommandAsync(0, MavComm.COMM_DOWNLOAD_MODE);
                 }
                 ));
             }
@@ -279,21 +279,24 @@ namespace Plane.FormationCreator.ViewModels
                                 }
 
                             }
-                            await WriteCommandAsync(copter, missions);
-                        }
                             
+                        }
+                        bool result = await WriteCommandAsync(copter, missions);
                         //_copterManager.Copters[i].WriteMissionListAsync(missions);
-                        /*
+                        
                         if (!result)
                         {
-
+                            Message.Show($"飞机：{copter.Name} 任务写入失败!");
-                            Alert.Show($"飞机：{_copterManager.Copters[i].Name} 任务写入失败!");
-                            return;
                         }
-                        */
+                        else
+                        {
+                            Message.Show($"飞机：{copter.Name} 任务写入成功!");
+                        }
+
+                        
 
                     }
-                    Alert.Show($"所有任务写入成功!");
+                    Alert.Show($"写入完成!");
                 }));
             }
         }
@@ -326,11 +329,11 @@ namespace Plane.FormationCreator.ViewModels
             await commModule.GeneratePacketAsync((short)num, messageType);
         }
 
-        private async Task SendCommandAsync()
+        private async Task SendCommandAsync(int Count)
         {
-            Protocols.MavComm.comm_set_mav_count mavCount = new Protocols.MavComm.comm_set_mav_count();
+            MavComm.comm_set_mav_count mavCount = new MavComm.comm_set_mav_count();
-            mavCount.mav_count = 200;
+            mavCount.mav_count = (short)Count;
-            await commModule.GenerateDataAsync(0, (byte)Protocols.MavComm.COMM_SET_MAV_COUNT, mavCount);
+            await commModule.GenerateDataAsync(0, MavComm.COMM_SET_MAV_COUNT, mavCount);
         }
 
         public async Task<bool> DoCommandAsync(MAVLink.MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
@@ -357,7 +360,7 @@ namespace Plane.FormationCreator.ViewModels
             await Task.Delay(10);
             return true;
         }
-        private async Task WriteCommandAsync(ICopter copter, List<IMission> missions)
+        private async Task<bool> WriteCommandAsync(ICopter copter, List<IMission> missions)
         {
             List<MAVLink.mavlink_mission_item_t> mission_list = new List<MAVLink.mavlink_mission_item_t>();
             foreach (IMission mission in missions)
@@ -400,7 +403,7 @@ namespace Plane.FormationCreator.ViewModels
                 mission_list.Add(req);
             }
 
-            await commModule.GeneratePacketAsyncNew(short.Parse(copter.Name), (byte)Protocols.MavComm.COMM_WRITE_MISSION, mission_list.ToArray());
+            return await commModule.GeneratePacketAsyncNew(short.Parse(copter.Name), (byte)Protocols.MavComm.COMM_DOWNLOAD_MODE, mission_list.ToArray());
         }
 
 

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -426,7 +426,7 @@ namespace Plane.FormationCreator.ViewModels
         }
 
 
-        private string _RTKcomvalue = "COM3";
+        private string _RTKcomvalue = "COM6";
         public string RTKcomvalue
         {
             get { return _RTKcomvalue; }
@@ -828,7 +828,14 @@ namespace Plane.FormationCreator.ViewModels
 
                                 case FlightTaskType.FlyTo:
                                     missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos));
-
+                                    if (_flightTaskManager.Tasks[j].SingleCopterInfos[i].IsChangeSpeed)
+                                    {
+                                        missions.Add(Mission.CreateChangeSpeedMission(
+                                            _flightTaskManager.Tasks[j].SingleCopterInfos[i].LevelSpeed,
+                                            _flightTaskManager.Tasks[j].SingleCopterInfos[i].UpSpeed,
+                                            _flightTaskManager.Tasks[j].SingleCopterInfos[i].DownSpeed)
+                                            );
+                                    }
                                     double Lat = _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat;
                                     double Lng = _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng;
                                     if (_flightTaskManager.Tasks[j].SingleCopterInfos[i].IsLandWaypoint)

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -59,7 +59,7 @@
                     </StackPanel>
                 </TabItem>
                 <TabItem Header="航点">
-                    <StackPanel Orientation="Vertical" Margin="0,0,0,-30">
+                    <StackPanel Orientation="Vertical" Margin="0,1">
                         <StackPanel.Resources>
                             <Style TargetType="StackPanel">
                                 <Setter Property="Orientation" Value="Horizontal" />
@@ -71,7 +71,7 @@
                             <Button Content="优化路线" Command="{Binding OptimizeRouteCommand}" />
                         </StackPanel>
                         
-                        <Separator/>
+                        <Separator Margin="0,1"/>
                         <StackPanel>
                             <Button Content="上边对齐"
                                     Margin="0,5,5,0"
@@ -166,10 +166,10 @@
                             <TextBlock Text="度" Margin="0, 10, 5, 0"/>
                         </StackPanel>
 
-                        <Separator />
+                        <Separator Margin="0,2" />
 
 
-                        <Grid Margin="5,10,5,0"
+                        <Grid Margin="0,2"
                               DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
                               IsEnabled="{Binding CanModifySingleCopterInfo}" >
                             <Grid.RowDefinitions>
@@ -181,34 +181,39 @@
                             <Grid.ColumnDefinitions>
                                 <ColumnDefinition />
                                 <ColumnDefinition />
+                                <ColumnDefinition />
+                                <ColumnDefinition />
                             </Grid.ColumnDefinitions>
 
                             <TextBlock Text="纬度: " />
-                            <TextBox Grid.Column="1"
+                            <TextBox Grid.Column="2"
-                                     Margin="0,5,10,0"
+                                     Grid.ColumnSpan="2"
+                                     Margin="0,2,0,0" 
                                      Text="{Binding TargetLat, UpdateSourceTrigger=PropertyChanged}" />
 
                             <TextBlock Grid.Row="1"
                                        Text="经度: " />
                             <TextBox Grid.Row="1"
-                                     Grid.Column="1"
+                                     Grid.Column="2"
-                                     Margin="0,5,10,0" 
+                                     Grid.ColumnSpan="2"
+                                     Margin="0,2,0,0"  
                                      Text="{Binding TargetLng, UpdateSourceTrigger=PropertyChanged}" />
 
                             <TextBlock Grid.Row="2"
                                        Text="高度: " />
                             <TextBox Grid.Row="2"
-                                     Grid.Column="1"
+                                     Grid.Column="2"
-                                     Margin="0,5,10,0"
+                                     Margin="0,2,0,0" 
                                      Text="{Binding TargetAlt, UpdateSourceTrigger=PropertyChanged}" />
 
-                            <Button Grid.Row="3" 
+                            <Button Grid.Row="2" 
-                                    Content="应用高度到所选" 
+                                    Content="应用到所选" 
-                                    Grid.Column="1"  Margin="0,5,10,0"
+                                    Grid.Column="3"  Margin="0,2,0,0" 
                                     Command="{Binding SetAllCopterAltCommand}"/>
                         </Grid>
-                        <Separator/>
+                        <Separator Margin="0,2"/>
-                        <Grid DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
+                        <Grid Margin="0,2,0,0"
+                              DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
                               IsEnabled="{Binding CanModifySingleCopterInfo}" >
                             <Grid.ColumnDefinitions>
                                 <ColumnDefinition/>
@@ -216,8 +221,39 @@
 
                             </Grid.ColumnDefinitions>
 
-                            <CheckBox Margin="5" IsChecked="{Binding IsLandWaypoint,UpdateSourceTrigger=PropertyChanged}" Content="下降点"/>
+                            <CheckBox Content="返航点" ToolTip="勾选后航点仅高度有用，经纬度无效，无视原点自动飞回起飞点" Margin="0,2,0,0" IsChecked="{Binding IsLandWaypoint,UpdateSourceTrigger=PropertyChanged}" />
-                            <Button Margin="5" Command="{Binding SetIsLandCommand}" Content="应用到所选" Grid.Column="1"/>
+                            <Button Content="应用到所选" Margin="0,2,0,0"  Command="{Binding SetIsLandCommand}"  Grid.Column="1"/>
+
+                           
+                        </Grid>
+                        <Separator/>
+                        <Grid Margin="0,2"
+                              DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
+                              IsEnabled="{Binding CanModifySingleCopterInfo}" >
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+  
+                            </Grid.ColumnDefinitions>
+                            <Grid.RowDefinitions>
+                                <RowDefinition/>
+                                <RowDefinition/>
+                            </Grid.RowDefinitions>
+                            <CheckBox Content="改变速度" Margin="0,2"
+                                      IsChecked="{Binding IsChangeSpeed, UpdateSourceTrigger=PropertyChanged}"/>
+                            <StackPanel  Margin="0,2" Grid.Column="1">
+                                <TextBlock Text="水平"/>
+                                <TextBox  Width="45" Margin="5,0,0,5"
+                                          Text="{Binding LevelSpeed}"/>
+                                <TextBlock Text="上升" Margin="15,0,0,0"/>
+                                <TextBox Width="45" Margin="5,0,0,5"
+                                         Text="{Binding UpSpeed}"/>
+                                <TextBlock Text="下降" Margin="15,0,0,0"/>
+                                <TextBox Width="45" Margin="5,0,0,5"
+                                         Text="{Binding DownSpeed}"/>
+                            </StackPanel>
+                            <Button Content="应用到所选" Grid.Row="1" Grid.Column="1" Command="{Binding SetIsChangeCommand}"/>
+                           
                         </Grid>
                     </StackPanel>
                 </TabItem>