添加了降落任务，一键起飞，测试电机，flyto的下降点，检测所有飞机5秒平均电压，通信模块的测试，起飞延时，降落延时，界面修改

Plane.FormationCreator/App.xaml.cs

@@ -100,19 +100,21 @@ namespace Plane.FormationCreator
 
             md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/Styles/Colors.xaml") });
             md.Add(new ResourceDictionary { Source = new Uri("pack://application:,,,/Styles.xaml") });
-/*
+            /*
-            new UpdateChecker("http://dl.Plane.com/tools/ver.php?app=FormationCreator", _logger)
+                        new UpdateChecker("http://dl.Plane.com/tools/ver.php?app=FormationCreator", _logger)
-                .CheckAsync(ver =>
+                            .CheckAsync(ver =>
-                {
+                            {
-                    var currentVersion = this.GetType().Assembly.GetName().Version;
+                                var currentVersion = this.GetType().Assembly.GetName().Version;
-                    if (currentVersion < ver
+                                if (currentVersion < ver
-                        && Alert.Show("检测到新版本，请下载。", "更新提示", MessageBoxButton.YesNo) == MessageBoxResult.Yes)
+                                    && Alert.Show("检测到新版本，请下载。", "更新提示", MessageBoxButton.YesNo) == MessageBoxResult.Yes)
-                    {
+                                {
-                        Process.Start("http://dl.Plane.com/tools/FormationCreatorSetup.exe");
+                                    Process.Start("http://dl.Plane.com/tools/FormationCreatorSetup.exe");
-                        this.Shutdown();
+                                    this.Shutdown();
-                    }
+                                }
-                });
+                            });
-*/
+            */
+            System.Windows.FrameworkCompatibilityPreferences.KeepTextBoxDisplaySynchronizedWithTextProperty = false;
+
             MainWindow = new MainWindow();
             MainWindow.Show();
             try

Plane.FormationCreator/Formation/FlightTask.cs

@@ -35,26 +35,53 @@ namespace Plane.FormationCreator.Formation
             get { return _TaskType; }
             set
             {
-                if (_TaskType != value)
+
+                Set(nameof(TaskType), ref _TaskType, value);
+                //if (_TaskType != value)
                 {
                     RaisePropertyChanged(nameof(TaskTypeIndex));
                 }
-                Set(nameof(TaskType), ref _TaskType, value);
             }
         }
 
+        /*
         public int TaskTypeIndex
         {
             get { return (int)TaskType; }
             set
             {
                 TaskType = (FlightTaskType)value;
+                VerticalLift = false;
                 if ( (value == (int)FlightTaskType.Loiter) || (value == (int)FlightTaskType.Circle) )
                 {
                     VerticalLift = true;
                 }
             }
         }
+        */
+
+        public int TaskTypeIndex
+        {
+            get {
+                int index = 1;
+                switch (TaskType)
+                {
+                    case FlightTaskType.TakeOff:index = 0; break;
+                    case FlightTaskType.FlyTo:  index = 1; break;
+                    case FlightTaskType.Land:   index = 2; break;
+                }
+                return index;
+            }
+            set
+            {
+                switch (value)
+                {
+                    case 0: TaskType = FlightTaskType.TakeOff; break;
+                    case 1: TaskType = FlightTaskType.FlyTo; break;
+                    case 2: TaskType = FlightTaskType.Land; break;
+                }
+            }
+        }
 
         private bool _IsSelected;
         public bool IsSelected
@@ -72,19 +99,7 @@ namespace Plane.FormationCreator.Formation
         }
 
 
-        //同一个任务每一架飞机的FlytoTime和LoiterTime保持统一
+        
-        private int _FlytoTime = 10;
-        public int FlytoTime
-        {
-            get { return _FlytoTime; }
-            set { Set(nameof(FlytoTime), ref _FlytoTime, value); }
-        }
-        private int _LoiterTime = 10;
-        public int LoiterTime
-        {
-            get { return _LoiterTime; }
-            set { Set(nameof(LoiterTime), ref _LoiterTime, value); }
-        }
 
         public List<FlightTaskSingleCopterInfo> SingleCopterInfos { get; set; } = new List<FlightTaskSingleCopterInfo>();
 
@@ -122,6 +137,9 @@ namespace Plane.FormationCreator.Formation
                     //多架同时返航
                     await MutilRunReturnToLandTaskAsync().ConfigureAwait(false);
                     break;
+                case FlightTaskType.Land:
+                    await MutilLandTaskAsync().ConfigureAwait(false);
+                    break;
                 default:
                     throw new InvalidOperationException();
             }
@@ -137,6 +155,7 @@ namespace Plane.FormationCreator.Formation
         // LEDAction = 4,
         ReturnToLand = 4,    // added by ZJF. 20160315
         SimpleCircle = 5,
+        Land = 6,
         TakeOff = 100
     }
 }

Plane.FormationCreator/Formation/FlightTaskManager.cs

@@ -402,11 +402,14 @@ namespace Plane.FormationCreator.Formation
                     tagalt = (float)singleCopterInfoObj.targetAlt;
                     newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(
                         copter, new LatLng((double)singleCopterInfoObj.latOffset,
-                        (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt);
+                        (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt, (bool)singleCopterInfoObj.isLandWaypoint);
                     
                     var jsonArray = singleCopterInfoObj.ledInfos as Newtonsoft.Json.Linq.JArray;
-                    newSingleCopterInfo.LEDInfos = jsonArray.ToObject<ObservableCollection<LEDInfo>>();
+                    ObservableCollection<LEDInfo> ledList = jsonArray.ToObject<ObservableCollection<LEDInfo>>();
-
+                    foreach(LEDInfo info in ledList)
+                    {
+                        newSingleCopterInfo.AddLEDInfo(info);
+                    }
                 }
                 else
                 {
@@ -507,6 +510,44 @@ namespace Plane.FormationCreator.Formation
             SelectedTaskIndex = Tasks.Count - 1;
         }
 
+        private void RestoreTakeOffTask(int takeOffTime, dynamic singleCopterInfos)
+        {
+            var copters = _copterManager.Copters;
+            if (copters == null || !copters.Any()) return;
+            AppEx.Current.AppMode = AppMode.ModifyingTask;
+            var lastTask = Tasks.LastOrDefault();
+
+            FlightTask takeOffTask = Tasks[0];
+            takeOffTask.TakeOffTime = takeOffTime;
+            for (int i = 0; i < copters.Count; i++)
+            {
+                var singleCopterInfoObj = singleCopterInfos[i];
+                takeOffTask.SingleCopterInfos[i].TakeOffWaitTime = (int)singleCopterInfoObj.waitTime;
+            }
+        }
+
+        private void RestoreLandTask(dynamic singleCopterInfos)
+        {
+            var copters = _copterManager.Copters;
+            if (copters == null || !copters.Any()) return;
+            AppEx.Current.AppMode = AppMode.ModifyingTask;
+            var lastTask = Tasks.LastOrDefault();
+
+            var LandTask = new FlightTask(FlightTaskType.Land);
+            for (int i = 0; i < copters.Count; i++)
+            {
+                var copter = copters[i];
+                FlightTaskSingleCopterInfo newSingleCopterInfo;
+                var singleCopterInfoObj = singleCopterInfos[i];
+                newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForLandTask(copter, (int)singleCopterInfoObj.waitTime);
+                LandTask.SingleCopterInfos.Add(newSingleCopterInfo);
+            }
+            Tasks.Add(LandTask);
+            TaskAdded?.Invoke(this, new FlightTaskAddedEventArgs { LastTask = lastTask, AddedTask = LandTask });
+            SelectedTask = LandTask;
+            SelectedTaskIndex = Tasks.Count - 1;
+        }
+
         // added by ZJF
         private void RestoreLoiterTimeTask(float LoiteTimeTmp, bool flashCheck, float flashCheckPeriod, 
             bool oneByOneCheck, float oneByOneCheckPeriod, string flashNameArray, string flashIndexArray,
@@ -647,7 +688,15 @@ namespace Plane.FormationCreator.Formation
                     case FlightTaskType.TakeOff:
                         return new {
                             type = type,
-                            takeoffnumber = TakeOffNumAttr 
+                            takeoffnumber = TakeOffNumAttr, 
+                            takeoffTime = task.TakeOffTime,
+                            singleCopterInfos = task.SingleCopterInfos.Select(info =>
+                            {
+                                return new
+                                {
+                                    waitTime = info.TakeOffWaitTime
+                                };
+                            })
                         };
                     case FlightTaskType.FlyTo:
                         return new
@@ -665,7 +714,8 @@ namespace Plane.FormationCreator.Formation
                                     lngOffset = offset.Lng,
                                     targetAlt = info.TargetAlt,
                                     //showLED = info.FlytoShowLED,
-                                    ledInfos = info.LEDInfos
+                                    ledInfos = info.LEDInfos,
+                                    isLandWaypoint = info.IsLandWaypoint
                                 };
                             })
                         };
@@ -757,6 +807,22 @@ namespace Plane.FormationCreator.Formation
                             retnumber = task.RetNumAttr
 
                         };
+
+                    case FlightTaskType.Land:
+                        {
+                            return new
+                            {
+                                type = type,
+                                singleCopterInfos = task.SingleCopterInfos.Select(info =>
+                                {
+                                    return new
+                                    {
+                                        waitTime = info.LandWaitTime
+                                    };
+                                })
+                               
+                            };
+                        }
                     default:
                         throw new NotImplementedException(type + " task export not implemented.");
                 }
@@ -817,8 +883,10 @@ namespace Plane.FormationCreator.Formation
         {
             dynamic tasks = JsonConvert.DeserializeObject(tasksText);
             var copters = _copterManager.Copters;
+            
             if (Tasks.Count == 0)
                 AddTakeOffTask(copters);
+               
             foreach (var task in tasks)
             {
                 switch ((FlightTaskType)task.type)
@@ -826,6 +894,7 @@ namespace Plane.FormationCreator.Formation
                     case FlightTaskType.TakeOff:
                         // AddTakeOffTask(copters);        // added by ZJF
                         TakeOffNumAttr = task.takeoffnumber;
+                        RestoreTakeOffTask((int)task.takeoffTime, task.singleCopterInfos);
                         break;
                     case FlightTaskType.FlyTo:
                         RestoreFlyToTask((bool)task.staggerRoutes, (int)task.flytoTime, (int)task.loiterTime, task.singleCopterInfos);
@@ -848,6 +917,9 @@ namespace Plane.FormationCreator.Formation
                     case FlightTaskType.ReturnToLand:
                         RestoreReturnToLandTask(copters, (int)task.retnumber, (int)task.rtlalt);
                         break;
+                    case FlightTaskType.Land:
+                        RestoreLandTask(task.singleCopterInfos);
+                        break;
                 }
             }
         }
@@ -1046,7 +1118,7 @@ namespace Plane.FormationCreator.Formation
                     // 在目前的起飞、降落逻辑，如果起飞或最后一个任务是返航降落，不要检查两架飞机距离过近. added by ZJF
                     bool RTLFlag = ( CurrentRunningTaskIndex == Tasks.Count()-1 ) && ( CurrentRunningTask.TaskType == FlightTaskType.ReturnToLand );
                     // bool RTLFlag = false;
-                    if ( (CurrentRunningTaskIndex != 0) && !RTLFlag)     
+                    //if ( (CurrentRunningTaskIndex != 0) && !RTLFlag)     
                     {
                         
                         foreach (var copter in _copterManager.Copters)

Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo.cs

@@ -6,6 +6,8 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Windows.Input;
+using GalaSoft.MvvmLight.Command;
 
 namespace Plane.FormationCreator.Formation
 {
@@ -44,6 +46,82 @@ namespace Plane.FormationCreator.Formation
         private float? _TargetAlt;
         public float TargetAlt { get { return _TargetAlt ?? Copter.Altitude; } set { Set(nameof(TargetAlt), ref _TargetAlt, value); } }
 
+        //应用当前航点高度到所选
+        private ICommand _SetAllCopterAltCommand;
+        public ICommand SetAllCopterAltCommand
+        {
+            get
+            {
+                return _SetAllCopterAltCommand ?? (_SetAllCopterAltCommand = new RelayCommand<double>(async  =>
+                {
+                    foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
+                    {
+                        if (_copterManager.AcceptingControlCopters.Contains(info.Copter))
+                        {
+                            info.TargetAlt = TargetAlt;
+                        }
+                    }  
+                }));
+            }
+        }
+
+        //应用当前是否是降落点到所选
+        private ICommand _SetIsLandCommand;
+        public ICommand SetIsLandCommand
+        {
+            get
+            {
+                return _SetIsLandCommand ?? (_SetIsLandCommand = new RelayCommand<double>(async =>
+                {
+                    foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
+                    {
+                        if (_copterManager.AcceptingControlCopters.Contains(info.Copter))
+                        {
+                            info.IsLandWaypoint = IsLandWaypoint;
+                        }
+                    }
+                }));
+            }
+        }
+
+
+        private ICommand _SetSelLandWaitTimeCommand;
+        public ICommand SetSelLandWaitTimeCommand
+        {
+            get
+            {
+                return _SetSelLandWaitTimeCommand ?? (_SetSelLandWaitTimeCommand = new RelayCommand<double>(async =>
+                {
+                    foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
+                    {
+                        if (_copterManager.AcceptingControlCopters.Contains(info.Copter))
+                        {
+                            info.LandWaitTime = LandWaitTime;
+                        }
+                    }
+                }));
+            }
+        }
+
+        private ICommand _SetSelTakeOffWaitTimeCommand;
+        public ICommand SetSelTakeOffWaitCommand
+        {
+            get
+            {
+                return _SetSelTakeOffWaitTimeCommand ?? (_SetSelTakeOffWaitTimeCommand = new RelayCommand<double>(async =>
+                {
+                    foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
+                    {
+                        if (_copterManager.AcceptingControlCopters.Contains(info.Copter))
+                        {
+                            info.TakeOffWaitTime = TakeOffWaitTime;
+                        }
+                    }
+                }));
+            }
+        }
+
+
         public LatLng LatLngOffset
         {
             get

Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_FlyTo.cs

@@ -23,12 +23,13 @@ namespace Plane.FormationCreator.Formation
             return info;
         }
 
-        public static FlightTaskSingleCopterInfo CreateForFlyToTask(ICopter copter, LatLng latLngOffset, float targetAlt)
+        public static FlightTaskSingleCopterInfo CreateForFlyToTask(ICopter copter, LatLng latLngOffset, float targetAlt, bool isLandWaypoint)
         {
             var info = new FlightTaskSingleCopterInfo(copter)
             {
                 LatLngOffset = latLngOffset,
-                TargetAlt = targetAlt
+                TargetAlt = targetAlt,
+                IsLandWaypoint = isLandWaypoint
             };
             return info;
         }
@@ -40,6 +41,14 @@ namespace Plane.FormationCreator.Formation
             set { Set(nameof(FlytoShowLED), ref _FlytoShowLED, value); }
         }
 
+        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
+        public bool IsLandWaypoint
+        {
+            get { return _IsLandWaypoint; }
+            set { Set(nameof(IsLandWaypoint), ref _IsLandWaypoint, 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
@@ -58,7 +67,7 @@ namespace Plane.FormationCreator.Formation
         }
         */
 
-        
+
 
     }
 }

Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_TakeOff.cs

@@ -17,5 +17,23 @@ namespace Plane.FormationCreator.Formation
             };
             return info;
         }
+
+        public static FlightTaskSingleCopterInfo CreateForTakeOffTask(ICopter copter, int waitTime)
+        {
+            var info = new FlightTaskSingleCopterInfo(copter)
+            {
+                TakeOffWaitTime = waitTime
+            };
+            return info;
+        }
+
+
+        //起飞等待时间
+        private int _TakeOffWaitTime = 1;
+        public int TakeOffWaitTime
+        {
+            get { return _TakeOffWaitTime; }
+            set { Set(nameof(TakeOffWaitTime), ref _TakeOffWaitTime, value); }
+        }
     }
 }

Plane.FormationCreator/Formation/FlightTask_FlyTo.cs

@@ -20,7 +20,21 @@ namespace Plane.FormationCreator.Formation
             set { Set(nameof(StaggerRoutes), ref _StaggerRoutes, value); }
         }
 
-        
+        //同一个任务每一架飞机的FlytoTime和LoiterTime保持统一
+        private int _FlytoTime = 10;
+        public int FlytoTime
+        {
+            get { return _FlytoTime; }
+            set { Set(nameof(FlytoTime), ref _FlytoTime, value); }
+        }
+        private int _LoiterTime = 10;
+        public int LoiterTime
+        {
+            get { return _LoiterTime; }
+            set { Set(nameof(LoiterTime), ref _LoiterTime, value); }
+        }
+
+
 
 
         private bool _VerticalLift = false;
@@ -38,6 +52,7 @@ namespace Plane.FormationCreator.Formation
                     {
                         currentCopterInfos[i].TargetLat = previousCopterInfos[i].TargetLat;
                         currentCopterInfos[i].TargetLng = previousCopterInfos[i].TargetLng;
+                        currentCopterInfos[i].TargetAlt = previousCopterInfos[i].TargetAlt;
                     }
                 }
                 
@@ -94,6 +109,13 @@ namespace Plane.FormationCreator.Formation
 
         private async Task FlyToTaskFlySingleCopterAsync(FlightTaskSingleCopterInfo info)
         {
+            DateTime dtNow = DateTime.Now;
+            DateTime dtLastTime = DateTime.Now;
+            TimeSpan ts = dtNow - dtLastTime;
+
+            FlightTask task = _flightTaskManager.CurrentRunningTask;
+            int flyToTime = task.FlytoTime;
+            int loiterTime = task.LoiterTime;
             int taskIndex = _flightTaskManager.CurrentRunningTaskIndex;
             int copterIndex = SingleCopterInfos.IndexOf(info);
 
@@ -109,9 +131,7 @@ namespace Plane.FormationCreator.Formation
             if (info.Copter.State != Plane.Copters.CopterState.CommandMode)
                 await info.Copter.GuidAsync();
 
-            DateTime dtNow = DateTime.Now;
+            
-            DateTime dtLastTime = DateTime.Now;
-            TimeSpan ts = dtNow - dtLastTime;
 
 
          /*
@@ -125,28 +145,32 @@ namespace Plane.FormationCreator.Formation
             await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, info.TargetAlt);
             await Task.Delay(10).ConfigureAwait(false);
 
+            dtNow = DateTime.Now;
+            ts = dtNow - dtLastTime;
 
-            while (!info.Copter.ArrivedTarget(info.TargetLat, info.TargetLng, info.TargetAlt))
+            int sendFlyToTimes = 0;
+
+            //while (!info.Copter.ArrivedTarget(info.TargetLat, info.TargetLng, info.TargetAlt))    //按航点飞  ：所有Copter到达目标点开始飞下个航点
+            while (ts.TotalMilliseconds < (flyToTime + loiterTime) * 1000)                                         //按时间轴飞：当前任务时间到达后自动飞往下个航点
             {
+                
                 if (_flightTaskManager.IsPaused == true)
                 {
                     await info.Copter.HoverAsync();
                     return;
                 }
-                await Task.Delay(250).ConfigureAwait(false); //判断是否到达位置10hz
+                await Task.Delay(100).ConfigureAwait(false); //判断是否到达位置10hz
 
-                
+                if (ts.TotalMilliseconds / 500 > sendFlyToTimes)   // 每500ms发送一遍指点坐标
-                dtNow = DateTime.Now;
-                ts = dtNow - dtLastTime;
-                if (ts.TotalMilliseconds > 500)   // 每500ms发送一遍指点坐标
                 {
+                    sendFlyToTimes++;
                     for (int i = 0; i < 2; i++)
                     {
                         await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, info.TargetAlt);
                         await Task.Delay(10).ConfigureAwait(false);
                     }
 
-                    dtLastTime = dtNow;
+                    //dtLastTime = dtNow;
                 }
                 // 当该飞机被标记时，悬停并跳过飞行任务
                 if ((bool)_copterManager.CopterStatus[copterIndex])
@@ -154,6 +178,8 @@ namespace Plane.FormationCreator.Formation
                     await info.Copter.HoverAsync();
                     return;
                 }
+                dtNow = DateTime.Now;
+                ts = dtNow - dtLastTime;
             }
             // await info.Copter.HoverAsync();
             if (taskIndex == _flightTaskManager.Tasks.Count() - 1)

Plane.FormationCreator/Formation/FlightTask_TakeOff.cs

@@ -23,6 +23,14 @@ namespace Plane.FormationCreator.Formation
             }
         }
 
+        //起飞到第一个航点高度的飞行时间
+        private int _TakeOffTime = 10;
+        public int TakeOffTime
+        {
+            get { return _TakeOffTime; }
+            set { Set(nameof(TakeOffTime), ref _TakeOffTime, value); }
+        }
+
         //一架架起飞--未使用
         public async Task RunTakeOffTaskAsync()
         {
@@ -62,11 +70,15 @@ namespace Plane.FormationCreator.Formation
         }
 
         // 几架飞机同时起飞，参数为takeOffCount-----------------使用中
-        //起飞分三个阶段：1阶段分批起飞到15米(目前15米高度是飞控起飞航点决定)，上一批起飞超过5米下一批开始起飞，
+        //起飞分三个阶段：
-        //等待全部起飞完成后执行第二阶段，
+        //1阶段：分批起飞到15米(目前15米高度是飞控起飞航点决定)，上一批起飞超过5米下一批开始起飞，
-        //2阶段等待高度超过9米(可能已到达15米)然后平飞到第一个航点位置,高度为15米的位置，
+        //       等待全部起飞完成后执行第二阶段，
-        //3阶段垂直上升到第一个航点指定高度
+        //2阶段：等待高度超过9米(可能已到达15米)然后平飞到第一个航点位置,高度为15米的位置，
+        //3阶段：垂直上升到第一个航点指定高度
         //
+        //修改方案：针对高度
+        //1.上升到起飞高度(目前没有地面站设置高度，高度在飞控中)
+        //2.直接飞往第一个航点的高度
         public async Task MutilRunTakeOffTaskAsync()
         {
             int TaskCount = _flightTaskManager.Tasks.Count();
@@ -227,10 +239,10 @@ namespace Plane.FormationCreator.Formation
         //执行第二第三阶段起飞任务-------------使用中
         private async Task TakeOffSecondTaskAsync(FlightTaskSingleCopterInfo info)
         {
-            float takeOffAlt = 20;// 15; 起飞高度到20米
+            
             int copterIndex = SingleCopterInfos.IndexOf(info);
             var copterNextTask = _flightTaskManager.Tasks[1].SingleCopterInfos[copterIndex];
-
+            float takeOffAlt = copterNextTask.TargetAlt;// 15; 起飞高度到下个任务的高度
             // 当该飞机被标记时，悬停并跳过飞行任务
             if ((bool)_copterManager.CopterStatus[copterIndex])
             {
@@ -266,6 +278,8 @@ namespace Plane.FormationCreator.Formation
             DateTime dtLastTime = DateTime.Now;
             TimeSpan ts = dtNow - dtLastTime;
 
+            #region 屏蔽掉第二个阶段直接进入第三个阶 到达起飞高度直接飞往第一个航点
+           
             // 第二阶段：超过9米开始水平飞行
             if (info.takeOffStage == 1)
             {
@@ -276,11 +290,11 @@ namespace Plane.FormationCreator.Formation
                 //异步执行飞到第一个航点高度固定为15米的任务
                 for (int j = 0; j < 3; j++)
                 {
-                    await info.Copter.FlyToAsync(copterNextTask.TargetLat, copterNextTask.TargetLng, takeOffAlt);
+                    await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt);
                     await Task.Delay(10).ConfigureAwait(false);
                 }
                 //直到到达第一个航点并高度15米
-                while (!info.Copter.ArrivedTarget(copterNextTask.TargetLat, copterNextTask.TargetLng, takeOffAlt))
+                while (!info.Copter.ArrivedTarget(info.TargetLat, info.TargetLng, takeOffAlt))
                 {
                     if (_flightTaskManager.IsPaused == true)
                     {
@@ -296,7 +310,7 @@ namespace Plane.FormationCreator.Formation
                     {
                         for (int j = 0; j < 2; j++)
                         {
-                            await info.Copter.FlyToAsync(copterNextTask.TargetLat, copterNextTask.TargetLng, takeOffAlt);
+                            await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt);
                             await Task.Delay(10).ConfigureAwait(false);
                         }
                         dtLastTime = dtNow;
@@ -313,10 +327,15 @@ namespace Plane.FormationCreator.Formation
                     info.takeOffStage++;   //当前变为2
                 }
             }
-
+            
             dtNow = DateTime.Now;
             dtLastTime = DateTime.Now;
             ts = dtNow - dtLastTime;
+            
+            #endregion
+
+            info.takeOffStage++;
+
             // 第三阶段：从第一个航点位置15米垂直飞行
             if (info.takeOffStage == 2)
             {

Plane.FormationCreator/MainWindow.xaml

@@ -47,6 +47,9 @@
                     Command="{Binding SwitchAppModeCommand}"
                     CommandParameter="{x:Static m:AppMode.ControllingCopters}"
                     Visibility="{Binding Source={x:Static local:AppEx.Current}, Path=AppMode, Converter={StaticResource AppModeToVisibilityConverter}, ConverterParameter=SwitchToControllingCoptersModeButton}" />-->
+            <Button Name="btnShowLog"
+                    Content="日志"
+                    Click="btnShowLog_Click" />
             <Button Name="btnGoHome"
                     Content="回家"
                     Click="btnGoHome_Click" />
@@ -56,6 +59,39 @@
             <Button Name="btnConnect"
                     Content="连接"
                     Click="btnConnect_Click" />
+            <Menu Name="menuTask"  VerticalAlignment="Center" >
+
+                <MenuItem Header="导入导出" Foreground="#969696">
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition/>
+                            <RowDefinition/>
+                        </Grid.RowDefinitions>
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition/>
+                            <ColumnDefinition/>
+                        </Grid.ColumnDefinitions>
+
+                        <Button BorderThickness="1" Content="导出任务" Margin="0,8,0,8"
+                                Command="{Binding ExportTasksCommand}"/>
+                        <Button BorderThickness="1" BorderBrush="#FFFFFF" Content="导入任务" Margin="0,8,0,8" Grid.Row="1"
+                                Command="{Binding ImportTasksCommand}"></Button>
+                        <StackPanel VerticalAlignment="Center" Margin="0,8,0,8" Grid.Row="1"  Grid.Column="1" Orientation="Horizontal">
+                            <TextBlock  Foreground="#969696" VerticalAlignment="Center" Text="起始步骤："/>
+                            <TextBox VerticalAlignment="Bottom" Width="40"
+                                     Text="{Binding txtStarindex, UpdateSourceTrigger=PropertyChanged}"/>
+                            <TextBlock Foreground="#969696" VerticalAlignment="Center" Text="截止："/>
+                            <TextBox VerticalAlignment="Bottom" Width="40"
+                                     Text="{Binding txtendindex, UpdateSourceTrigger=PropertyChanged}"/>
+                        </StackPanel>
+                    </Grid>
+
+
+                </MenuItem>
+                
+
+
+            </Menu>
         </c:WindowCommands>
     </c:MetroWindow.RightWindowCommands>
 
@@ -135,7 +171,7 @@
                 Background="{StaticResource HighlightBrush}">
             <StackPanel Orientation="Horizontal">
                 <TextBlock Margin="4"
-                           Text="{Binding Message}" />
+                           Text="{Binding Message}"/>
                 <TextBlock Margin="4"
                            Text="{Binding CopterListViewModel.SelectedCopter.StatusText}" />
             </StackPanel>

Plane.FormationCreator/MainWindow.xaml.cs

@@ -417,5 +417,14 @@ namespace Plane.FormationCreator
                     }
             }
         }
+
+        private void btnShowLog_Click(object sender, RoutedEventArgs e)
+        {
+            MainViewModel vm = DataContext as MainViewModel;
+            LogWindow logWindows = new LogWindow(vm.Messages);
+            logWindows.Show();
+        }
+
+       
     }
 }

Plane.FormationCreator/Plane.FormationCreator.csproj

@@ -111,6 +111,7 @@
     <Compile Include="Converters\HeartbeatCountToBrushConverter.cs" />
     <Compile Include="Formation\AppMode.cs" />
     <Compile Include="Formation\Copter.cs" />
+    <Compile Include="Formation\FlightTaskSingleCopterInfo_Land.cs" />
     <Compile Include="Formation\FlightTaskSingleCopterInfo_LED.cs" />
     <Compile Include="Formation\FlightTaskSingleCopterInfo_LoiterTime.cs" />
     <Compile Include="Formation\FlightTaskSingleCopterInfo_ReturnToLand.cs" />
@@ -125,6 +126,7 @@
     <Compile Include="Formation\FlightTaskStatus.cs" />
     <Compile Include="Formation\FlightTask_FlyTo.cs" />
     <Compile Include="Formation\FlightTaskSingleCopterInfo_FlyTo.cs" />
+    <Compile Include="Formation\FlightTask_Land.cs" />
     <Compile Include="Formation\FlightTask_LoiterTime.cs" />
     <Compile Include="Formation\FlightTask_ReturnToLand.cs" />
     <Compile Include="Formation\FlightTask_SimpleCircle.cs" />
@@ -167,6 +169,9 @@
     <Compile Include="Views\ConnectWindow.xaml.cs">
       <DependentUpon>ConnectWindow.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Views\LogWindow.xaml.cs">
+      <DependentUpon>LogWindow.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Views\MapView.xaml.cs">
       <DependentUpon>MapView.xaml</DependentUpon>
     </Compile>
@@ -221,6 +226,11 @@
       <Generator>MSBuild:Compile</Generator>
       <SubType>Designer</SubType>
     </Page>
+    <Page Include="Properties\DesignTimeResources.xaml">
+      <SubType>Designer</SubType>
+      <Generator>MSBuild:Compile</Generator>
+      <ContainsDesignTimeResources>true</ContainsDesignTimeResources>
+    </Page>
     <Page Include="Styles.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
@@ -269,6 +279,10 @@
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
+    <Page Include="Views\LogWindow.xaml">
+      <SubType>Designer</SubType>
+      <Generator>MSBuild:Compile</Generator>
+    </Page>
     <Page Include="Views\MapView.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>

Plane.FormationCreator/ViewModels/ConnectViewModel.cs

@@ -20,6 +20,10 @@ using Plane.Copters;
 using Plane.Windows.Messages;
 using Plane.FormationCreator.Properties;
 using System.IO;
+using Plane.CommunicationManagement;
+using Plane.Protocols;
+using Microsoft.Practices.ServiceLocation;
+using System.Windows.Media;
 
 namespace Plane.FormationCreator.ViewModels
 {
@@ -69,88 +73,230 @@ namespace Plane.FormationCreator.ViewModels
             {
                 return _ConnectCommand ?? (_ConnectCommand = new RelayCommand<string>(async connectionType =>
                 {
-                    if (!_ipListRegex.IsMatch(IPs))
+                    await ConnectAsync();
+                }
+                ));
+            }
+        }
+
+        private ICommand _SendCommand;
+        public ICommand SendCommand
+        {
+            get
+            {
+                return _SendCommand ?? (_SendCommand = new RelayCommand(async () =>
+                {
+                    await SendCommandAsync();
+                }
+                ));
+            }
+        }
+
+//         private ICommand _WriteCommand;
+//         public ICommand WriteCommand
+//         {
+//             get
+//             {
+//                 return _WriteCommand ?? (_WriteCommand = new RelayCommand(async () =>
+//                 {
+//                     await WriteCommandAsync();
+//                 }
+//                 ));
+//             }
+//         }
+
+        private ICommand _WriteIdCommand;
+        public ICommand WriteIdCommand
+        {
+            get
+            {
+                return _WriteIdCommand ?? (_WriteIdCommand = new RelayCommand(async () =>
+                {
+                    await WriteIdCommandAsync();
+                }
+                ));
+            }
+        }
+
+        private ICommand _CommWriteMissionCommand;
+        public ICommand CommWriteMissionCommand
+        {
+            get
+            {
+                return _CommWriteMissionCommand ?? (_CommWriteMissionCommand = new RelayCommand(async () =>
+                {
+                    var _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
+                    if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
                     {
-                        Alert.Show($"您输入的 IP 格式不对！形如{Environment.NewLine}192.168.1.10{Environment.NewLine}192.168.1.11");
+                        Alert.Show("作为参照的原点未设置，无法写入相对位置！", "提示");
                         return;
                     }
 
-                    IsProcessing = true;
+                    int coptercount = _copterManager.Copters.Count;
+                    int taskcount = _flightTaskManager.Tasks.Count;
+                    //  bool havewritefault = true;
+                    if (taskcount < 2) return;
 
-                    var connectionStatusDict =
+                    for (int i = 0; i < coptercount; i++)
-                        IPs.Split(new string[] { Environment.NewLine }, StringSplitOptions.RemoveEmptyEntries)
-                        .Where(ip => _copterManager.Copters.All(c => c.Id != ip))
-                        .OrderBy(ip => ip)
-                        .Distinct()
-                        .ToDictionary(ip => ip, ip => (bool?)null);
-                    var timeIsOut = false;
-                    var uiThreadContext = SynchronizationContext.Current;
-                    new Action(async () =>
                     {
-                        foreach (var ip in connectionStatusDict.Keys.ToList())
+
+                        ///写航线开始
+                        //var missions = new IMission[taskcount];  //不要起飞任务但增加一个起飞后低空航点，见起飞任务,再增加一个降落低空航点，见降落部分
+                        var missions = new List<IMission>();
+                        int missindex = 0;
+                        ICopter copter = _copterManager.Copters[i];
+                        if (copter is PLCopter)
                         {
-                            var Connection =
+                            for (int j = 0; j < _flightTaskManager.Tasks.Count; j++)
-                                connectionType == "SerialPort"
-                                ? new SerialPortConnection("COM10") as IConnection
-                                : connectionType == "UDP"
-                                  ? new UdpConnection(ip, PORT) as IConnection
-                                  : new TcpConnection(ip, PORT);
-                            var c = new Copter(Connection, uiThreadContext)
-                            //var c = new Copter(new SerialPortConnection("COM3"), uiThreadContext)
                             {
-                                Id = ip,
+
-                                Name = ip.Substring(ip.LastIndexOf('.') + 1)
+                                switch (_flightTaskManager.Tasks[j].TaskType)
-                            };
-                            try
-                            {
-                                await c.ConnectAsync().ConfigureAwait(false);
-                                if (!timeIsOut)
                                 {
-                                    connectionStatusDict[ip] = true;
+                                    case FlightTaskType.TakeOff:
-                                    App.Current.Dispatcher.Invoke(() =>
+                                        //计算起飞需要的时间,5秒是上升加速和最后稳定时间
-                                    {
+                                        int takeofftime = (int)(_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt / 2.5 + 5);
-                                        _copterManager.Copters.Add(c);
+
-                                    });
+                                        missions.Add(Mission.CreateTakeoffMission(
-                                    //await c.GetCopterDataAsync();
+                                            1,//1,
+                                            5,//takeofftime,
+                                            _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat,
+                                            _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng,
+                                            _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt)
+                                         );
+
+                                        //要起飞任务
+
+                                        break;
+
+                                    case FlightTaskType.FlyTo:
+
+                                        foreach (LEDInfo ledInfo in _flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos)
+                                        {
+                                            Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
+                                            IMission LEDMission = Mission.CreateLEDControlMission(
+                                                    (int)(ledInfo.Delay * 10),
+                                                    ledInfo.LEDMode,
+                                                    ledInfo.LEDRate,
+                                                    0,   //ledInfo.LEDTimes,
+                                                    color.R,
+                                                    color.G,
+                                                    color.B
+                                                    );
+                                            missions.Add(LEDMission);
+                                        }
+                                        missions.Add(Mission.CreateWaypointMission(
+
+                                                _flightTaskManager.Tasks[j].LoiterTime,
+                                                _flightTaskManager.Tasks[j].FlytoTime,
+                                                _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat,
+                                                _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng,
+
+                                                _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt)
+                                            );
+
+                                        break;
+                                    case FlightTaskType.Loiter:
+
+                                        break;
+                                    case FlightTaskType.ReturnToLand:
+
+                                        missions.Add(Mission.CreateReturnToLaunchMission());
+                                        break;
+
+                                    case FlightTaskType.Land:
+                                        missions.Add(Mission.CreateLandMission(5));
+                                        break;
+                                    default:
+                                        break;
+
                                 }
+
                             }
-                            catch (SocketException)
+                            await WriteCommandAsync(copter, missions);
-                            {
-                                connectionStatusDict[ip] = false;
-                            }
-                            catch (IOException)
-                            {   // A device attached to the system is not functioning.
-                                connectionStatusDict[ip] = false;
-                            }
                         }
-                    }).Invoke();
+                        
-                    for (int waitedTime = 0, timeStep = 500; waitedTime < 2000; waitedTime += timeStep)
+                        //_copterManager.Copters[i].WriteMissionListAsync(missions);
-                    {
+                        /*
-                        await Task.Delay(timeStep).ConfigureAwait(false);
+                        if (!result)
-                        if (connectionStatusDict.All(item => item.Value == true))
                         {
-                            break;
+
+                            Alert.Show($"飞机：{_copterManager.Copters[i].Name} 任务写入失败!");
+                            return;
                         }
+                        */
+
                     }
-                    timeIsOut = true;
+                    Alert.Show($"所有任务写入成功!");
-                    IsProcessing = false;
-                    var ipsCanNotConnect = string.Join(Environment.NewLine, connectionStatusDict.Where(item => !(item.Value ?? false)).Select(item => item.Key));
-                    if (!string.IsNullOrEmpty(ipsCanNotConnect))
-                    {
-                        var message = $"无法连接以下 IP{Environment.NewLine}{ipsCanNotConnect}";
-                        App.Current.Dispatcher.Invoke(() =>
-                        {
-                            Alert.Show(message);
-                        });
-                    }
-                    else
-                    {
-                        CloseWindow();
-                    }
                 }));
             }
         }
 
+
+        private async Task WriteIdCommandAsync()
+        {
+            await commModule.GeneratePacketAsync(3, (byte)Protocols.MavComm.COMMANDTYPE4);
+        }
+
+
+        private async Task SendCommandAsync()
+        {
+            Protocols.MavComm.comm_set_mav_count mavCount = new Protocols.MavComm.comm_set_mav_count();
+            mavCount.mav_count = 200;
+            await commModule.GeneratePacketAsync(0, (byte)Protocols.MavComm.COMM_SET_MAV_COUNT, mavCount);
+        }
+
+        private async Task 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)
+            {
+                var frame = mission.Command == FlightCommand.Waypoint && mission.Sequence == 0 ? MAVLink.MAV_FRAME.GLOBAL : MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT;
+
+                var req = new MAVLink.mavlink_mission_item_t();
+
+                PLCopter plCopter = (PLCopter)copter;
+                req.target_system = plCopter._internalCopter.sysid;
+                req.target_component = plCopter._internalCopter.compid;
+
+                req.command = (byte)mission.Command;
+
+                req.current = 0;
+                req.autocontinue = 1;
+
+                req.frame = (byte)frame;
+                if (mission.Command == FlightCommand.LEDControl)
+                {
+                    req.x = mission.R;
+                    req.y = mission.G;
+                    req.z = mission.B;
+                }
+                else
+                {
+                    req.x = (float)mission.Latitude;
+                    req.y = (float)mission.Longitude;
+                    req.z = mission.Altitude;
+                }
+
+                req.param1 = mission.Param1;
+                req.param2 = mission.Param2;
+                req.param3 = mission.Param3;
+                req.param4 = mission.Param4;
+
+                req.seq = mission.Sequence;
+                mission_list.Add(req);
+            }
+
+            await commModule.GeneratePacketAsyncNew(short.Parse(copter.Name), (byte)Protocols.MavComm.COMM_WRITE_MISSION, mission_list.ToArray());
+        }
+
+
+        CommModule commModule = new CommModule();
+
+        private async Task ConnectAsync()
+        {
+            await commModule.ConnectAsync();
+        }       
+
         private Action _closeWindowCallback;
         public void SetCloseWindowAction(Action closeWindowAction)
         {

Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs

@@ -63,6 +63,117 @@ namespace Plane.FormationCreator.ViewModels
             set { Set(nameof(RTKbtntxt), ref _RTKbtntxt, value); }
         }
 
+        private ICommand _LockAllCommand;
+        public ICommand LockAllCommand
+        {
+            get
+            {
+                return _LockAllCommand ?? (_LockAllCommand = new RelayCommand(async () =>
+                {
+                    // await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.UnlockAsync()));
+                    if (Alert.Show("您确定要上锁吗？所有飞行器将无视转速，立即强制停止运转！！！！", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
+                    == MessageBoxResult.OK)
+                    {
+                        if (Alert.Show("再次确认上锁？请确认所有飞行器都在地面，否则将自由落体", "再次警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
+                            == MessageBoxResult.OK)
+                            {
+                                await Task.WhenAll(_copterManager.Copters.Select(async c =>
+                                {
+                                await c.LockAsync();
+                                }));
+                            }
+                    }
+                }));
+            }
+        }
+
+        private ICommand _DetectionVoltage;
+        public ICommand DetectionVoltage
+        {
+            get
+            {
+                return _DetectionVoltage ?? (_DetectionVoltage = new RelayCommand(async () =>
+                {
+                    Dictionary<string, float> dic_voltage = new Dictionary<string, float>();
+                    await Task.WhenAll(_copterManager.Copters.Select(async c =>
+                    {
+                        float voltageSum = 0.0f;
+                        for (int i = 0; i < 5; i++)
+                        {
+                            voltageSum += c.Voltage;
+                            await Task.Delay(1000).ConfigureAwait(false);
+                        }
+                        float voltageAverage = voltageSum / 5;
+                        dic_voltage.Add(c.Name, voltageAverage);
+                    }));
+                    dic_voltage = dic_voltage.OrderByDescending(o => o.Value).ToDictionary(p => p.Key, o => o.Value);
+                    Message.Show("--------------开始检测电压--------------");
+                    foreach (KeyValuePair<string, float> kv in dic_voltage)
+                    {
+                        Message.Show(string.Format("{0} --> 5秒平均电压：{1}", kv.Key, kv.Value));
+                        await Task.Delay(5).ConfigureAwait(false);
+                    }
+                    Message.Show("--------------检测电压完成--------------");
+                }));
+            }
+        }
+
+        private ICommand _AllLandCommand;
+        public ICommand AllLandCommand
+        {
+            get
+            {
+                return _AllLandCommand ?? (_AllLandCommand = new RelayCommand(async () =>
+                {
+                    await Task.WhenAll(_copterManager.Copters.Select(async c =>
+                    {
+                        await c.LandAsync();
+                    }));
+                }));
+            }
+        }
+
+        private ICommand _MotorTestCommand;
+        public ICommand MotorTestCommand
+        {
+            get
+            {
+                return _MotorTestCommand ?? (_MotorTestCommand = new RelayCommand(async () =>
+                {
+                    await Task.WhenAll(_copterManager.Copters.Select(async c =>
+                    {
+                        for (int i = 1; i <= 4; i++)
+                        {
+                            await c.MotorTestAsync(i).ConfigureAwait(false);
+                            await Task.Delay(10);
+                        }
+                        
+                    })).ConfigureAwait(false);
+                }));
+            }
+        }
+
+        private ICommand _GuidAsyncCommand;
+        public ICommand GuidAsyncCommand
+        {
+            get
+            {
+                return _GuidAsyncCommand ?? (_GuidAsyncCommand = new RelayCommand(async () =>
+                {
+                    await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(async c =>
+                    {
+                        await c.GuidAsync();
+                        await Task.Delay(100).ConfigureAwait(false);
+                        await c.TakeOffAsync(1);
+                    }));
+
+                   
+
+                    
+                }));
+            }
+        }
+
 
         private ICommand _UnlockAllCommand;
         public ICommand UnlockAllCommand
@@ -149,7 +260,7 @@ namespace Plane.FormationCreator.ViewModels
             {
                 return _LockCommand ?? (_LockCommand = new RelayCommand(async () =>
                 {
-                    if (Alert.Show("您确定要上锁吗？飞行器将立即停止运转！", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
+                    if (Alert.Show("您确定要上锁吗？飞行器将无视转速，立即强制停止运转！！！", "警告", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
                     == MessageBoxResult.OK)
                     {
                         await Task.WhenAll(_copterManager.AcceptingControlCopters.Select(copter => copter.LockAsync()));
@@ -503,6 +614,9 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+
+     
+
         private ICommand _ConnectCommand;
         public ICommand ConnectCommand
         {
@@ -611,19 +725,20 @@ namespace Plane.FormationCreator.ViewModels
                     int utchour = DateTime.UtcNow.AddSeconds(5).Hour;
                     int utcminute = DateTime.UtcNow.AddSeconds(5).Minute;
                     int utcsecond = DateTime.UtcNow.AddSeconds(5).Second;
-                    
+
-                    foreach (var vcopter in _copterManager.Copters)
+                    //循环3次 发送起飞命令 避免通信问题
+                    for (int i = 0; i < 3; i++)
                     {
-
+                        foreach (var vcopter in _copterManager.Copters)
-                        await vcopter.MissionStartAsync(utchour,
+                        {
-                            utcminute,
+                            await vcopter.MissionStartAsync(utchour,
-                            utcsecond,
+                               utcminute,
-                            _flightTaskManager.OriginLng,
+                               utcsecond,
-                            _flightTaskManager.OriginLat
+                               _flightTaskManager.OriginLng,
-                            //110.23456,
+                               _flightTaskManager.OriginLat
-                            //40.23432
+                               );
-
+                        }
-                            );
+                        await Task.Delay(10).ConfigureAwait(false);
                     }
                 }));
             }
@@ -651,11 +766,8 @@ namespace Plane.FormationCreator.ViewModels
             get
             {
                 return _WriteMissionCommand ?? (_WriteMissionCommand = new RelayCommand(async () =>
-                {
+                { 
-
+                    var _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
-
-                    ViewModels.ModifyTaskViewModel _taskmodimodel = ServiceLocator.Current.GetInstance<ViewModels.ModifyTaskViewModel>();
-                    var _flightTaskManager = _taskmodimodel.FlightTaskManager;
                     if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
                     {
                         Alert.Show("作为参照的原点未设置，无法写入相对位置！", "提示");
@@ -684,9 +796,11 @@ namespace Plane.FormationCreator.ViewModels
                                     //计算起飞需要的时间,5秒是上升加速和最后稳定时间
                                     int takeofftime = (int)(_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt / 2.5 + 5);
 
+                                    missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos));
+
                                     missions.Add(Mission.CreateTakeoffMission(
-                                        1,//1,
+                                        _flightTaskManager.Tasks[j].SingleCopterInfos[i].TakeOffWaitTime,
-                                        5,//takeofftime,
+                                        _flightTaskManager.Tasks[j].TakeOffTime,
                                         _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat,
                                         _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng,
                                         _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt)
@@ -697,30 +811,22 @@ namespace Plane.FormationCreator.ViewModels
                                     break;
 
                                 case FlightTaskType.FlyTo:
+                                    missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos));
 
-                                    foreach (LEDInfo ledInfo in _flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos)
+                                    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)
                                     {
-                                        Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
+                                        Lat = 90;
-                                        IMission LEDMission = Mission.CreateLEDControlMission(
+                                        Lng = 180;
-                                                ledInfo.Delay * 10,
-                                                ledInfo.LEDMode,
-                                                ledInfo.LEDRate,
-                                                0,   //ledInfo.LEDTimes,
-                                                color.R,
-                                                color.G,
-                                                color.B
-                                                );
-                                        missions.Add(LEDMission);
                                     }
                                     missions.Add(Mission.CreateWaypointMission(
                                             //5,//_flightTaskManager.Tasks[j].SingleCopterInfos[i].LoiterTime, 
                                             //5,// _flightTaskManager.Tasks[j].SingleCopterInfos[i].FlytoTime,
                                             _flightTaskManager.Tasks[j].LoiterTime,
                                             _flightTaskManager.Tasks[j].FlytoTime,
-                                            _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat - _flightTaskManager.OriginLat,
+                                            Lat,
-                                            _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng - _flightTaskManager.OriginLng,
+                                            Lng,
-                                            //_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
-                                            //_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng,
                                             _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt)
                                         );
                                         
@@ -736,7 +842,14 @@ namespace Plane.FormationCreator.ViewModels
                                     //返航
                                     missions.Add(Mission.CreateReturnToLaunchMission());
                                     break;
-   
+
+                                case FlightTaskType.Land:
+                                    missions.AddRange(CreateLEDMissions(_flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos));
+
+                                    missions.Add(Mission.CreateLandMission(
+                                        _flightTaskManager.Tasks[j].SingleCopterInfos[i].LandWaitTime)
+                                        );
+                                    break;
                                 default:
                                     break;
 
@@ -879,6 +992,26 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        private List<IMission> CreateLEDMissions(IEnumerable<LEDInfo> LEDInfos)
+        {
+            List<IMission> missions = new List<IMission>();
+            foreach (LEDInfo ledInfo in LEDInfos)
+            {
+                Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
+                IMission LEDMission = Mission.CreateLEDControlMission(
+                        (int)(ledInfo.Delay * 10),
+                        ledInfo.LEDMode,
+                        ledInfo.LEDRate,
+                        0,   //ledInfo.LEDTimes,
+                        color.R,
+                        color.G,
+                        color.B
+                        );
+                missions.Add(LEDMission);
+            }
+            return missions;
+        }
+
 
 
 

Plane.FormationCreator/ViewModels/MainViewModel.cs

@@ -9,6 +9,9 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Input;
+using Microsoft.Win32;
+using Microsoft.Practices.ServiceLocation;
+using System.IO;
 
 namespace Plane.FormationCreator.ViewModels
 {
@@ -27,7 +30,7 @@ namespace Plane.FormationCreator.ViewModels
 
         private CopterListViewModel _copterListViewModel;
         public CopterListViewModel CopterListViewModel { get { return _copterListViewModel; } }
-
+        private FlightTaskManager _flightTaskManager = ServiceLocator.Current.GetInstance<FlightTaskManager>();
         public AppEx AppEx { get; } = AppEx.Current;
 
         private void AppEx_PropertyChanged(object sender, System.ComponentModel.PropertyChangedEventArgs e)
@@ -53,7 +56,16 @@ namespace Plane.FormationCreator.ViewModels
         public string Message
         {
             get { return _Message; }
-            set { Set(nameof(Message), ref _Message, value); }
+            set {
+                    Set(nameof(Message), ref _Message, value);
+                    _MessageList.Add(value);
+            }
+        }
+
+        private List<string> _MessageList = new List<string>();
+        public string Messages
+        {
+            get { return string.Join("\r\n", _MessageList.ToArray()); }
         }
 
         private ICommand _RestartListeningCommand;
@@ -115,6 +127,89 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+
+        private ICommand _ExportTasksCommand;
+        public ICommand ExportTasksCommand
+        {
+            get
+            {
+                return _ExportTasksCommand ?? (_ExportTasksCommand = new RelayCommand(() =>
+                {
+                    if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
+                    {
+                        Alert.Show("作为参照的原点未设置，无法导出相对位置！", "提示");
+                        return;
+                    }
+                    var exportedText = _flightTaskManager.ExportTasks();
+                    var dialog = new SaveFileDialog
+                    {
+                        DefaultExt = "fcg",
+                        Filter = "编队飞行任务 (*.fcg)|*.fcg"
+                    };
+                    if (dialog.ShowDialog() == true)
+                    {
+                        File.WriteAllText(dialog.FileName, exportedText);
+                    }
+                }));
+            }
+        }
+
+
+        private int _txtStarindex = 0;
+        public int txtStarindex
+        {
+            get { return _txtStarindex; }
+            set { Set(nameof(txtStarindex), ref _txtStarindex, value); }
+        }
+
+        private int _txtendindex = 0;
+        public int txtendindex
+        {
+            get { return _txtendindex; }
+            set { Set(nameof(txtendindex), ref _txtendindex, value); }
+        }
+
+        private ICommand _ImportTasksCommand;
+        public ICommand ImportTasksCommand
+        {
+            get
+            {
+                return _ImportTasksCommand ?? (_ImportTasksCommand = new RelayCommand(() =>
+                {
+                    if (_flightTaskManager.OriginLat == 0 && _flightTaskManager.OriginLng == 0)
+                    {
+                        Alert.Show("作为参照的原点未设置，无法导入相对位置！", "提示");
+                        return;
+                    }
+                    var dialog = new OpenFileDialog
+                    {
+                        DefaultExt = "fcg",
+                        Filter = "编队飞行任务 (*.fcg)|*.fcg"
+                    };
+                    if (dialog.ShowDialog() == true)
+                    {
+                        int _startindex = txtStarindex;
+                        int _endindex = txtendindex;
+
+                        var tasksText = File.ReadAllText(dialog.FileName);
+                        if ((txtStarindex == 0) && (txtendindex == 0))
+                            _flightTaskManager.ImportTasks(tasksText);
+                        else
+                        {
+                            _endindex = txtendindex;
+                            if (_startindex == 0)
+                                _startindex = 1;
+                            if (_endindex == 0)
+                                _endindex = _startindex;
+                            _flightTaskManager.ImportTasksindex(tasksText, _startindex, _endindex);
+                        }
+
+
+                    }
+                }));
+            }
+        }
+
         private string GetSwitchVelocityModeButtonContent()
             => AppEx.Current.IsInFastMode ? "高速模式" : "低速模式";
     }

Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs

@@ -490,6 +490,21 @@ namespace Plane.FormationCreator.ViewModels
             }
         }
 
+        private ICommand _BackTakeOffPointCommand;
+        public ICommand BackTakeOffPointCommand
+        {
+            get
+            {
+                return _BackTakeOffPointCommand ?? (_BackTakeOffPointCommand = new RelayCommand<int>(async =>
+                {
+                    foreach (FlightTaskSingleCopterInfo info in _flightTaskManager.SelectedTask.SingleCopterInfos)
+                    {
+                        info.TargetLat = info.Copter.Latitude;
+                        info.TargetLng = info.Copter.Longitude;
+                    }
+                }));
+            }
+        }
 
 
         private ICommand _LevelAlignmentCommand;
@@ -1338,5 +1353,17 @@ public ICommand VerticlAlignmentCommand
             }
         }
 
+        //缩放
+        private ICommand _BackToPreviousTaskPoint;
+        public ICommand BackToPreviousTaskPoint
+        {
+            get
+            {
+                return _BackToPreviousTaskPoint ?? (_BackToPreviousTaskPoint = new RelayCommand<int>(async  =>
+                {
+                    _flightTaskManager.SelectedTask.VerticalLift = true;
+                }));
+            }
+        }
     }
 }

Plane.FormationCreator/Views/ConnectWindow.xaml

@@ -8,8 +8,8 @@
                xmlns:ec="clr-namespace:Plane.Windows.Controls;assembly=Plane.Windows"
                mc:Ignorable="d"
                Title="连接"
-               Width="422"
+               Width="429.175"
-               Height="339"
+               Height="570.371"
                Style="{StaticResource VSWindowStyleKey}"
                WindowStartupLocation="CenterScreen"
                FontFamily="Microsoft YaHei"
@@ -65,6 +65,7 @@
         <Grid.RowDefinitions>
             <RowDefinition />
             <RowDefinition Height="Auto" />
+            <RowDefinition Height="Auto" />
         </Grid.RowDefinitions>
         <Grid.ColumnDefinitions>
             <ColumnDefinition Width="Auto" />
@@ -119,5 +120,14 @@
                                Command="{Binding Path=ConnectCommand}"
                                CommandParameter="UDP" />-->
         </StackPanel>
+        <StackPanel Orientation="Horizontal"
+                    HorizontalAlignment="Center"
+                    Grid.Row="2"
+                    Grid.ColumnSpan="3">
+            <Button Content="设置20台" Margin="10" Command="{Binding Path=SendCommand}" />
+            <Button Content="写入航点" Margin="10" Command="{Binding Path=CommWriteMissionCommand}" />
+            <Button Content="广播编号3"  Margin="10" Command="{Binding Path=WriteIdCommand}" />
+        </StackPanel>
+        
     </Grid>
 </c:MetroWindow>

Plane.FormationCreator/Views/ControlPanelView.xaml

@@ -63,19 +63,29 @@
                      Visibility="Hidden"
                      Text="{Binding AltP, UpdateSourceTrigger=PropertyChanged}" />
         </WrapPanel>
+        <WrapPanel>
+
+            <Button Content="起飞测试"
+                     Command="{Binding GuidAsyncCommand}" />
+            <Button Content="全部降落"
+                     Command="{Binding AllLandCommand}" />
+            <Button Content="测试电机"
+                     Command="{Binding MotorTestCommand}" />
+            <Button Content="全部加锁"
+                     Command="{Binding LockAllCommand}" />
+            <Button Content="检测电压"
+                     Command="{Binding DetectionVoltage}" />
+        </WrapPanel>
         <WrapPanel>
             <Button Content="写入航点"
                      Command="{Binding WriteMissionCommand}" />
+
             <Button Content="全部解锁"
                      Command="{Binding UnlockAllCommand}" />
-             <Button Content="开始任务"
+            <Button Content="开始任务"
                      Command="{Binding MissionStartCommand}" />
-        
-            
-            
-            
-            
         </WrapPanel>
+
         <WrapPanel>
             <TextBox 
                      Grid.Column="1" 
@@ -92,8 +102,6 @@
                      Text="{Binding Path=RTKState}"
                         />
         </WrapPanel>
-        
-
 
         <!--// 林俊清, 20150920, 目前不再使用 FormationController，删除相关按钮。
         <StackPanel Visibility="{Binding Source={x:Static fc:AppEx.Current}, Path=AppMode, Converter={StaticResource AppModeToVisibilityConverter}, ConverterParameter=ControlPanelView_Formation}">

Plane.FormationCreator/Views/CopterListView.xaml

@@ -66,6 +66,10 @@
             <Button Content="清除"
                     Margin="5,0,5,0"
                     Command="{Binding ClearCoptersCommand}" />
+            <TextBlock  Text="总数"
+                   Margin="5,5,0,0"/>
+            <TextBlock  Text="{Binding Path=CopterManager.Copters.Count}"
+                   Margin="0,5,0,0"/>
             <TextBlock  Text="{Binding Path=Communinfo}"
                    Margin="5,5,0,0"/>
 

Plane.FormationCreator/Views/CopterListView.xaml.cs

@@ -38,6 +38,13 @@ namespace Plane.FormationCreator.Views
             {
                 _copterManager.RaiseSelectedCoptersChanged(e.AddedItems.Cast<ICopter>(), e.RemovedItems.Cast<ICopter>());
             };
+            lvwDrones.KeyDown += (sender, e) =>
+            {
+                if (e.IsDown)
+                {
+                    //e.can
+                }
+            };
         }
 
         private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();

Plane.FormationCreator/Views/MapView.xaml.cs

@@ -348,31 +348,33 @@ namespace Plane.FormationCreator.Views
         }
 
         Microsoft.Expression.Shapes.RegularPolygon original = null;
-        
+        const double ORIGIN_RADIUS = 12;
         private void FlightTaskManager_SetOriginal(object sender, FlightTaskAddedOriginalEventArgs e)
         {
+            if (_copterManager.Copters.Count == 0) return;
             if (map.Children.Contains(original))
-                return;
+                map.Children.Remove(original);
-            Location location = new Location();
+            Location location = new Location(_copterManager.Copters[0].Latitude, _copterManager.Copters[0].Longitude);
-            if (e.Lat == 0 && e.Lng == 0)
+            Point point = map.LocationToViewportPoint(location);
-                location = map.Center;
+            point.X -= ORIGIN_RADIUS;
-            else
+            point.Y -= ORIGIN_RADIUS;
-                location = new Location(e.Lat, e.Lng);
+            Location mapLocation = map.ViewportPointToLocation(point);
 
             original = new Microsoft.Expression.Shapes.RegularPolygon
             {
                 Tag = ORIGINALPOINT_TAG,
-                Fill = new SolidColorBrush(Color.FromRgb(237, 155, 3)),
+                Fill = new SolidColorBrush(Color.FromArgb(200,237, 155, 3)),
+                Stroke = new SolidColorBrush(Color.FromArgb(200, 238, 80, 238)),
                 StrokeThickness = 1,
-                Stroke = new SolidColorBrush(Color.FromRgb(255, 255, 255)),
+                Width = ORIGIN_RADIUS * 2,
-                Width = 25,
+                Height = ORIGIN_RADIUS * 2,
-                Height = 25,
                 InnerRadius = 0.5,
                 PointCount = 5,
             };
 
             map.Children.Add(original);
-            MapLayer.SetPosition(original, location);
+            MapLayer.SetPosition(original, mapLocation);
+            MapLayer.SetZIndex(original, 200);
             original.ToolTip = location.ToString();
             originaDrag = false;
             _flightTaskManager.OriginLat = location.Latitude;
@@ -382,11 +384,19 @@ namespace Plane.FormationCreator.Views
         }
 
         private bool originaDrag = false;
+        double originX = 0;
+        double originY = 0;
         double wpOffsetX = 0;
         double wpOffsetY = 0;
         private void OriginalMouseDown(object sender, MouseButtonEventArgs e)
         {
             originaDrag = true;
+
+
+            var originPoint = e.GetPosition(map);
+            originX = originPoint.X;
+            originY = originPoint.Y;
+
             var posInObject = e.GetPosition(original);
             wpOffsetX = posInObject.X;
             wpOffsetY = posInObject.Y;
@@ -406,13 +416,16 @@ namespace Plane.FormationCreator.Views
         private void OriginalMouseUp(object sender, MouseButtonEventArgs e)
         {
             if (originaDrag)
-            { 
+            {
+                
+
+
                 Point eventPos = e.GetPosition(map);
-                Location location = map.ViewportPointToLocation(eventPos);
+                var centrePos = new Point(eventPos.X - wpOffsetX + ORIGIN_RADIUS, eventPos.Y - wpOffsetY + ORIGIN_RADIUS);
+                Location location = map.ViewportPointToLocation(centrePos);
                 _flightTaskManager.OriginLat = location.Latitude;
                 _flightTaskManager.OriginLng = location.Longitude;
                 original.ToolTip = location.ToString();
-                Console.WriteLine("original-----------"+original.ToolTip);
                 Clipboard.SetDataObject(string.Format("{0},{1}", location.Latitude, location.Longitude), true);
                 originaDrag = false;
             }

Plane.FormationCreator/Views/MapView_CopterDrawing.cs

@@ -69,6 +69,7 @@ namespace Plane.FormationCreator.Views
 
             const double COPTER_RADIUS = 12;
             const double WAYPOINT_RADIUS = 6;
+           
 
             public ICopter Copter { get; set; }
             public Grid DotContainer { get; set; }
@@ -323,7 +324,7 @@ namespace Plane.FormationCreator.Views
                     //否则多选拖动
                     if (_flightTaskManager.SelectedTaskIndex != taskIndex || !_copterManager.SelectedCopters.Contains(this.Copter))
                     {
-                        _copterManager.Select(null);
+                        //_copterManager.Select(null);
                         _copterManager.Select(this.Copter);
                         _flightTaskManager.Select(taskIndex, this.Copter);
                     }

Plane.FormationCreator/Views/ModifyTaskView.xaml

@@ -9,283 +9,169 @@
              mc:Ignorable="d"
              d:DesignWidth="300" Height="420">
     <TabControl>
-	
+
         <TabItem Header="航点设计">
-         
+            <TabControl SelectedIndex="{Binding FlightTaskManager.SelectedTask.TaskTypeIndex,UpdateSourceTrigger=PropertyChanged}">
-        <StackPanel Orientation="Vertical" Margin="0,0,0,-30">
+                <TabControl.Resources>
-        <StackPanel.Resources>
+                    <Style TargetType="TabItem"
-            <Style TargetType="StackPanel">
+                               BasedOn="{StaticResource {x:Type TabItem}}">
-                <Setter Property="Orientation"
+                        <Setter Property="Visibility"
-                        Value="Horizontal" />
+                                    Value="Collapsed"/>
-            </Style>
+                    </Style>
-        </StackPanel.Resources>
+                </TabControl.Resources>
-      
+                <TabItem Header="起飞">
-        <StackPanel>
+                    <StackPanel Orientation="Vertical" Margin="0,0,0,-30">
-            <Button Content="导出任务"
+                        <StackPanel.Resources>
-                    Margin="0,5,0,0"
+                            <Style TargetType="StackPanel">
-                    Command="{Binding ExportTasksCommand}" />
+                                <Setter Property="Orientation"
-            <Button Content="导入任务"
+                                        Value="Horizontal" />
-                    Margin="5,5,0,0"
+                            </Style>
-                    Command="{Binding ImportTasksCommand}" 
+                        </StackPanel.Resources>
-                    />
+                        <TextBlock Margin="5" Text="起飞任务"/>
-            <TextBlock Text="起始步骤" Margin="5, 10, 5, 0"/>
+                        <Separator/>
-            <TextBox x:Name="txtStarindex"
+                        <!-- <StackPanel>
-                     Width="45"
+                           
-                     Margin="0,5,5,0"
+                            <TextBlock Text="起飞数量：" Margin="5,10,5,0" />
-                     
+                            <TextBox x:Name="txttakeoff"
-                     VerticalContentAlignment="Center" 
+                                     Width="25"
-                     Text="{Binding txtStarindex, UpdateSourceTrigger=PropertyChanged}" 
+                                     Margin="0,10,5,0"
-                     />
+                                     VerticalContentAlignment="Center" 
-            <TextBlock Text="结束" Margin="0, 10, 5, 0"/>
+                                     Text="{Binding FlightTaskManager.TakeOffNumAttr, UpdateSourceTrigger=PropertyChanged}"/>
-            <TextBox x:Name="txtendindex"
+                        </StackPanel>-->
-                     Width="45"
+                       
-                     Margin="0,5,5,0"
+                        <Separator />
-                    
+                        <Grid DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
-                     VerticalContentAlignment="Center"
+                              >
-                     Text="{Binding txtendindex, UpdateSourceTrigger=PropertyChanged}" 
-                     />
-        </StackPanel>
-		
-        <StackPanel>
-            <Button Content="上边对齐"
-                    Margin="0,5,5,0"
-                    Command="{Binding LevelAlignmentCommand}" />
-            <Button Content="右边对齐"
-                    Margin="0,5,5,0"
-                    Command="{Binding VerticlAlignmentCommand}" />
-            <Button Content="水平均分"
-                    Margin="0,5,5,0"
-                    Command="{Binding LevelAverageCommand}" />
-            <Button Content="垂直均分"
-                    Margin="0,5,5,0"
-                    Command="{Binding VerticlAverageCommand}" />
-        </StackPanel>
-		
-        <StackPanel>
-            <Button Content="水平旋转"
-                    Margin="0,5,5,0"
-                    Command="{Binding LevelRotateCommand}" 
-                    CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
-            <Button Content="垂直旋转"
-                    Margin="0,5,5,0"
-                    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"
-                     Margin="0,5,5,0"
-                     Text="0"
-                     VerticalContentAlignment="Center" />
-            <TextBlock Text="度" Margin="0, 10, 5, 0"/>
-        </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" />
-            <TextBlock Text="%" Margin="0, 10, 5, 0"/>
-            <Button Content="计算距离"
-                    Margin="0,5,5,0" 
-                     Command="{Binding calDistinceCommand}"/>
-
-            <TextBox Grid.Column="1" 
-                     Width="35"
-                     Margin="0, 5, 5, 0"
-                     HorizontalContentAlignment="Right"
-                     Text="{Binding Distancevalue, UpdateSourceTrigger=PropertyChanged}"/>
-            <TextBlock Text="米" Margin="0, 10, 5, 0"/>
-            <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="40"
-					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="35"
-                     Margin="0, 5, 5, 0"
-                     HorizontalContentAlignment="Right"
-                     Text="{Binding directionvalue, UpdateSourceTrigger=PropertyChanged}"/>
-            <TextBlock Text="度" Margin="0, 10, 5, 0"/>
-        </StackPanel>
-
-        <Separator />
-		
-        <StackPanel>
-            <TextBlock Text="起飞数量：" Margin="5,10,5,0" />
-            <TextBox x:Name="txttakeoff"
-                     Width="25"
-                     Margin="0,5,5,0"
-                     VerticalContentAlignment="Center" 
-                     DataContext="{Binding FlightTaskManager}" 
-                     Text="{Binding TakeOffNumAttr, UpdateSourceTrigger=PropertyChanged}"/>
-        </StackPanel>
-
-    </StackPanel>
-        </TabItem>
-        <TabItem Header="航点参数">
-          <TabControl Margin="0,5"
-                    Grid.IsSharedSizeScope="True"
-                    DataContext="{Binding FlightTaskManager.SelectedTask}"
-                    SelectedIndex="{Binding TaskTypeIndex}">
-            <TabControl.Resources>
-                <Style TargetType="TextBlock">
-                    <Setter Property="VerticalAlignment"
-                            Value="Center" />
-                </Style>
-                <Style TargetType="TextBox"
-                       BasedOn="{StaticResource {x:Type TextBox}}">
-                    <Setter Property="VerticalAlignment"
-                            Value="Center" />
-                    <Setter Property="Margin"
-                            Value="2" />
-                    <Setter Property="MinWidth"
-                            Value="100" />
-                </Style>
-                <Style TargetType="CheckBox"
-                       BasedOn="{StaticResource {x:Type CheckBox}}">
-                    <Setter Property="VerticalAlignment"
-                            Value="Center" />
-                    <Setter Property="Margin"
-                            Value="2" />
-                </Style>
-            </TabControl.Resources>
-            <TabItem Header="航点">
-                <Grid Margin="5">
-                    <Grid.RowDefinitions>
-                        <RowDefinition SharedSizeGroup="TabItem" />
-                    </Grid.RowDefinitions>
-
-                    <Grid>
-                        <Grid.RowDefinitions>
-                            <RowDefinition />
-                            <RowDefinition />
-                            <RowDefinition />
-                            <RowDefinition />
-                            <RowDefinition />
-                        </Grid.RowDefinitions>
-
-                        <Grid Grid.Row="0"  >
-                                <Grid.RowDefinitions>
-                                    <RowDefinition />
-                                    <RowDefinition />
-                                </Grid.RowDefinitions>
                             <Grid.ColumnDefinitions>
-                                <ColumnDefinition />
+                                <ColumnDefinition/>
-                                <ColumnDefinition />
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
                             </Grid.ColumnDefinitions>
-                                <TextBlock Grid.Row="0" Text="飞行时间: " />
-                                <TextBox Grid.Column="1" Margin="0,5,10,0"
-                                     Text="{Binding FlytoTime, UpdateSourceTrigger=PropertyChanged}" />
-                                <TextBlock Grid.Row="1" Text="悬停时间: " />
-                                <TextBox  Grid.Row="1" Margin="0,5,10,0" Grid.Column="1" 
-                                     Text="{Binding LoiterTime, UpdateSourceTrigger=PropertyChanged}" />
-                            
-                               
-                            </Grid>
 
-                            <Separator Grid.Row="1" />
+                            <TextBlock Margin="5" Text="起飞延时"/>
-                            <Grid Grid.Row="2"  DataContext="{Binding ModifyingSingleCopterInfo}">
+                            <TextBox Margin="5" Grid.Column="2"
-                                <Grid.ColumnDefinitions>
+                                     Text="{Binding TakeOffWaitTime, UpdateSourceTrigger=PropertyChanged}"/>
-                                    <ColumnDefinition />
+                            <Button Content="应用所选" Margin="5" Grid.Column="3"
-                                    <ColumnDefinition />
+                                    Command="{Binding SetSelTakeOffWaitCommand}"/>
-                                </Grid.ColumnDefinitions>
+                        </Grid>
-                                <Grid.RowDefinitions>
+                        
-                                    <RowDefinition />
+                    </StackPanel>
-                                    <RowDefinition />
+                </TabItem>
-                                </Grid.RowDefinitions>
+                <TabItem Header="航点">
-                                <TextBlock  Text="灯光控制: " />
+                    <StackPanel Orientation="Vertical" Margin="0,0,0,-30">
-                                <Button Content="添加"
+                        <StackPanel.Resources>
-                                     Grid.Column="1" 
+                            <Style TargetType="StackPanel">
+                                <Setter Property="Orientation" Value="Horizontal" />
+                            </Style>
+                        </StackPanel.Resources>
+                        <TextBlock Margin="5" Text="航点任务"/>
+                        <Separator/>
+                        <StackPanel>
+                            <Button Content="上边对齐"
                                     Margin="0,5,5,0"
-                                    Command="{Binding AddLEDCommand}"  />
+                                    Command="{Binding LevelAlignmentCommand}" />
-                                <ItemsControl Name="LEDItems"
+                            <Button Content="右边对齐"
-                                              Grid.Row="1" 
+                                    Margin="0,5,5,0"
-                                              Grid.ColumnSpan="2"
+                                    Command="{Binding VerticlAlignmentCommand}" />
-                                              Height="Auto"
+                            <Button Content="水平均分"
-                                              MaxHeight="200"
+                                    Margin="0,5,5,0"
-                                              ScrollViewer.VerticalScrollBarVisibility="Auto"
+                                    Command="{Binding LevelAverageCommand}" />
-                                              ScrollViewer.HorizontalScrollBarVisibility="Disabled"
+                            <Button Content="垂直均分"
-                                              ItemsSource="{Binding Path= LEDInfos}">
+                                    Margin="0,5,5,0"
-                                    <ItemsControl.ItemsPanel>
+                                    Command="{Binding VerticlAverageCommand}" />
-                                        <ItemsPanelTemplate>
+                            <Button Content="回起飞点"
-                                            <StackPanel Orientation="Vertical" />
+                                    Margin="0,5,5,0"
-                                        </ItemsPanelTemplate>
+                                    Command="{Binding BackTakeOffPointCommand}" />
-                                    </ItemsControl.ItemsPanel>
+                        </StackPanel>
-                                    <ItemsControl.ItemTemplate>
-                                        <DataTemplate>
-                                            <StackPanel Margin="0,8,0,0" Orientation="Horizontal" >
-                                                <TextBlock Text="类型" Margin="0,0,0,0" VerticalAlignment="Center" ></TextBlock>
-                                                <ComboBox  MinWidth="80"  Margin="5,0,0,0" Foreground="White" VerticalContentAlignment="Center"
-                                                           SelectedIndex="{Binding Path=LEDMode}">
-                                                    <ComboBox.ItemContainerStyle>
-                                                        <Style>
-                                                            <Setter Property="ComboBoxItem.Foreground" Value="White"/>
-                                                        </Style>
-                                                    </ComboBox.ItemContainerStyle>
-                                                    <ComboBoxItem Content="常亮" />
-                                                    <ComboBoxItem Content="闪烁" />
-                                                    <ComboBoxItem Content="随机" />
-                                                    <ComboBoxItem Content="渐亮" />
-                                                    <ComboBoxItem Content="渐暗" />
-                                                </ComboBox>
 
-                                                <TextBlock Text="时间"  Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
+                        <StackPanel>
-                                                <TextBox MinWidth="40" MaxWidth="50" Margin="5,0,0,0"
+                            <Button Content="水平旋转"
-                                                         ToolTip="单位:秒，最小设置0.1秒"
+                                    Margin="0,5,5,0"
-                                                         Text="{Binding Delay, UpdateSourceTrigger=PropertyChanged}" />
+                                    Command="{Binding LevelRotateCommand}" 
+                                    CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
+                            <Button Content="垂直旋转"
+                                    Margin="0,5,5,0"
+                                    Command="{Binding VerticlRotateCommand}" 
+                                    CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
 
-                                                <TextBlock Text="频率" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
+                            <Button Content="整体旋转"
-                                                <TextBox MinWidth="40" MaxWidth="50" Margin="5,0,0,0"
+                                    Margin="0,5,5,0"
-                                                         Text="{Binding Path=LEDRate, UpdateSourceTrigger=PropertyChanged}" />
+                                    Command="{Binding TaskRotateCommand}" 
+                                    CommandParameter="{Binding ElementName=txtAlignmentLine, Path=Text}"/>
 
-                                                <TextBlock Text="颜色" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
+                            <TextBox x:Name="txtAlignmentLine"
-                                                <TextBox Margin="5,0,0,0" 
+                                     Width="35"
-                                                         Text="{Binding LEDRGB, UpdateSourceTrigger=PropertyChanged}" />
+                                     Margin="0,5,5,0"
+                                     Text="0"
+                                     VerticalContentAlignment="Center" />
+                            <TextBlock Text="度" Margin="0, 10, 5, 0"/>
 
-                                                <Button Content="删除" Margin="12,0,0,0" 
+                            <Button Content="回上一任务"
-                                                        Command="{Binding RemoveLEDCommand}"/>
+                                    Margin="0,5,5,0"
+                                    Command="{Binding BackToPreviousTaskPoint}" />
+                        </StackPanel>
 
-                                            </StackPanel>
+                        <StackPanel>
-                                        </DataTemplate>
+                            <Button Content="缩放比例"
-                                    </ItemsControl.ItemTemplate>
+                                    Margin="0,5,5,0"
-                                    
+                                    Command="{Binding ScaleCommand}" 
-                                    
+                                    CommandParameter="{Binding ElementName=txtScaleVale, Path=Text}"/>
-                                    
+
-                                </ItemsControl>
+                            <TextBox x:Name="txtScaleVale"
-                            </Grid>
+                                     Width="35"
-                            <Separator Grid.Row="3" />
+                                     Margin="0,5,5,0"
-                            <Grid Grid.Row="4"
+                                     Text="100"
-                              DataContext="{Binding ModifyingSingleCopterInfo}"
+                                     VerticalContentAlignment="Center" />
-                              IsEnabled="{Binding CanModifySingleCopterInfo}">
+                            <TextBlock Text="%" Margin="0, 10, 5, 0"/>
+                            <Button Content="计算距离"
+                                    Margin="0,5,5,0" 
+                                    Command="{Binding calDistinceCommand}"/>
+
+                            <TextBox Grid.Column="1" 
+                                     Width="35"
+                                     Margin="0, 5, 5, 0"
+                                     HorizontalContentAlignment="Right"
+                                     Text="{Binding Distancevalue, UpdateSourceTrigger=PropertyChanged}"/>
+                            <TextBlock Text="米" Margin="0, 10, 5, 0"/>
+                            <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="40"
+					                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="35"
+                                     Margin="0, 5, 5, 0"
+                                     HorizontalContentAlignment="Right"
+                                     Text="{Binding directionvalue, UpdateSourceTrigger=PropertyChanged}"/>
+                            <TextBlock Text="度" Margin="0, 10, 5, 0"/>
+                        </StackPanel>
+
+                        <Separator />
+
+
+                        <Grid Margin="5,10,5,0"
+                              DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
+                              IsEnabled="{Binding CanModifySingleCopterInfo}" >
                             <Grid.RowDefinitions>
                                 <RowDefinition />
                                 <RowDefinition />
                                 <RowDefinition />
+                                <RowDefinition />
                             </Grid.RowDefinitions>
                             <Grid.ColumnDefinitions>
                                 <ColumnDefinition />
@@ -294,7 +180,7 @@
 
                             <TextBlock Text="纬度: " />
                             <TextBox Grid.Column="1"
-                                      Margin="0,5,10,0"
+                                     Margin="0,5,10,0"
                                      Text="{Binding TargetLat, UpdateSourceTrigger=PropertyChanged}" />
 
                             <TextBlock Grid.Row="1"
@@ -310,327 +196,143 @@
                                      Grid.Column="1"
                                      Margin="0,5,10,0"
                                      Text="{Binding TargetAlt, UpdateSourceTrigger=PropertyChanged}" />
-                            
+
+                            <Button Grid.Row="3" 
+                                    Content="应用高度到所选" 
+                                    Grid.Column="1"  Margin="0,5,10,0"
+                                    Command="{Binding SetAllCopterAltCommand}"/>
                         </Grid>
-                    </Grid>
+                        <Separator/>
-                </Grid>
+                        <Grid DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
-            </TabItem>
+                              IsEnabled="{Binding CanModifySingleCopterInfo}" >
-            <TabItem Header="转向" Visibility="Collapsed">
-                <Grid Margin="5">
-                    <Grid.RowDefinitions>
-                        <RowDefinition SharedSizeGroup="TabItem" />
-                    </Grid.RowDefinitions>
-                    <Grid>
-                        <Grid.RowDefinitions>
-                            <RowDefinition Height="Auto" />
-                            <RowDefinition Height="Auto" />
-                            <RowDefinition Height="Auto" />
-                        </Grid.RowDefinitions>
-
-                        <Separator Grid.Row="1" />
-
-                        <Grid Grid.Row="2"
-                              DataContext="{Binding ModifyingSingleCopterInfo}"
-                              IsEnabled="{Binding CanModifySingleCopterInfo}">
-                            <Grid.RowDefinitions>
-                                <RowDefinition />
-                                <RowDefinition />
-                            </Grid.RowDefinitions>
                             <Grid.ColumnDefinitions>
-                                <ColumnDefinition />
+                                <ColumnDefinition/>
-                                <ColumnDefinition />
+                                <ColumnDefinition/>
-                                <ColumnDefinition Width="Auto" />
+
                             </Grid.ColumnDefinitions>
 
-                            <TextBlock Text="目标偏航: " />
+                            <CheckBox Margin="5" IsChecked="{Binding IsLandWaypoint,UpdateSourceTrigger=PropertyChanged}" Content="下降点"/>
-                            <TextBox Grid.Column="1"
+                            <Button Margin="5" Command="{Binding SetIsLandCommand}" Content="应用到所选" Grid.Column="1"/>
-                                     Text="{Binding TargetHeading, UpdateSourceTrigger=PropertyChanged}" />
-                            <TextBlock Grid.Column="2"
-                                       Text="°" />
                         </Grid>
-                    </Grid>
+                    </StackPanel>
-                </Grid>
+                </TabItem>
-            </TabItem>
+                <TabItem Header="降落">
-            <TabItem Header="画圈" Visibility="Collapsed">
+                    <StackPanel Orientation="Vertical" Margin="0,0,0,-30">
-                <Grid Margin="5">
+                        <StackPanel.Resources>
-                    <Grid.RowDefinitions>
+                            <Style TargetType="StackPanel">
-                        <RowDefinition SharedSizeGroup="TabItem" />
+                                <Setter Property="Orientation"
-                    </Grid.RowDefinitions>
+                                        Value="Horizontal" />
-                    <Grid>
+                            </Style>
-                        <Grid.RowDefinitions>
+                        </StackPanel.Resources>
-                            <RowDefinition Height="Auto" />
+                        <TextBlock Margin="5" Text="降落任务"/>
-                            <RowDefinition Height="Auto" />
+                        <Separator/>
-                            <RowDefinition Height="Auto" />
+                        <Grid DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}"
-                        </Grid.RowDefinitions>
+                              IsEnabled="{Binding CanModifySingleCopterInfo}" >
-
-                        <Separator Grid.Row="1" />
-
-                        <Grid Grid.Row="2"
-                              DataContext="{Binding ModifyingSingleCopterInfo}"
-                              IsEnabled="{Binding CanModifySingleCopterInfo}">
-                            <Grid.RowDefinitions>
-                                <RowDefinition />
-                                <RowDefinition />
-                                <RowDefinition />
-                                <RowDefinition />
-                                <RowDefinition />
-                            </Grid.RowDefinitions>
                             <Grid.ColumnDefinitions>
-                                <ColumnDefinition />
+                                <ColumnDefinition/>
-                                <ColumnDefinition />
+                                <ColumnDefinition/>
-                                <ColumnDefinition Width="Auto" />
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
                             </Grid.ColumnDefinitions>
-
+                            <TextBlock Margin="5" Text="降落延时"/>
-                            <TextBlock Text="圆心方向: " />
+                           
-                            <TextBox Grid.Column="1"
+                            <TextBox Margin="5" Grid.Column="2"
-                                     Text="{Binding CenterDirectionDeg, UpdateSourceTrigger=PropertyChanged}" />
+                                    Text="{Binding LandWaitTime, UpdateSourceTrigger=PropertyChanged}"/>
-                            <TextBlock Grid.Column="2"
+                            <Button Content="应用所选"  Command="{Binding SetSelLandWaitTimeCommand}" Grid.Column="3"/>
-                                       Text="°" />
+                         
-
-                            <TextBlock Grid.Row="1"
-                                       Text="半径: " />
-                            <TextBox Grid.Row="1"
-                                     Grid.Column="1"
-                                     Text="{Binding Radius, UpdateSourceTrigger=PropertyChanged}" />
-                            <TextBlock Grid.Row="1"
-                                       Grid.Column="2"
-                                       Text="cm" />
-
-                            <TextBlock Grid.Row="2"
-                                       Text="角速度: " />
-                            <TextBox Grid.Row="2"
-                                     Grid.Column="1"
-                                     Text="{Binding Rate, UpdateSourceTrigger=PropertyChanged}" />
-                            <TextBlock Grid.Row="2"
-                                       Grid.Column="2"
-                                       Text="°/s" />
-
-                            <TextBlock Grid.Row="3"
-                                       Text="圈数: " />
-                            <TextBox Grid.Row="3"
-                                     Grid.Column="1"
-                                     Text="{Binding Turns, UpdateSourceTrigger=PropertyChanged}" />
-                            <TextBlock Grid.Row="3"
-                                       Grid.Column="2"
-                                       Text="圈" />
-
-                            <TextBlock Grid.Row="4"
-                                       Text="通道3: " />
-                            <TextBox Grid.Row="4"
-                                     Grid.Column="1"
-                                     Text="{Binding Channel3, UpdateSourceTrigger=PropertyChanged}" />
                         </Grid>
+                    </StackPanel>
+
+                </TabItem>
+            </TabControl>
+
+        </TabItem>
+        <TabItem Header="灯光设计">
+            <StackPanel  DataContext="{Binding FlightTaskManager.SelectedTask.ModifyingSingleCopterInfo}">
+                <Grid >
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition/>
+                        <ColumnDefinition/>
+                    </Grid.ColumnDefinitions>
+                    <TextBlock  Text="灯光控制: " Margin="5, 10, 5, 0" VerticalAlignment="Center"/>
+                    <Grid  Grid.Column="1" VerticalAlignment="Center">
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition />
+                            <ColumnDefinition />
+                        </Grid.ColumnDefinitions>
+                        <Button Content="应用到全部" VerticalAlignment="Center"
+                                    Margin="0,5,5,0"
+                                    Command="{Binding SetAllCopterLEDCommand}"  />
+                        <Button Content="添加" VerticalAlignment="Center"
+                                     Grid.Column="1" 
+                                    Margin="0,5,5,0"
+                                    Command="{Binding AddLEDCommand}"  />
                     </Grid>
                 </Grid>
-            </TabItem>
-            <TabItem Header="悬停">
-                <Grid Margin="5">
-                    <Grid.RowDefinitions>
-                        <RowDefinition SharedSizeGroup="TabItem" />
-                    </Grid.RowDefinitions>
-                    <Grid>
-                        <Grid.RowDefinitions>
-                            <RowDefinition Height="Auto" />
-                            <RowDefinition Height="Auto" />
-                            <RowDefinition Height="Auto" />
-                        </Grid.RowDefinitions>
 
-                        <Grid>
-                            <Grid.RowDefinitions>
-                                <RowDefinition />
-                                <RowDefinition />
-                                <RowDefinition />
-                                <RowDefinition />
-                                <RowDefinition />
-                            </Grid.RowDefinitions>
-                            <Grid.ColumnDefinitions>
-                                <ColumnDefinition />
-                                <ColumnDefinition />
-                            </Grid.ColumnDefinitions>
-                            
-                            <TextBlock Text="悬停时间:（秒） " />
-                            <TextBox Grid.Column="1" 
-                                     Text="{Binding LoiterTimeAttr, UpdateSourceTrigger=PropertyChanged}" />
-                            
-                            <TextBlock Grid.Row="1" Grid.Column="0" Text="闪烁:(次数) " />
-                            <Grid Grid.Row="1" Grid.Column="1">
-                                <Grid.RowDefinitions>
-                                    <RowDefinition />
-                                </Grid.RowDefinitions>
-                                <Grid.ColumnDefinitions>
-                                    <ColumnDefinition />
-                                    <ColumnDefinition />
-                                </Grid.ColumnDefinitions>
-                                <CheckBox Grid.Row="0" Grid.Column="0"
-                                      IsChecked="{Binding flashAttr, UpdateSourceTrigger=PropertyChanged}" />
-                                <TextBox Grid.Column="1" Grid.Row="0"
-                                     Text="{Binding flashPeriodAttr, UpdateSourceTrigger=PropertyChanged}" />
-                            </Grid>
-                            
-                            <TextBlock Grid.Row="2" Grid.Column="0" Text="走马灯: " />
-                            <Grid Grid.Row="2" Grid.Column="1">
-                                <Grid.RowDefinitions>
-                                    <RowDefinition />
-                                </Grid.RowDefinitions>
-                                <Grid.ColumnDefinitions>
-                                    <ColumnDefinition />
-                                    <ColumnDefinition />
-                                </Grid.ColumnDefinitions>
-                                <CheckBox Grid.Row="0" Grid.Column="0"
-                                      IsChecked="{Binding oneByOneAttr, UpdateSourceTrigger=PropertyChanged}" />
-                                <TextBox Grid.Column="1" Grid.Row="0"
-                                     Text="{Binding oneByOnePeriodAttr, UpdateSourceTrigger=PropertyChanged}" />
-                            </Grid>
 
-                            <TextBox Grid.Row="3" Grid.ColumnSpan="2"  Text="{Binding flashCopterNameArray, UpdateSourceTrigger=PropertyChanged}" />
+                <ItemsControl Name="LEDItems" Margin="5"
-                            <TextBlock Grid.Row="4" Grid.Column="0" Text="机头方向: " />
+                                              Grid.Row="1" 
-                            <Grid Grid.Row="4" Grid.Column="1">
+                                              Grid.ColumnSpan="2"
-                                <Grid.RowDefinitions>
+                                              MinHeight="180"
-                                    <RowDefinition />
+                                              MaxHeight="350"
-                                </Grid.RowDefinitions>
+                                              ScrollViewer.VerticalScrollBarVisibility="Visible"
-                                <Grid.ColumnDefinitions>
+                                              ScrollViewer.HorizontalScrollBarVisibility="Hidden"
-                                    <ColumnDefinition />
+                                              ItemsSource="{Binding Path= LEDInfos}">
-                                    <ColumnDefinition />
+                    <ItemsControl.Template>
-                                </Grid.ColumnDefinitions>
+                        <ControlTemplate>
-                                <CheckBox Grid.Row="0" Grid.Column="0"
+                            <ScrollViewer x:Name="ScrollViewer" Padding="{TemplateBinding Padding}">
-                                      IsChecked="{Binding ChangeYaw, UpdateSourceTrigger=PropertyChanged}" />
+                                <ItemsPresenter />
-                                <TextBox Grid.Column="1" Grid.Row="0"
+                            </ScrollViewer>
-                                     Text="{Binding HeadYaw, UpdateSourceTrigger=PropertyChanged}" />
+                        </ControlTemplate>
-                            </Grid>
+                    </ItemsControl.Template>
-                        </Grid>
+                    <ItemsControl.ItemsPanel>
-                    </Grid>
+                        <ItemsPanelTemplate>
-                </Grid>
+                            <StackPanel Orientation="Vertical" />
-            </TabItem>
+                        </ItemsPanelTemplate>
-            <!-- 
+                    </ItemsControl.ItemsPanel>
-            <TabItem Header="LED控制">
+                    <ItemsControl.ItemTemplate>
-                <Grid Margin="5">
+                        <DataTemplate>
-                    <Grid.RowDefinitions>
+                            <StackPanel Margin="0,5,0,0" Orientation="Horizontal" >
-                        <RowDefinition SharedSizeGroup="TabItem" />
+                                <TextBlock Text="类型" Margin="0,0,0,0" VerticalAlignment="Center" ></TextBlock>
-                    </Grid.RowDefinitions>
+                                <ComboBox  MinWidth="80"  Margin="5,0,0,0" Foreground="White" VerticalContentAlignment="Center"
-                    <Grid>
+                                                           SelectedIndex="{Binding Path=LEDMode}">
-                        <Grid.RowDefinitions>
+                                    <ComboBox.ItemContainerStyle>
-                            <RowDefinition Height="Auto" />
+                                        <Style>
-                            <RowDefinition Height="Auto" />
+                                            <Setter Property="ComboBoxItem.Foreground" Value="White"/>
-                            <RowDefinition Height="Auto" />
+                                        </Style>
-                        </Grid.RowDefinitions>
+                                    </ComboBox.ItemContainerStyle>
+                                    <ComboBoxItem Content="常亮" />
+                                    <ComboBoxItem Content="闪烁" />
+                                    <ComboBoxItem Content="随机" />
+                                    <ComboBoxItem Content="渐亮" />
+                                    <ComboBoxItem Content="渐暗" />
+                                </ComboBox>
 
-                        <Separator Grid.Row="1" />
+                                <TextBlock Text="时间"  Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
+                                <TextBox MinWidth="40" MaxWidth="50" Margin="5,0,0,0"
+                                                         ToolTip="单位:秒，最小设置0.1秒"
+                                                         Text="{Binding Delay,UpdateSourceTrigger=PropertyChanged}" />
 
-                        <Grid Grid.Row="2"
+                                <TextBlock Text="频率" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
-                              DataContext="{Binding ModifyingSingleCopterInfo}"
+                                <TextBox MinWidth="40" MaxWidth="50" Margin="5,0,0,0"
-                              IsEnabled="{Binding CanModifySingleCopterInfo}">
+                                                         Text="{Binding Path=LEDRate, UpdateSourceTrigger=PropertyChanged}" />
-                            <Grid.RowDefinitions>
-                                <RowDefinition />
-                                <RowDefinition />
-                            </Grid.RowDefinitions>
-                            <Grid.ColumnDefinitions>
-                                <ColumnDefinition />
-                                <ColumnDefinition />
-                                <ColumnDefinition Width="Auto" />
-                            </Grid.ColumnDefinitions>
 
-                            <TextBlock Grid.Row="0" Grid.Column="0" Text="全部闪烁: " />
+                                <TextBlock Text="颜色" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
-                            <TextBox Grid.Column="1" Grid.Row="0"
+                                <TextBox Margin="5,0,0,0" 
-                                     Text="15" />
+                                                         Text="{Binding LEDRGB, UpdateSourceTrigger=PropertyChanged}" />
 
-                            <TextBlock Grid.Row="1" Grid.Column="0" Text="走马灯: " />
+                                <Button Content="删除" Margin="12,0,0,0" 
-                            <TextBox Grid.Column="1" Grid.Row="1"
+                                                        Command="{Binding RemoveLEDCommand}"/>
-                                     Text="15" />
-                        </Grid>
-                    </Grid>
-                </Grid>
-            </TabItem>
-            -->
-            <TabItem Header="返航">
-                <Grid Margin="5">
-                    <Grid.RowDefinitions>
-                        <RowDefinition SharedSizeGroup="TabItem" />
-                    </Grid.RowDefinitions>
-                    <Grid>
-                        <Grid.RowDefinitions>
-                            <RowDefinition Height="Auto" />
-                        </Grid.RowDefinitions>
 
-                        <Grid>
+                            </StackPanel>
-                            <Grid.RowDefinitions>
+                        </DataTemplate>
-                                <RowDefinition />
+                    </ItemsControl.ItemTemplate>
-                                <RowDefinition />
-                                
-                            </Grid.RowDefinitions>
-                            
-                            <Grid.ColumnDefinitions>
-                                <ColumnDefinition />
-                                <ColumnDefinition />
-                            </Grid.ColumnDefinitions>
-                            <TextBlock Text="返航高度: " />
-                            <TextBox Grid.Column="1"  Grid.Row="0" 
-                                     Text="{Binding RTLAlt, UpdateSourceTrigger=PropertyChanged}" />
 
-                            <TextBlock Text="同时返航数量: " Grid.Row="1" Grid.Column="0"  />
-                            <TextBox Grid.Column="1"  Grid.Row="1" 
-                                     Text="{Binding RetNumAttr, UpdateSourceTrigger=PropertyChanged}" />
 
-                        </Grid>
-                    </Grid>
-                </Grid>
-            </TabItem>
-            <!--<TabItem Header="简单画圈">
-                <Grid Margin="5">
-                    <Grid.RowDefinitions>
-                        <RowDefinition SharedSizeGroup="TabItem" />
-                    </Grid.RowDefinitions>
-                    <Grid>
-                        <Grid.RowDefinitions>
-                            <RowDefinition Height="Auto" />
-                            <RowDefinition Height="Auto" />
-                            <RowDefinition Height="Auto" />
-                        </Grid.RowDefinitions>
 
-                        <Separator Grid.Row="1" />
+                </ItemsControl>
-
+            </StackPanel>
-                        <Grid Grid.Row="2"
-                              DataContext="{Binding ModifyingSingleCopterInfo}"
-                              IsEnabled="{Binding CanModifySingleCopterInfo}">
-                            <Grid.RowDefinitions>
-                                <RowDefinition />
-                                <RowDefinition />
-                                <RowDefinition />
-                            </Grid.RowDefinitions>
-                            <Grid.ColumnDefinitions>
-                                <ColumnDefinition />
-                                <ColumnDefinition />
-                                <ColumnDefinition Width="Auto" />
-                            </Grid.ColumnDefinitions>
-
-                            <TextBlock Grid.Row="0"
-                                       Text="角速度: " />
-                            <TextBox Grid.Row="0"
-                                     Grid.Column="1"
-                                     Text="{Binding Rate, UpdateSourceTrigger=PropertyChanged}" />
-                            <TextBlock Grid.Row="0"
-                                       Grid.Column="2"
-                                       Text="°/s" />
-
-                            <TextBlock Grid.Row="1"
-                                       Text="圈数: " />
-                            <TextBox Grid.Row="1"
-                                     Grid.Column="1"
-                                     Text="{Binding Turns, UpdateSourceTrigger=PropertyChanged}" />
-                            <TextBlock Grid.Row="1"
-                                       Grid.Column="2"
-                                       Text="圈" />
-
-                            <TextBlock Grid.Row="2"
-                                       Text="通道3: " />
-                            <TextBox Grid.Row="2"
-                                     Grid.Column="1"
-                                     Text="{Binding Channel3, UpdateSourceTrigger=PropertyChanged}" />
-                        </Grid>
-                    </Grid>
-                </Grid>
-            </TabItem>-->
-        </TabControl>
-      
         </TabItem>
     </TabControl>
 </UserControl>

Plane.FormationCreator/Views/ModifyTaskView.xaml.cs

@@ -24,11 +24,12 @@ namespace Plane.FormationCreator.Views
     /// </summary>
     public partial class ModifyTaskView : UserControl
     {
+        ModifyTaskViewModel _modifyTaskViewModel = ServiceLocator.Current.GetInstance<ModifyTaskViewModel>();
         public ModifyTaskView()
         {
             InitializeComponent();
 
-            this.DataContext = ServiceLocator.Current.GetInstance<ModifyTaskViewModel>();
+            this.DataContext = _modifyTaskViewModel;
         }
 
         private void Button_Click(object sender, RoutedEventArgs e)

Plane.FormationCreator/Views/TaskBarView.xaml

@@ -105,9 +105,9 @@
                                    Foreground="Black"
                                    Text="{Binding TaskType}" />
                         </Border>
-                        
+
                     </Grid>
-                    
+
                 </DataTemplate>
             </ItemsControl.ItemTemplate>
         </ItemsControl>
@@ -117,27 +117,28 @@
                 <RowDefinition/>
                 <RowDefinition/>
             </Grid.RowDefinitions>
-            <StackPanel Visibility="Hidden">
+            <StackPanel Height="100" Background="#FF2D2D2D">
-                <ComboBox Width="100" HorizontalAlignment="Left" Foreground="White"  
+
-                          DataContext="{Binding FlightTaskManager.SelectedTask}"
-                          SelectedIndex="{Binding TaskTypeIndex}">
-                    <ComboBox.ItemContainerStyle>
-                        <Style>
-                            <Setter Property="ComboBoxItem.Foreground" Value="White"/>
-                        </Style>
-                    </ComboBox.ItemContainerStyle>
-                    <ComboBoxItem Content="航点" />
-                    <ComboBoxItem Content="转向" />
-                    <ComboBoxItem Content="画圈" />
-                    <ComboBoxItem Content="悬停" />
-                    <ComboBoxItem Content="返航" />
-                </ComboBox>
                 <TabControl
                     DataContext="{Binding FlightTaskManager.SelectedTask}"
-                    SelectedIndex="{Binding TaskTypeIndex}">
+                    SelectedIndex="{Binding TaskTypeIndex,UpdateSourceTrigger=PropertyChanged}">
-                   
+
+
+
+                    <TabItem Header="起飞">
+                        <Grid Margin="10">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="起飞时间"/>
+                            <TextBox Grid.Column="1" Margin="2"
+                                     Text="{Binding TakeOffTime, UpdateSourceTrigger=PropertyChanged}" />
+                        </Grid>
+                       
+                    </TabItem>
                     <TabItem Header="航点">
-                        <Grid>
+                        <Grid Margin="10">
                             <Grid.RowDefinitions>
                                 <RowDefinition />
                                 <RowDefinition />
@@ -147,25 +148,29 @@
                                 <ColumnDefinition />
                             </Grid.ColumnDefinitions>
                             <TextBlock Grid.Row="0" Text="飞行时间: " />
-                            <TextBox Grid.Column="1" Margin="0,5,10,0"
+                            <TextBox Grid.Column="1" Margin="2"
                                      Text="{Binding FlytoTime, UpdateSourceTrigger=PropertyChanged}" />
                             <TextBlock Grid.Row="1" Text="悬停时间: " />
-                            <TextBox  Grid.Row="1" Margin="0,5,10,0" Grid.Column="1" 
+                            <TextBox  Grid.Row="1"  Grid.Column="1" Margin="2"
                                      Text="{Binding LoiterTime, UpdateSourceTrigger=PropertyChanged}" />
                         </Grid>
                     </TabItem>
-                    
-                    <TabItem Header="转向">
-                    </TabItem>
-                    
-                    <TabItem Header="画圈">
-                    </TabItem>
 
-                    <TabItem Header="悬停">
+                    <TabItem Header="降落">
-                    </TabItem>
+                        <Grid Margin="10" >
-
+                            <Grid.RowDefinitions>
-                    <TabItem Header="返航">
+                                <RowDefinition />
+                            </Grid.RowDefinitions>
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition />
+                                <ColumnDefinition />
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Text="等待时间: "  />
+                            <TextBox  Grid.Column="1" Margin="2"
+                                        Text="{Binding LandWaitTime, UpdateSourceTrigger=PropertyChanged}"  />
+                        </Grid>
                     </TabItem>
+                        
                 </TabControl>
             </StackPanel>
             <StackPanel Grid.Row="1"
@@ -183,14 +188,14 @@
                 <Button Content="强制下一步"
                     Background="#232323"
                     Command="{Binding NextTasksCommand}" />
-                <Button Content="设置原点"
+                <Button Content="重设原点"
                     Background="#232323"
                     Command="{Binding SetOriginCommand}" />
                 <!--<Button Content="保存" />
             <Button Content="取消" />-->
             </StackPanel>
         </Grid>
-        
+
 
     </Grid>
 </UserControl>

Plane.FormationCreator/Views/TaskBarView.xaml.cs

@@ -36,7 +36,7 @@ namespace Plane.FormationCreator.Views
         {
             var elem = sender as FrameworkElement;
             var task = elem.DataContext as FlightTask;
-            if (task.TaskType != FlightTaskType.TakeOff) // 不让选起飞任务。
+            //if (task.TaskType != FlightTaskType.TakeOff) // 不让选起飞任务。  现在可以选择起飞任务
             {
                 _flightTaskManager.Select(task);
             }