From e2dcb04d629ecfdc2a924e3526c6d5d1fdc69f6f Mon Sep 17 00:00:00 2001
From: zxd <zxdaa217@qq.com>
Date: Wed, 2 Jan 2019 11:35:32 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E7=89=88=E6=9C=AC=E6=8E=A7?=
 =?UTF-8?q?=E5=88=B6=20version=3D255=E4=B8=BA=E5=AE=8C=E6=95=B4=E7=89=88?=
 =?UTF-8?q?=E6=9C=AC=20=E4=BF=AE=E6=94=B9=E8=B5=B7=E9=A3=9E=E6=96=B9?=
 =?UTF-8?q?=E6=A1=88=E6=A8=A1=E6=8B=9F=E5=AE=9E=E9=99=85=E8=88=AA=E7=82=B9?=
 =?UTF-8?q?=E7=9A=84=E8=B5=B7=E9=A3=9E=E6=A8=A1=E5=BC=8F=20=E6=B7=BB?=
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MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Plane.FormationCreator/App.xaml.cs            |   3 +
 .../Formation/FlightTaskManager.cs            |   5 +-
 .../FlightTaskSingleCopterInfo_Land.cs        |   2 +-
 .../Formation/FlightTask_TakeOff.cs           |  50 ++--
 .../Formation/View3DManager.cs                |  19 ++
 Plane.FormationCreator/ModifyParam.xaml       | 125 +++++-----
 Plane.FormationCreator/ModifyParam.xaml.cs    |  18 +-
 .../Plane.FormationCreator.csproj             |   1 +
 Plane.FormationCreator/Util/VersionControl.cs |  25 ++
 .../ViewModels/CalibrationViewModel.cs        | 224 ++++++++++++++++++
 .../ViewModels/ControlPanelViewModel.cs       |  28 ++-
 .../ViewModels/ModifyTaskViewModel.cs         |   7 +-
 .../Views/CalibrationWindow.xaml              |  36 +++
 .../Views/CalibrationWindow.xaml.cs           |  36 +++
 .../Views/ConnectWindow.xaml                  |  12 +-
 .../Views/CopterInfoView.xaml                 |  17 +-
 .../Views/ModifyTaskView.xaml                 |  14 +-
 17 files changed, 508 insertions(+), 114 deletions(-)
 create mode 100644 Plane.FormationCreator/Formation/View3DManager.cs
 create mode 100644 Plane.FormationCreator/Util/VersionControl.cs
 create mode 100644 Plane.FormationCreator/ViewModels/CalibrationViewModel.cs
 create mode 100644 Plane.FormationCreator/Views/CalibrationWindow.xaml
 create mode 100644 Plane.FormationCreator/Views/CalibrationWindow.xaml.cs

diff --git a/Plane.FormationCreator/App.xaml.cs b/Plane.FormationCreator/App.xaml.cs
index 63bd207..c558e60 100644
--- a/Plane.FormationCreator/App.xaml.cs
+++ b/Plane.FormationCreator/App.xaml.cs
@@ -19,6 +19,7 @@ using System.Threading;
 using System.Threading.Tasks;
 using System.Windows;
 using Plane.CommunicationManagement;
+using Plane.FormationCreator.Util;
 
 namespace Plane.FormationCreator
 {
@@ -68,6 +69,8 @@ namespace Plane.FormationCreator
 
             };
             //new Test().Prepare().Run();
+
+            VersionControl.GetVersionFromIni();
         }
 
         private ILogger _logger;
diff --git a/Plane.FormationCreator/Formation/FlightTaskManager.cs b/Plane.FormationCreator/Formation/FlightTaskManager.cs
index 85f7866..e82b101 100644
--- a/Plane.FormationCreator/Formation/FlightTaskManager.cs
+++ b/Plane.FormationCreator/Formation/FlightTaskManager.cs
@@ -374,8 +374,8 @@ namespace Plane.FormationCreator.Formation
                 CurrentRunningTask = null;
 
                 //起飞任务需要跳过
-                if (CurrentRunningTaskIndex == 0)
-                    CurrentRunningTaskIndex++;
+//                 if (CurrentRunningTaskIndex == 0)
+//                     CurrentRunningTaskIndex++;
                 CurrentRunningTaskIndex++;
                 await RunTaskAsync();
             }
@@ -572,6 +572,7 @@ namespace Plane.FormationCreator.Formation
             {
                 var singleCopterInfoObj = singleCopterInfos[i];
                 takeOffTask.SingleCopterInfos[i].TakeOffWaitTime = (ushort)singleCopterInfoObj.waitTime;
+                //Message.Show(((ushort)singleCopterInfoObj.waitTime).ToString());
             }
         }
 
diff --git a/Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_Land.cs b/Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_Land.cs
index 14ebc27..84be95e 100644
--- a/Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_Land.cs
+++ b/Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_Land.cs
@@ -19,7 +19,7 @@ namespace Plane.FormationCreator.Formation
             return info;
         }
 
-        private ushort _LandWaitTime = 5;
+        private ushort _LandWaitTime = 1;
         public ushort LandWaitTime
         {
             get { return _LandWaitTime; }
diff --git a/Plane.FormationCreator/Formation/FlightTask_TakeOff.cs b/Plane.FormationCreator/Formation/FlightTask_TakeOff.cs
index f20fbbe..0f44e08 100644
--- a/Plane.FormationCreator/Formation/FlightTask_TakeOff.cs
+++ b/Plane.FormationCreator/Formation/FlightTask_TakeOff.cs
@@ -76,7 +76,15 @@ namespace Plane.FormationCreator.Formation
             var tasksTakeOff = new Task[infos.Count];
             for (int i = 0; i < infos.Count; i++)
             {
-                tasksTakeOff[i] = NewSingleRunTaskOffTaskAsunc(infos[i]);
+                //tasksTakeOff[i] = NewSingleRunTaskOffTaskAsunc(infos[i]);
+
+
+                tasksTakeOff[i] = await Task.Factory.StartNew(async () =>
+                {
+                    var internalInfo = infos[i];
+
+                    await NewSingleRunTaskOffTaskAsunc(internalInfo);
+                });
             }
             await Task.WhenAll(tasksTakeOff).ConfigureAwait(false);
             //await Task.Delay(100);
@@ -90,31 +98,24 @@ namespace Plane.FormationCreator.Formation
 
             int copterIndex = SingleCopterInfos.IndexOf(info);
             var copter = info.Copter;
-            
-            await copter.UnlockAsync();
-            for (int i = 0; !copter.IsUnlocked; i++)
-            {
-                //8秒内每1000毫秒尝试解锁一次
-                //解锁间隔一定要超过1s否则导致飞控以后无法解锁
-
-                if (i > 320)
-                    return;  //无法解锁后面不用执行了
-                if (i % (1000 / 25) == 1000 / 25 - 1)
-                {
-                    await copter.UnlockAsync(); // 每 1000 毫秒重试一次。
-                }
-
-                await Task.Delay(25).ConfigureAwait(false);
-            }
 
             //等待起飞时间
-            while (ts.TotalMilliseconds < info.TakeOffWaitTime * 1000)
+            Windows.Messages.Message.Show($"{copter.Name}:等待起飞 = {info.TakeOffWaitTime}");
+            while ((int)ts.TotalMilliseconds < (int)info.TakeOffWaitTime * 1000)
             {
+                if (_flightTaskManager.IsPaused == true)
+                {
+                    await info.Copter.HoverAsync();
+                    return;
+                }
                 await Task.Delay(100);
                 dtNow = DateTime.Now;
-                ts = dtNow - dtLastTime;
+                ts = dtNow - dtLastTime;   
             }
 
+            //虚拟飞机5秒后不起飞会自动上锁
+            await copter.UnlockAsync();
+
             for (int i = 0; i < 5; i++)   // added by ZJF
             {
                 await copter.TakeOffAsync();
@@ -124,6 +125,9 @@ namespace Plane.FormationCreator.Formation
             var copterNextTask = _flightTaskManager.Tasks[TaskIndex + 1].SingleCopterInfos[copterIndex];
             float takeOffAlt = copterNextTask.TargetAlt;
 
+            info.TargetLat = info.Copter.Latitude;
+            info.TargetLng = info.Copter.Longitude;
+
             for (int j = 0; j < 3; j++)
             {
                 await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, takeOffAlt);
@@ -133,8 +137,16 @@ namespace Plane.FormationCreator.Formation
             dtNow = DateTime.Now;
             ts = dtNow - dtLastTime;
             FlightTask task = _flightTaskManager.CurrentRunningTask;
+
+            Windows.Messages.Message.Show($"{copter.Name}:等待到达飞行时间 = {task.TakeOffTime}");
             while (ts.TotalMilliseconds < task.TakeOffTime * 1000)
             {
+                if (_flightTaskManager.IsPaused == true)
+                {
+                    //Windows.Messages.Message.Show($"{copter.Name}:悬停");
+                    await info.Copter.HoverAsync();
+                    return;
+                }
                 await Task.Delay(100).ConfigureAwait(false);
                 dtNow = DateTime.Now;
                 ts = dtNow - dtLastTime;
diff --git a/Plane.FormationCreator/Formation/View3DManager.cs b/Plane.FormationCreator/Formation/View3DManager.cs
new file mode 100644
index 0000000..41d6dbf
--- /dev/null
+++ b/Plane.FormationCreator/Formation/View3DManager.cs
@@ -0,0 +1,19 @@
+using Plane.FormationCreator.ViewModels;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Plane.FormationCreator.Formation
+{
+    public class View3DManager
+    {
+        public View3DViewModel _view3DViewModel { get; set; }
+
+        public void ClearCopters()
+        {
+            this._view3DViewModel.Clear3DCopters();
+        }
+    }
+}
diff --git a/Plane.FormationCreator/ModifyParam.xaml b/Plane.FormationCreator/ModifyParam.xaml
index c10bb94..6b7bed8 100644
--- a/Plane.FormationCreator/ModifyParam.xaml
+++ b/Plane.FormationCreator/ModifyParam.xaml
@@ -12,75 +12,80 @@
             <ColumnDefinition/>
         </Grid.ColumnDefinitions>
         <WrapPanel>
+            <WrapPanel>
+                <StackPanel Orientation="Horizontal" Margin="2">
+                    <Button Content="返航高度" Tag="RTL_ALT" Click="Modify_Select" Width="130"/>
+                    <Label Content="_RTL_ALT 单位cm"/>
+                </StackPanel>
 
-            <StackPanel Orientation="Horizontal" Margin="2" >
-                <Button Content="检测通信" Tag="FS_GCS_ENABLE" Click="Modify_Select" Width="130"/>
-                <Label Content="_FS_GCS_ENABLE 0:关闭 1开启"/>
+                <StackPanel Orientation="Horizontal" Margin="2">
+                    <Button Content="灯光亮度" Tag="NTF_LED_BRIGHT" Click="Modify_Select" Width="130"/>
+                    <Label Content="_NTF_LED_BRIGHT 1-3"/>
+                </StackPanel>
+
+                <StackPanel Orientation="Horizontal" Margin="2" >
+                    <Button Content="š返航关灯" Tag="NTF_G_RTLOFF" Click="Modify_Select" Width="130"/>
+                    <Label Content="_NTF_G_RTLOFF"/>
+                </StackPanel>
+
+                <StackPanel Orientation="Horizontal" Margin="2">
+                    <Button Content="š开关灯" Tag="NTF_G_OFF" Click="Modify_Select" Width="130"/>
+                    <Label Content="_NTF_G_OFF"/>
+                </StackPanel>
+            </WrapPanel>
+
+            <StackPanel Name="hide_panel">
+                <Separator Foreground="#FFC1D1C6" />
+                <StackPanel Orientation="Horizontal" Margin="2" >
+                    <Button Content="检测通信" Tag="FS_GCS_ENABLE" Click="Modify_Select" Width="130"/>
+                    <Label Content="_FS_GCS_ENABLE 0:关闭 1开启"/>
+                </StackPanel>
+
+                <StackPanel Orientation="Horizontal" Margin="2" >
+                    <Button Content="GPS类型灯光" Tag="NTF_G_RTKTEST" Click="Modify_Select" Width="130"/>
+                    <Label Content="_NTF_G_RTKTEST 0:关闭 1:开启"/>
+                </StackPanel>
+
+                <StackPanel Orientation="Horizontal" Margin="2" >
+                    <Button Content="š‹气压计‹GPS类型" Tag="EK2_ALT_GPS" Click="Modify_Select" Width="130"/>
+                    <Label Content="_EK2_ALT_GPS 1-6"/>
+                </StackPanel>
+
+                <StackPanel Orientation="Horizontal" Margin="2" >
+                    <Button Content="š最低解锁电压" Tag="ARMING_VOLT_MIN" Click="Modify_Select" Width="130"/>
+                    <Label Content="_ARMING_VOLT_MIN"/>
+                </StackPanel>
+
+                <StackPanel Orientation="Horizontal" Margin="2" >
+                    <Button Content="š航点灯光" Tag="WAYPOINT_GLED" Click="Modify_Select" Width="130"/>
+                    <Label Content="_WAYPOINT_GLED"/>
+                </StackPanel>
+
+                <StackPanel Orientation="Horizontal" Margin="2" >
+                    <Button Content="š解锁检查" Tag="ARMING_CHECK" Click="Modify_Select" Width="130"/>
+                    <Label Content="_ARMING_CHECK 414"/>
+                </StackPanel>
+
+                <StackPanel Orientation="Horizontal" Margin="2" >
+                    <Button Content="š解锁GPS类型" Tag="ARMING_GPS_LEVEL" Click="Modify_Select" Width="130"/>
+                    <Label Content="_ARMING_GPS_LEVEL 1-6"/>
+                </StackPanel>
+
+                <StackPanel Orientation="Horizontal" Margin="2" >
+                    <Button Content="š返航GPS类型" Tag="FS_GPS_RTL" Click="Modify_Select" Width="130"/>
+                    <Label Content="_FS_GPS_RTL 1-6"/>
+                </StackPanel>
             </StackPanel>
-
-            <StackPanel Orientation="Horizontal" Margin="2">
-                <Button Content="返航高度" Tag="RTL_ALT" Click="Modify_Select" Width="130"/>
-                <Label Content="_RTL_ALT 单位cm"/>
-            </StackPanel>
-
-            <StackPanel Orientation="Horizontal" Margin="2">
-                <Button Content="灯光亮度" Tag="NTF_LED_BRIGHT" Click="Modify_Select" Width="130"/>
-                <Label Content="_NTF_LED_BRIGHT 1-3"/>
-            </StackPanel>
-
-            <StackPanel Orientation="Horizontal" Margin="2" >
-                <Button Content="GPS类型灯光" Tag="NTF_G_RTKTEST" Click="Modify_Select" Width="130"/>
-                <Label Content="_NTF_G_RTKTEST 0:关闭 1:开启"/>
-            </StackPanel>
-
-            <StackPanel Orientation="Horizontal" Margin="2" >
-                <Button Content="š‹气压计‹GPS类型" Tag="EK2_ALT_GPS" Click="Modify_Select" Width="130"/>
-                <Label Content="_EK2_ALT_GPS 1-6"/>
-            </StackPanel>
-
-            <StackPanel Orientation="Horizontal" Margin="2" >
-                <Button Content="š最低解锁电压" Tag="ARMING_VOLT_MIN" Click="Modify_Select" Width="130"/>
-                <Label Content="_ARMING_VOLT_MIN"/>
-            </StackPanel>
-
-            <StackPanel Orientation="Horizontal" Margin="2" >
-                <Button Content="š返航灯光" Tag="NTF_G_RTLOFF" Click="Modify_Select" Width="130"/>
-                <Label Content="_NTF_G_RTLOFF"/>
-            </StackPanel>
-
-            <StackPanel Orientation="Horizontal" Margin="2" >
-                <Button Content="š航点灯光" Tag="WAYPOINT_GLED" Click="Modify_Select" Width="130"/>
-                <Label Content="_WAYPOINT_GLED"/>
-            </StackPanel>
-
-            <StackPanel Orientation="Horizontal" Margin="2" >
-                <Button Content="š解锁检查" Tag="ARMING_CHECK" Click="Modify_Select" Width="130"/>
-                <Label Content="_ARMING_CHECK 414"/>
-            </StackPanel>
-
-            <StackPanel Orientation="Horizontal" Margin="2" >
-                <Button Content="š解锁GPS类型" Tag="ARMING_GPS_LEVEL" Click="Modify_Select" Width="130"/>
-                <Label Content="_ARMING_GPS_LEVEL 1-6"/>
-            </StackPanel>
-
-            <StackPanel Orientation="Horizontal" Margin="2" >
-                <Button Content="š返航GPS类型" Tag="FS_GPS_RTL" Click="Modify_Select" Width="130"/>
-                <Label Content="_FS_GPS_RTL 1-6"/>
-            </StackPanel>
-
-            <StackPanel Orientation="Horizontal" Margin="2">
-                <Button Content="š开关灯" Tag="NTF_G_OFF" Click="Modify_Select" Width="130"/>
-                <Label Content="_NTF_G_OFF"/>
-            </StackPanel>
-
         </WrapPanel>
+        
         <StackPanel Grid.Column="1" HorizontalAlignment="Center" Orientation ="Horizontal">
             <WrapPanel VerticalAlignment="Center" Orientation="Vertical" >
                 <Label x:Name="label" Content="参数名称" Margin="5,0,5,5"/>
-                <TextBox x:Name="textParamName" Width="160" Margin="5" IsReadOnly="False"/>
+                <TextBox x:Name="textParamName" Width="160" Margin="5" />
                 <Label x:Name="label_Copy" Content="参数值" Margin="5"/>
                 <TextBox x:Name="textParamValue" Margin="5"/>
                 <Button x:Name="btnModify" Content="修改" Width="100" Margin="10" Click="btnModify_Click"/>
+                <Button x:Name="btnLoad" Content="读取" Width="100" Margin="10" Click="btnLoad_Click"/>
             </WrapPanel>
 
         </StackPanel>
diff --git a/Plane.FormationCreator/ModifyParam.xaml.cs b/Plane.FormationCreator/ModifyParam.xaml.cs
index c519d9e..eb5b9d2 100644
--- a/Plane.FormationCreator/ModifyParam.xaml.cs
+++ b/Plane.FormationCreator/ModifyParam.xaml.cs
@@ -1,4 +1,5 @@
-using System;
+using Plane.FormationCreator.Util;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -19,20 +20,33 @@ namespace Plane.FormationCreator
     /// </summary>
     public partial class ModifyParam : Window
     {
+        public bool LoadParam = false;
         public ModifyParam()
         {
             InitializeComponent();
+            if (!VersionControl.IsFullVersion)
+            {
+                hide_panel.Visibility = Visibility.Collapsed;
+                textParamName.IsReadOnly = true;
+                btnLoad.Visibility = Visibility.Collapsed;
+            }
         }
 
         private void btnModify_Click(object sender, RoutedEventArgs e)
         {
+            LoadParam = false;
             this.DialogResult = true;
-
         }
 
         private void Modify_Select(object sender, RoutedEventArgs e)
         {
             textParamName.Text = ((Button)sender).Tag.ToString();
         }
+
+        private void btnLoad_Click(object sender, RoutedEventArgs e)
+        {
+            LoadParam = true;
+            this.DialogResult = true;
+        }
     }
 }
diff --git a/Plane.FormationCreator/Plane.FormationCreator.csproj b/Plane.FormationCreator/Plane.FormationCreator.csproj
index 846e7bc..a4b7fcb 100644
--- a/Plane.FormationCreator/Plane.FormationCreator.csproj
+++ b/Plane.FormationCreator/Plane.FormationCreator.csproj
@@ -191,6 +191,7 @@
     <Compile Include="Test.cs" />
     <Compile Include="CalculationLogLatDistance.cs" />
     <Compile Include="Util\ParamFile.cs" />
+    <Compile Include="Util\VersionControl.cs" />
     <Compile Include="ViewModels\CalibrationViewModel.cs" />
     <Compile Include="ViewModels\ConnectViewModel.cs" />
     <Compile Include="ViewModels\ControlPanelViewModel.cs" />
diff --git a/Plane.FormationCreator/Util/VersionControl.cs b/Plane.FormationCreator/Util/VersionControl.cs
new file mode 100644
index 0000000..0c14d19
--- /dev/null
+++ b/Plane.FormationCreator/Util/VersionControl.cs
@@ -0,0 +1,25 @@
+using Plane.Windows.IniHelper;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Plane.FormationCreator.Util
+{
+    public static class VersionControl
+    {
+        public static int Version = 0;
+        public static bool IsFullVersion = false;
+
+        public static void GetVersionFromIni()
+        {
+            IniFiles iniFiles = new IniFiles();
+            string readvalue = iniFiles.IniReadvalue("Version", "Version");
+            int intTemp;
+            if (readvalue != "" && int.TryParse(readvalue, out intTemp))
+                Version = int.Parse(readvalue);
+            IsFullVersion = Version == 255;
+        }
+    }
+}
diff --git a/Plane.FormationCreator/ViewModels/CalibrationViewModel.cs b/Plane.FormationCreator/ViewModels/CalibrationViewModel.cs
new file mode 100644
index 0000000..dab88f9
--- /dev/null
+++ b/Plane.FormationCreator/ViewModels/CalibrationViewModel.cs
@@ -0,0 +1,224 @@
+using GalaSoft.MvvmLight;
+using GalaSoft.MvvmLight.Command;
+using Microsoft.Practices.ServiceLocation;
+using Plane.CommunicationManagement;
+using Plane.CopterManagement;
+using Plane.Copters;
+using Plane.FormationCreator.Formation;
+using Plane.Windows.Messages;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Input;
+
+namespace Plane.FormationCreator.ViewModels
+{
+    public class CalibrationViewModel : ViewModelBase
+    {
+        CommModuleManager commModule = CommModuleManager.Instance;
+
+        private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
+
+        private string _AccelerometerTips;
+        public string AccelerometerTips
+        {
+            get
+            {
+                switch (AccelerometerState)
+                {
+                    case AccelerometerStates.Idle:
+                        _AccelerometerTips = "点击“开始校准”后，开始校准加速计";
+                        break;
+                    case AccelerometerStates.Front:
+                        _AccelerometerTips = "亮紫色: 飞机水平放置(Front)";
+                        break;
+                    case AccelerometerStates.Left:
+                        _AccelerometerTips = "亮黄色：飞机左侧接触地面竖立放置(Left)";
+                        break;
+                    case AccelerometerStates.Right:
+                        _AccelerometerTips = "亮青色：飞机右侧接触地面竖立放置(Right)";
+                        break;
+                    case AccelerometerStates.Down:
+                        _AccelerometerTips = "紫色：飞机机头向下接触地面竖立放置(Down)";
+                        break;
+                    case AccelerometerStates.Up:
+                        _AccelerometerTips = "黄色：飞机机尾向下接触地面竖立放置(Up)";
+                        break;
+                    case AccelerometerStates.Back:
+                        _AccelerometerTips = "青色：飞机翻过来水平放置(Back)";
+                        break;
+                }
+                return _AccelerometerTips;
+            }
+        }
+
+        private string _AccelerometerBtnText = "开始校准";
+        public string AccelerometerBtnText
+        {
+            get
+            {
+                switch (AccelerometerState)
+                {
+                    case AccelerometerStates.Idle:
+                        _AccelerometerBtnText = "开始校准";
+                        break;
+                    default:
+                        _AccelerometerBtnText = "完成";
+                        break;
+                }
+                return _AccelerometerBtnText;
+            }
+        }
+
+        //校准加速计的状态
+        public enum AccelerometerStates
+        {
+            Idle = 0,
+            Front = 1,
+            Left = 2,
+            Right = 3,
+            Down = 4,
+            Up = 5,
+            Back = 6
+        }
+
+        private AccelerometerStates _AccelerometerState = AccelerometerStates.Idle;
+        public AccelerometerStates AccelerometerState
+        {
+            get { return _AccelerometerState; }
+            set
+            {
+                Set(nameof(AccelerometerState), ref _AccelerometerState, value);
+                RaisePropertyChanged(nameof(AccelerometerBtnText));
+                RaisePropertyChanged(nameof(AccelerometerTips));
+            }
+        }
+
+
+        private ICommand _CalibrationAccelerometerCommand;
+        public ICommand CalibrationAccelerometerCommand
+        {
+            get
+            {
+                return _CalibrationAccelerometerCommand ?? (_CalibrationAccelerometerCommand = new RelayCommand(async () =>
+                {
+                    ICopter copter = _copterManager.SelectedCopters.FirstOrDefault();
+                    short copterId = short.Parse(copter.Name);
+                   
+                    switch (AccelerometerState)
+                    {
+                        case AccelerometerStates.Idle:
+                            await commModule.DoStartPreflightCompassAsync(copterId);
+                            break;
+                        default:
+                            await commModule.DoNextPreflightCompassAsync(copterId);
+                            break;
+                    }
+                    if (AccelerometerState == AccelerometerStates.Back)
+                    {
+                        Alert.Show("校准结束，请检测灯光后重启飞机！\r\n 绿色：校准成功 红色：校准失败");
+                        AccelerometerState = AccelerometerStates.Idle;
+                    }
+                    else
+                    {
+                        AccelerometerState = (AccelerometerStates)((int)AccelerometerState + 1);
+                    }
+                }));
+            }
+        }
+
+
+        private int _CompassPercent;
+        public int CompassPercent
+        {
+            get { return _CompassPercent; }
+            set
+            {
+                Set(nameof(CompassPercent), ref _CompassPercent, value);
+            }
+        }
+
+        public bool IsCalibration { get; set; }
+        /// <summary>
+        /// 校准指南针
+        /// </summary>
+        private ICommand _CalibrationCompassCommand;
+        public ICommand CalibrationCompassCommand
+        {
+            get
+            {
+                return _CalibrationCompassCommand ?? (_CalibrationCompassCommand = new RelayCommand(async () =>
+                {
+                    if (IsCalibration || _copterManager.SelectedCopters.Count() != 1) return;
+
+                    ICopter copter = _copterManager.SelectedCopters.FirstOrDefault();
+
+                    short copterId = short.Parse(copter.Name);
+                    Message.Show("开始校准指南针：" + copter.Name);
+                    //for (int i = 0; i < 3; i++)
+                    //{
+                        await commModule.DoCalibrationCompassAsync(copterId);
+                        await Task.Delay(50).ConfigureAwait(false);
+                    //}
+                    
+                    IsCalibration = true;
+                    CompassPercent = 0;
+                    int State = 0;  //4：成功 5失败  todo 改为枚举
+
+
+                    while (IsCalibration && CompassPercent <= 100)
+                    {
+                        //两个255的时候表示 当前预留字节代表的意思是校准
+                        if (copter.Retain[2] == 255 && copter.Retain[3] == 255)
+                        {
+                            CompassPercent = copter.Retain[0];
+                            State = copter.Retain[1];
+                            if (State == 4 || State == 5)
+                                break;
+                        }
+
+                        await Task.Delay(100);
+                    }
+
+                    switch (State)
+                    {
+                        case 4:
+                            Alert.Show($"校准成功，请重新上电{copterId}号", "指南针");
+                            break;
+                        case 5:
+                            Alert.Show("校准失败", "指南针");
+                            break;
+                        default:
+                            break;
+                    }
+
+                    IsCalibration = false;
+                    
+                }));
+            }
+        }
+
+        private ICommand _CancelCalibrationCompassCommand;
+        public ICommand CancelCalibrationCompassCommand
+        {
+            get
+            {
+                return _CancelCalibrationCompassCommand ?? (_CancelCalibrationCompassCommand = new RelayCommand(async () =>
+                {
+                    if (_copterManager.SelectedCopters.Count() != 1) return;
+       
+                    ICopter copter = _copterManager.SelectedCopters.FirstOrDefault();
+
+                    short copterId = short.Parse(copter.Name);
+                    await commModule.DoCancelCalibrationCompassAsync(copterId);
+                    IsCalibration = false;
+                    Alert.Show("放弃校准", "指南针");
+                }));
+            }
+        }
+    }
+
+    
+}
diff --git a/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs b/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
index 1eed30d..dea2564 100644
--- a/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
+++ b/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
@@ -596,15 +596,27 @@ namespace Plane.FormationCreator.ViewModels
                         var ModifyParamWindow = new Plane.FormationCreator.ModifyParam();
                         if (ModifyParamWindow.ShowDialog() == true)
                         {
-
+                            bool isLoadParam = ModifyParamWindow.LoadParam;
                             string paramstr = ModifyParamWindow.textParamName.Text;
-                            float paramvalue = Convert.ToSingle(ModifyParamWindow.textParamValue.Text);
-                            int num = 0;
-                            if (_copterManager.AcceptingControlCopters.Count() < _copterManager.Copters.Count)
-                                num = await _commModuleManager.SetParamAsync(paramstr, paramvalue, _copterManager.AcceptingControlCopters);
-                            else if (_copterManager.AcceptingControlCopters.Count() == _copterManager.Copters.Count)
-                                num = await _commModuleManager.SetParamAsync(paramstr, paramvalue);
-                            Alert.Show($"广播完成！ 当前序列号：{num}");
+
+                            if(!isLoadParam)
+                            {
+                                float paramvalue = Convert.ToSingle(ModifyParamWindow.textParamValue.Text);
+                                int num = 0;
+                                if (_copterManager.AcceptingControlCopters.Count() < _copterManager.Copters.Count)
+                                    num = await _commModuleManager.SetParamAsync(paramstr, paramvalue, _copterManager.AcceptingControlCopters);
+                                else if (_copterManager.AcceptingControlCopters.Count() == _copterManager.Copters.Count)
+                                    num = await _commModuleManager.SetParamAsync(paramstr, paramvalue);
+                                Alert.Show($"广播完成！ 当前序列号：{num}");
+                            }
+                            else
+                            {
+                                if (_copterManager.AcceptingControlCopters.Count() < _copterManager.Copters.Count)
+                                    await _commModuleManager.ReadParamAsnyc(paramstr, _copterManager.AcceptingControlCopters);
+                                else if (_copterManager.AcceptingControlCopters.Count() == _copterManager.Copters.Count)
+                                    await _commModuleManager.ReadParamAsnyc(paramstr);
+                            }
+                           
                             /*
                             await Task.WhenAll(_copterManager.AcceptingControlCopters.Select
                                 (copter => copter.SetParamAsync(paramstr, paramvalue)));
diff --git a/Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs b/Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
index ebe127f..508cecb 100644
--- a/Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
+++ b/Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
@@ -381,7 +381,7 @@ namespace Plane.FormationCreator.ViewModels
                     double minlat = 0;
 
                     double avgl = 0;
-                    /*
+                    
                     if (_copterManager.SelectedCopters.Count() > 2)
                     {
                         List<FlightTaskSingleCopterInfo> selectTaskInfos = new List<FlightTaskSingleCopterInfo>();
@@ -401,8 +401,8 @@ namespace Plane.FormationCreator.ViewModels
                             selectTaskInfos[i].TargetLat = minlat + i * tlat;
                         }
                     }
-                */
-
+                
+                    /*
                     if (Alert.Show("本操作将导致飞机位置重新排列，编号最小的飞机在最上边，您确定要继续吗？", "提示", MessageBoxButton.OKCancel, MessageBoxImage.Warning)
                     == MessageBoxResult.OK)
                     {
@@ -464,6 +464,7 @@ namespace Plane.FormationCreator.ViewModels
                             // await Task.Delay(100);  // 如果不等待一段时间，很可能会再触发 DataStreamReceived 事件导致飞行器重新出现在地图上。
                         }
                     }
+                    */
                 }));
             }
         }
diff --git a/Plane.FormationCreator/Views/CalibrationWindow.xaml b/Plane.FormationCreator/Views/CalibrationWindow.xaml
new file mode 100644
index 0000000..540cf5e
--- /dev/null
+++ b/Plane.FormationCreator/Views/CalibrationWindow.xaml
@@ -0,0 +1,36 @@
+<Window x:Class="Plane.FormationCreator.Views.CalibrationWindow"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+        xmlns:local="clr-namespace:Plane.FormationCreator.Views"
+        mc:Ignorable="d"
+        WindowStartupLocation="CenterScreen"
+        Title="校准" Height="320" Width="450">
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition/>
+            <RowDefinition/>
+        </Grid.RowDefinitions>
+
+        <StackPanel Margin="10" >
+            <Label Content="加速计" Margin="0,0,0,10" FontWeight="Bold" FontSize="14"/>
+            <Button Content="{Binding AccelerometerBtnText,UpdateSourceTrigger=Default}" Width="100" 
+                    Command="{Binding CalibrationAccelerometerCommand}"/>
+            <Label Margin="0,10" Content="{Binding AccelerometerTips, UpdateSourceTrigger=PropertyChanged}" HorizontalContentAlignment="Center"/>
+        </StackPanel>
+
+        <StackPanel Grid.Row="1" Margin="10,0,10,10">
+            <Label Content="指南针" Margin="0,0,0,10" FontWeight="Bold" FontSize="14"/>
+            <WrapPanel  HorizontalAlignment="Center">
+                <Button Content="开始校准" Width="100" Margin="10, 0"
+                        Command="{Binding CalibrationCompassCommand}"/>
+                <Button Content="放弃校准" Width="100" Margin="10, 0"
+                        Command="{Binding CancelCalibrationCompassCommand}"/>
+            </WrapPanel>
+            <ProgressBar Margin="0,20" Height="18" Width="220" Value="{Binding CompassPercent, UpdateSourceTrigger=PropertyChanged}"/>
+
+
+        </StackPanel>
+    </Grid>
+</Window>
diff --git a/Plane.FormationCreator/Views/CalibrationWindow.xaml.cs b/Plane.FormationCreator/Views/CalibrationWindow.xaml.cs
new file mode 100644
index 0000000..f943a0d
--- /dev/null
+++ b/Plane.FormationCreator/Views/CalibrationWindow.xaml.cs
@@ -0,0 +1,36 @@
+using Microsoft.Practices.ServiceLocation;
+using Plane.FormationCreator.ViewModels;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Shapes;
+
+namespace Plane.FormationCreator.Views
+{
+    /// <summary>
+    /// CalibrationWindow.xaml 的交互逻辑
+    /// </summary>
+    public partial class CalibrationWindow : Window
+    {
+        public CalibrationWindow()
+        {
+            InitializeComponent();
+            CalibrationViewModel calibrationViewModel = ServiceLocator.Current.GetInstance<CalibrationViewModel>();
+            calibrationViewModel.AccelerometerState = CalibrationViewModel.AccelerometerStates.Idle;
+            this.DataContext = calibrationViewModel;
+
+
+        }
+
+
+    }
+}
diff --git a/Plane.FormationCreator/Views/ConnectWindow.xaml b/Plane.FormationCreator/Views/ConnectWindow.xaml
index dd3cbb8..3ad72fa 100644
--- a/Plane.FormationCreator/Views/ConnectWindow.xaml
+++ b/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="429.175"
-               Height="570.371"
+               Width="432.175"
+               Height="300.371"
                
                WindowStartupLocation="CenterScreen"
                FontFamily="Microsoft YaHei"
@@ -111,7 +111,7 @@
                                IsProcessing="{Binding IsProcessing}"
                                Command="{Binding Path=ConnectCommand}"
                                CommandParameter="SerialPort" />
-            
+
             <!--<ec:ProgressButton Name="btnConnectUdp"
                                Grid.Row="1"
                                Grid.ColumnSpan="3"
@@ -132,8 +132,8 @@
             <Button Content="通信模块状态" Margin="5" Command="{Binding Path=StateInquireCommand}"/>
             <Button Content="设置总数" Margin="5" Command="{Binding Path=SendCommand}" />
             <Button Content="切换写航点"  Margin="5" Command="{Binding Path=ChangeWriteMissionCommand}" />
-            
-            
+
+
         </StackPanel>
         <StackPanel Orientation="Horizontal"
                     HorizontalAlignment="Center"
@@ -151,6 +151,6 @@
                     Grid.ColumnSpan="3">
             <Button Content="空中升级" Margin="5" Command="{Binding UpdateAllCopterCommand}"></Button>
         </StackPanel>
-                    
+
     </Grid>
 </c:MetroWindow>
diff --git a/Plane.FormationCreator/Views/CopterInfoView.xaml b/Plane.FormationCreator/Views/CopterInfoView.xaml
index 344f946..6c62efb 100644
--- a/Plane.FormationCreator/Views/CopterInfoView.xaml
+++ b/Plane.FormationCreator/Views/CopterInfoView.xaml
@@ -94,13 +94,16 @@
             </StackPanel>
                 <StackPanel>
                     <TextBlock Text="返回数据：" />
-                    <TextBlock Text="{Binding Retain[3]}" />
-                    <TextBlock Text="." />
-                    <TextBlock Text="{Binding Retain[2]}" />
-                    <TextBlock Text="." />
-                    <TextBlock Text="{Binding Retain[1]}" />
-                    <TextBlock Text="." />
-                    <TextBlock Text="{Binding Retain[0]}" />
+                    <StackPanel ToolTip="{Binding RetainInt}">
+                        <TextBlock Text="{Binding Retain[3]}" />
+                        <TextBlock Text="." />
+                        <TextBlock Text="{Binding Retain[2]}" />
+                        <TextBlock Text="." />
+                        <TextBlock Text="{Binding Retain[1]}" />
+                        <TextBlock Text="." />
+                        <TextBlock Text="{Binding Retain[0]}" />
+                    </StackPanel>
+             
 
                 </StackPanel>
 
diff --git a/Plane.FormationCreator/Views/ModifyTaskView.xaml b/Plane.FormationCreator/Views/ModifyTaskView.xaml
index 5b1cc0e..c632a29 100644
--- a/Plane.FormationCreator/Views/ModifyTaskView.xaml
+++ b/Plane.FormationCreator/Views/ModifyTaskView.xaml
@@ -285,7 +285,8 @@
 
         </TabItem>
         <TabItem Header="灯光设计">
-            <StackPanel  >
+            <StackPanel>
+
                 <StackPanel >
                     <StackPanel Orientation="Horizontal" Margin="0,5,0,5" >
                         <TextBlock Margin="5,7,0,0" Text="起始时间"/>
@@ -361,8 +362,9 @@
                 <ItemsControl Name="LEDItems" Margin="5"
                                               Grid.Row="1" 
                                               Grid.ColumnSpan="2"
-                                              MinHeight="180"
-                                              MaxHeight="350"
+                                              MinHeight="100"
+                                                Height="Auto"
+                                              MaxHeight="280"
                                               ScrollViewer.VerticalScrollBarVisibility="Visible"
                                               ScrollViewer.HorizontalScrollBarVisibility="Hidden"
                                               ItemsSource="{Binding Path= LEDInfos}">
@@ -400,16 +402,16 @@
                                 </ComboBox>
 
                                 <TextBlock Text="时间"  Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
-                                <TextBox MinWidth="40" MaxWidth="50" Margin="5,0,0,0"
+                                <TextBox MinWidth="40" MaxWidth="45" Margin="5,0,0,0"
                                                          ToolTip="单位:秒，最小设置0.1秒"
                                                          Text="{Binding Delay,UpdateSourceTrigger=PropertyChanged}" />
 
                                 <TextBlock Text="频率" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
-                                <TextBox MinWidth="40" MaxWidth="50" Margin="5,0,0,0"
+                                <TextBox MinWidth="40" MaxWidth="45" Margin="5,0,0,0"
                                                          Text="{Binding Path=LEDRate, UpdateSourceTrigger=PropertyChanged}" />
 
                                 <TextBlock Text="颜色"  Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
-                                <TextBox Margin="5,0,0,0" MinWidth="60" Width="60"
+                                <TextBox Margin="5,0,0,0" MinWidth="50" Width="50"
                                                          Text="{Binding LEDRGB, UpdateSourceTrigger=PropertyChanged}" />
 
                                 <Button Content="删除" Margin="12,0,0,0"