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This commit is contained in:
zxd 2019-11-04 10:27:30 +08:00
parent e607ab4c7d
commit 04b40f760e
5 changed files with 19 additions and 6 deletions
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15
PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
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@ -322,17 +322,26 @@ namespace Plane.CommunicationManagement
//await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet); //await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
byte[] senddata = packet; byte[] senddata = packet;
for (int times = 0; times < 3; times++) for (int times = 0; times < 4; times++)
{ {
senddata = senddata.Concat(packet).ToArray(); senddata = senddata.Concat(packet).ToArray();
} }
temp = !temp; temp = !temp;
while (temp) while (temp)
{ {
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet); await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
await Task.Delay(1000).ConfigureAwait(false); await Task.Delay(50).ConfigureAwait(false);
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
await Task.Delay(50).ConfigureAwait(false);
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
await Task.Delay(50).ConfigureAwait(false);
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
await Task.Delay(50).ConfigureAwait(false);
await Task.Delay(800).ConfigureAwait(false);
} }
} }

2
PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
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@ -627,7 +627,9 @@ namespace Plane.CommunicationManagement
// set the length // set the length
gps.len = (byte)copy; gps.len = (byte)copy;
byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_GPS_RTCM_DATA, gps); byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_GPS_RTCM_DATA, gps);
Console.WriteLine($"{DateTime.Now.ToLongTimeString()}---发送给张伟的数据长度 = {packet.Length}");
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false); await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
} } } }

3
PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs
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@ -36,7 +36,8 @@ namespace Plane.Copters
CommModuleMode = (FlightMode)_internalCopter.commModuleMode; CommModuleMode = (FlightMode)_internalCopter.commModuleMode;
CommModuleVersion = _internalCopter.commModuleVersion; CommModuleVersion = _internalCopter.commModuleVersion;
IsUnlocked = _internalCopter.isUnlocked; IsUnlocked = _internalCopter.isUnlocked;
Yaw = _internalCopter.yaw; //Yaw = _internalCopter.yaw;
Heading = _internalCopter.heading;
HeartbeatCount++; HeartbeatCount++;
if (SatCount > 8) if (SatCount > 8)

3
PlaneGcsSdk_Shared/Copters/PlaneCopter.PacketAnalysis.cs
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@ -390,8 +390,9 @@ namespace Plane.Copters
isUnlocked = info.lock_status == 1; isUnlocked = info.lock_status == 1;
battery_voltage = ((float)info.battery_voltage) / 1000; battery_voltage = ((float)info.battery_voltage) / 1000;
yaw = ((float)info.yaw / 100) % 360;
heading = (short)((info.heading / 100) % 360);
commModuleVersion = version; commModuleVersion = version;
retain = info.retain; retain = info.retain;

2
PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs
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@ -152,7 +152,7 @@ namespace Plane.Protocols
public byte lock_status; public byte lock_status;
public byte gps_num_sats; public byte gps_num_sats;
public Int16 battery_voltage; public Int16 battery_voltage;
public Int16 yaw; public Int16 heading;
}; };