From 2045f87a839365e0abba98afea5e697a731ab2f0 Mon Sep 17 00:00:00 2001
From: xu <pxzleo@126.com>
Date: Sat, 27 Apr 2024 15:35:19 +0800
Subject: [PATCH] =?UTF-8?q?RTCM=E5=B9=BF=E6=92=AD=E9=87=87=E7=94=A8?=
 =?UTF-8?q?=E5=92=8C=E9=80=9A=E8=AE=AF=E6=A8=A1=E5=9D=97=E4=B8=80=E8=87=B4?=
 =?UTF-8?q?=E7=9A=84MAVLINK=5FMSG=5FID=5FGPS=5FINJECT=5FDATA=E6=B6=88?=
 =?UTF-8?q?=E6=81=AF=EF=BC=8C=E9=A3=9E=E6=8E=A7=E5=93=8D=E5=BA=94=E4=B8=80?=
 =?UTF-8?q?=E8=87=B4?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../CommunicationManagement/CommModule.cs     |  1 +
 .../CommModuleGenerateMavLink.cs              | 44 +++++++++++++++++--
 2 files changed, 42 insertions(+), 3 deletions(-)

diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
index 9a2214f..8316c7a 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
@@ -243,6 +243,7 @@ namespace Plane.CommunicationManagement
         */
 
         int times = 0;
+        //这里容易报空引用异常 ，没有连接通讯设备时
         private void Reconnect()
         {
            // Message.Show($"正在重新连接...");
diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index 086a252..d1ecd89 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -1203,7 +1203,9 @@ namespace Plane.CommunicationManagement
         }
 
 
-        byte rtcm_tmpser = 0;
+        byte rtcm_tmpser = 0;  //用于通讯模块的
+        byte rtcm_Broadser = 0;//用于广播的
+
 
 
         public void BroadcastGpsDataAsync(byte[] data, ushort length)
@@ -1211,7 +1213,43 @@ namespace Plane.CommunicationManagement
             //广播发送RTCM数据采用专用数据可以一次发180个字节
             if (!Recomisopen)
                 return;
-           
+            MAVLink.mavlink_gps_inject_data_t gps = new MAVLink.mavlink_gps_inject_data_t();
+            var msglen = 110;
+            int datalen = 0;
+            var len = (length % msglen) == 0 ? length / msglen : (length / msglen) + 1;
+            for (int a = 0; a < len; a++)
+            {
+                datalen = Math.Min(length - a * msglen, msglen);
+                gps.data = new byte[msglen];
+                Array.Copy(data, a * msglen, gps.data, 0, datalen);
+                //gps.data[0] = rtcm_Broadser++;
+                gps.len = (byte)datalen;
+                gps.target_component = rtcm_Broadser++;
+                //实测一旦收到数据都是正确的，张伟已经做过crc检验了，为了兼容性不再做了
+                //如果需要做，飞控里面需要把注释的代码放开，并且不再兼容之前的固件
+                gps.target_system = 1;// checkrtrcmsum(gps.data, (ushort)datalen);  
+
+                //   Console.WriteLine("                                              ["+ gps.target_component + "]总长: "+ length +" 发送第 "+ (a+1) + " 个包,长度: " + (ushort)datalen );
+
+                byte[] packet = GenerateRTKPacketAsync(MAVLink.MAVLINK_MSG_ID_GPS_INJECT_DATA, gps, gps.len);
+
+                try
+                {
+                    RecomPort.Write(packet, 0, packet.Length);
+                }
+                catch (Exception ex)
+                {
+                    Windows.Messages.Message.Show("转发端口发送失败" + ex.Message);
+                }
+
+               // await Task.Delay(80).ConfigureAwait(false); //没有延时得话如果超过110长度，连续发可能收不到
+
+            }
+
+
+
+
+            /*
             MAVLink.mavlink_gps_rtcm_data_t gps = new mavlink_gps_rtcm_data_t();
             var msglen = 180;
 
@@ -1268,7 +1306,7 @@ namespace Plane.CommunicationManagement
                 }
             }
             inject_seq_no++;
-            
+            */
         }