diff --git a/PlaneGcsSdk.Contract_Private/Copters/ICopterActions.cs b/PlaneGcsSdk.Contract_Private/Copters/ICopterActions.cs
index 82368de..043b2f0 100644
--- a/PlaneGcsSdk.Contract_Private/Copters/ICopterActions.cs
+++ b/PlaneGcsSdk.Contract_Private/Copters/ICopterActions.cs
@@ -11,7 +11,7 @@ namespace Plane.Copters
Task CircleAsync();
///
- /// // 林俊清, 20160122, 不明确。目测是发送重启命令，在刷固件之前用到。
+ /// // 王海, 20160122, 不明确。目测是发送重启命令，在刷固件之前用到。
///
///
/// 表示此命令异步发送操作的 实例。
diff --git a/PlaneGcsSdk.Contract_Shared/Copters/IFakeCopter.cs b/PlaneGcsSdk.Contract_Shared/Copters/IFakeCopter.cs
index 10a04cf..544dd5e 100644
--- a/PlaneGcsSdk.Contract_Shared/Copters/IFakeCopter.cs
+++ b/PlaneGcsSdk.Contract_Shared/Copters/IFakeCopter.cs
@@ -12,7 +12,7 @@ namespace Plane.Copters
double? latitude = null, //23.14973333,
double? longitude = null, //113.40974166,
float? altitude = null, //0,
- string name = null, //"林俊清的飞行器",
+ string name = null, //"王海的飞行器",
byte? batteryPer = null, //10,
short? heading = null, //33,
bool? isConnected = null, //true,
diff --git a/PlaneGcsSdk_Private_NET45/Copters/FakeCopter.Private.cs b/PlaneGcsSdk_Private_NET45/Copters/FakeCopter.Private.cs
index d4c889a..06c350c 100644
--- a/PlaneGcsSdk_Private_NET45/Copters/FakeCopter.Private.cs
+++ b/PlaneGcsSdk_Private_NET45/Copters/FakeCopter.Private.cs
@@ -6,7 +6,7 @@ namespace Plane.Copters
public partial class FakeCopter
{
///
- /// // 林俊清, 20160122, 不明确。目测是发送重启命令，在刷固件之前用到。
+ /// // 王海, 20160122, 不明确。目测是发送重启命令，在刷固件之前用到。
///
///
/// 表示此命令异步发送操作的 实例。
diff --git a/PlaneGcsSdk_Private_NET45/Copters/PLCopter.Private.cs b/PlaneGcsSdk_Private_NET45/Copters/PLCopter.Private.cs
index a806238..ce21955 100644
--- a/PlaneGcsSdk_Private_NET45/Copters/PLCopter.Private.cs
+++ b/PlaneGcsSdk_Private_NET45/Copters/PLCopter.Private.cs
@@ -10,7 +10,7 @@ namespace Plane.Copters
public PlaneCopter InternalCopter { get { return _internalCopter; } }
///
- /// // 林俊清, 20160122, 不明确。目测是发送重启命令，在刷固件之前用到。
+ /// // 王海, 20160122, 不明确。目测是发送重启命令，在刷固件之前用到。
///
///
/// 表示此命令异步发送操作的 实例。
diff --git a/PlaneGcsSdk_Private_NET45/Copters/PlaneCopter.Private.cs b/PlaneGcsSdk_Private_NET45/Copters/PlaneCopter.Private.cs
index 33c6231..603e98f 100644
--- a/PlaneGcsSdk_Private_NET45/Copters/PlaneCopter.Private.cs
+++ b/PlaneGcsSdk_Private_NET45/Copters/PlaneCopter.Private.cs
@@ -6,7 +6,7 @@ namespace Plane.Copters
partial class PlaneCopter
{
///
- /// // 林俊清, 20160122, 不明确。目测是发送重启命令，在刷固件之前用到。
+ /// // 王海, 20160122, 不明确。目测是发送重启命令，在刷固件之前用到。
///
///
/// 表示此命令异步发送操作的 实例。
diff --git a/PlaneGcsSdk_Shared/Communication/TcpServerConnectionManager.cs b/PlaneGcsSdk_Shared/Communication/TcpServerConnectionManager.cs
index 1c378b8..953002b 100644
--- a/PlaneGcsSdk_Shared/Communication/TcpServerConnectionManager.cs
+++ b/PlaneGcsSdk_Shared/Communication/TcpServerConnectionManager.cs
@@ -21,7 +21,7 @@ namespace Plane.Communication
private bool _isListening;
- // TODO: 林俊清, 20150909, 从配置文件中获取要监听的 IP 地址和端口号。
+ // TODO: 王海, 20150909, 从配置文件中获取要监听的 IP 地址和端口号。
private TcpListener _listener;
private bool _shouldListen;
diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
index b430068..e4a0919 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
@@ -22,8 +22,8 @@ namespace Plane.CommunicationManagement
public TcpConnection Connection = null;
public bool CommOK = false;
- private const string MODULE_IP = "192.168.199.51"; // "192.168.199.51";
- // private const string LOCAL_IP = "192.168.199.50"; //"192.168.199.50";
+ private const string MODULE_IP = "192.168.199.51"; // "192.168.199.51"; //在用版本 ----//"192.168.1.65"; //新版本
+ // private const string LOCAL_IP = "192.168.199.50"; //"192.168.199.50";
private const int PORT = 9551;
private bool _disposed;
public int CommModuleCopterCount = 0;
@@ -427,6 +427,7 @@ namespace Plane.CommunicationManagement
}
}
+ //拉烟测试
public async Task TestFire(short id, int channel)
{
diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index 29fba31..06ac0c5 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -205,9 +205,8 @@ namespace Plane.CommunicationManagement
private byte[] DoTaskLEDCommandAsync(int ledmode, float ledInterval, int ledtimes, byte cR,byte cG,Byte cB)
{
- //ledInterval间隔单位秒，改为单位100ms
- byte LEDInterval = (byte)(ledInterval*10); //(byte)(10 / ledInterval);
-
+ //新版固件ledInterval间隔单位秒，传输为一个字节无法传输小数，所以*10改为100ms，可传输一位小数
+ byte LEDInterval = (byte)(ledInterval * 10);// (byte)(10 / ledrate);
MAVLink.mavlink_msg_id_led_control led = new MAVLink.mavlink_msg_id_led_control();
led.target_system = 1;
led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
@@ -570,7 +569,7 @@ namespace Plane.CommunicationManagement
*/
- public void LED_TaskAsync( int ledmode, float ledInterval, int ledtimes, string ledRGB, ICopter copter )
+ public void LED_TaskAsync( int ledmode, float ledInterval, int ledtimes, string ledRGB, ICopter copter,bool oldver=true )
{
if (UseTransModule)
{
diff --git a/PlaneGcsSdk_Shared/CopterControllers/AvatarController.cs b/PlaneGcsSdk_Shared/CopterControllers/AvatarController.cs
index 716c8b9..08a1562 100644
--- a/PlaneGcsSdk_Shared/CopterControllers/AvatarController.cs
+++ b/PlaneGcsSdk_Shared/CopterControllers/AvatarController.cs
@@ -63,7 +63,7 @@ namespace Plane.CopterControllers
{
if (_copterManager.Copter != null && _acceptingMobileControlStates.Contains(_copterManager.Copter.State))
{
- // TODO: 林俊清, 20151109, 整理并使用 Plane.Copters.Constants 类中的常量。
+ // TODO: 王海, 20151109, 整理并使用 Plane.Copters.Constants 类中的常量。
ushort maxChannelOffset = (ushort)(Speed == SpeedType.SpeedFast ? 400 : 200);
diff --git a/PlaneGcsSdk_Shared/CopterControllers/KeyboardController.cs b/PlaneGcsSdk_Shared/CopterControllers/KeyboardController.cs
index d309d19..dbcf4fa 100644
--- a/PlaneGcsSdk_Shared/CopterControllers/KeyboardController.cs
+++ b/PlaneGcsSdk_Shared/CopterControllers/KeyboardController.cs
@@ -39,7 +39,7 @@ namespace Plane.CopterControllers
base.IsEnabled = value;
if (value)
{
- // TODO: 林俊清, 20160303, 修复 KeyboardController。
+ // TODO: 王海, 20160303, 修复 KeyboardController。
//_messenger.Register(this, OnKeyDown);
//_messenger.Register(this, OnKeyUp);
}
diff --git a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
index 2c74e51..142d57c 100644
--- a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
+++ b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
@@ -351,7 +351,7 @@ namespace Plane.Copters
get { return _DesiredChannel3; }
set
{
- // 林俊清, 20160317, 紧急悬停时可调节高度。
+ // 王海, 20160317, 紧急悬停时可调节高度。
//if (!IsEmergencyHoverActive)
//{
if (Set(nameof(DesiredChannel3), ref _DesiredChannel3, value))
@@ -740,7 +740,7 @@ namespace Plane.Copters
get { return _Mode; }
set
{
- // 林俊清, 20160325, Mode 属性改成 internal 了，如果仍然用 Set 或者 RaisePropertyChanged 方法，会抛异常（"Property not found"）。现决定不引发 PropertyChanged 事件了。
+ // 王海, 20160325, Mode 属性改成 internal 了，如果仍然用 Set 或者 RaisePropertyChanged 方法，会抛异常（"Property not found"）。现决定不引发 PropertyChanged 事件了。
var changed = _Mode != value;
if (changed) _Mode = value;
@@ -803,7 +803,7 @@ namespace Plane.Copters
public void Follow(IVisibleStatus target, bool keepYawDifference = false, bool keepFacingTarget = true, bool keep3DRelativeLocations = false)
{
- // 林俊清, 20160409, 在目前的实现中，跟随状态使用 GUIDED 模式。
+ // 王海, 20160409, 在目前的实现中，跟随状态使用 GUIDED 模式。
if (!IsConnected || !IsUnlocked || this == target || IsEmergencyHoverActive) return;
@@ -903,7 +903,7 @@ namespace Plane.Copters
public abstract Task SetChannelsAsync();
- public async Task SetMobileControlAsync(ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null, ushort? ch5 = null, ushort? ch6 = null, ushort? ch7 = null, ushort? ch8 = null, float? yaw = null) // 林俊清, 20150912, 将来如有需要再补上 TargetAlt, float? alt = null)
+ public async Task SetMobileControlAsync(ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null, ushort? ch5 = null, ushort? ch6 = null, ushort? ch7 = null, ushort? ch8 = null, float? yaw = null) // 王海, 20150912, 将来如有需要再补上 TargetAlt, float? alt = null)
{
SetTargets(ch1, ch2, ch3, ch4, ch5, ch6, ch7, ch8, yaw);
@@ -918,8 +918,8 @@ namespace Plane.Copters
State = CopterState.HoverMode;
IsEmergencyHoverActive = true;
- // 林俊清, 20151028, 先 IsEmergencyHoverActive = true 再设置目标通道是为了防止别的线程正好在 IsEmergencyHoverActive == false 时设置通道。
- // 林俊清, 20151019, 在紧急悬停状态，外部设置 DesiredChannel[1-4] 无效，只能如此设置。
+ // 王海, 20151028, 先 IsEmergencyHoverActive = true 再设置目标通道是为了防止别的线程正好在 IsEmergencyHoverActive == false 时设置通道。
+ // 王海, 20151019, 在紧急悬停状态，外部设置 DesiredChannel[1-4] 无效，只能如此设置。
SetFieldAndRaisePropertyChanged(ref _DesiredChannel1, 1500, nameof(DesiredChannel1));
SetFieldAndRaisePropertyChanged(ref _DesiredChannel2, 1500, nameof(DesiredChannel2));
SetFieldAndRaisePropertyChanged(ref _DesiredChannel3, 1500, nameof(DesiredChannel3));
@@ -929,7 +929,7 @@ namespace Plane.Copters
switch (Mode)
{
- // 林俊清, 20151019, 波子说一律切 LOITER。
+ // 王海, 20151019, 波子说一律切 LOITER。
//case FlightMode.ALT_HOLD:
// break;
//case FlightMode.LOITER:
@@ -1061,7 +1061,7 @@ namespace Plane.Copters
async Task SetModeAsync(FlightMode mode, int millisecondsTimeout = 5000)
{
if (_shouldFollow && mode != FlightMode.GUIDED) _shouldFollow = false;
- // 林俊清, 20160317, 紧急悬停时可返航或降落。
+ // 王海, 20160317, 紧急悬停时可返航或降落。
if (mode == FlightMode.RTL || mode == FlightMode.LAND)
{
StopEmergencyHover();
@@ -1249,7 +1249,7 @@ namespace Plane.Copters
case nameof(IsUnlocked):
if (IsUnlocked)
{
- // 林俊清, 20151029, 在解锁时重置起飞点、起飞时间、飞行距离、飞行时间、速度。
+ // 王海, 20151029, 在解锁时重置起飞点、起飞时间、飞行距离、飞行时间、速度。
TakeOffPoint = new PLLocation { Latitude = Latitude, Longitude = Longitude, Altitude = Altitude };
_takeOffTime = DateTime.Now;
FlightDistance = 0;
diff --git a/PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs b/PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs
index 2f727eb..f00a989 100644
--- a/PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs
+++ b/PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs
@@ -99,7 +99,7 @@ namespace Plane.Copters
{
IsUnlocked = _internalCopter.armed;
Mode = (FlightMode)_internalCopter.mode;
- // 林俊清, 20160311, 将闲置的 apname 用作已经切过 GPS 模式的标志。
+ // 王海, 20160311, 将闲置的 apname 用作已经切过 GPS 模式的标志。
HasSwitchedToGpsMode = (byte)_internalCopter.apname != 0;
++HeartbeatCount;
diff --git a/PlaneGcsSdk_Shared/Copters/FakeCopter.cs b/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
index 5291e7f..3c2c84f 100644
--- a/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
+++ b/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
@@ -126,7 +126,7 @@ namespace Plane.Copters
case nameof(IsUnlocked):
if (IsUnlocked)
{
- // 林俊清, 20151029, 在解锁时上次计算速度点、上次计算速度时刻。
+ // 王海, 20151029, 在解锁时上次计算速度点、上次计算速度时刻。
_lastCalcSpeedPoint = new PLLocation { Latitude = Latitude, Longitude = Longitude, Altitude = Altitude };
_lastCalcSpeedTime = DateTime.Now;
}
@@ -234,7 +234,7 @@ namespace Plane.Copters
public Task GetParamAsync(string paramName, int millisecondsTimeout = Timeout.Infinite)
{
- // TODO: 林俊清, 20150806, 实现仿真的 GetParamAsync。
+ // TODO: 王海, 20150806, 实现仿真的 GetParamAsync。
return Task.FromResult(0f);
}
@@ -308,7 +308,7 @@ namespace Plane.Copters
}
public Task SetParamAsync(string paramName, float value, int millisecondsTimeout = Timeout.Infinite)
{
- // TODO: 林俊清, 20150807, 实现仿真的 SetParamAsync。
+ // TODO: 王海, 20150807, 实现仿真的 SetParamAsync。
return TaskUtils.CompletedTask;
}
public bool GetShowLEDAsync()
@@ -354,7 +354,7 @@ namespace Plane.Copters
double? latitude = null, //23.14973333,
double? longitude = null, //113.40974166,
float? altitude = null, //0,
- string name = null, //"林俊清的飞行器",
+ string name = null, //"王海的飞行器",
byte? batteryPer = null, //10,
short? heading = null, //33,
bool? isConnected = null, //true,
@@ -463,7 +463,7 @@ namespace Plane.Copters
if (movedDistance >= 3 || movedTime.TotalSeconds >= 3)
{
var airSpeed = movedDistance / movedTime.TotalSeconds;
- if (airSpeed < 100) // 林俊清, 20151023, 速度过大时不正常，经纬度可能有错误。
+ if (airSpeed < 100) // 王海, 20151023, 速度过大时不正常，经纬度可能有错误。
{
AirSpeed = (float)airSpeed;
}
@@ -537,7 +537,7 @@ namespace Plane.Copters
break;
case FlightMode.GUIDED:
- // 林俊清, 20160317, 指点时也能体感控制若干通道。
+ // 王海, 20160317, 指点时也能体感控制若干通道。
//考虑不更新这个，好像没必要-xu
//UpdateWithChannels();
UpdateWithDestination(_targetLat, _targetLng, _targetAlt);
@@ -571,7 +571,7 @@ namespace Plane.Copters
break;
case FlightMode.LAND:
- // 林俊清, 20160317, 降落时也能体感控制若干通道。
+ // 王海, 20160317, 降落时也能体感控制若干通道。
UpdateWithChannels();
// 以最大速度降落，直到高度为 0。
if (Altitude > 0)
@@ -603,7 +603,7 @@ namespace Plane.Copters
}
else
{
- // TODO: 林俊清, 20151228, 模拟空中锁定。
+ // TODO: 王海, 20151228, 模拟空中锁定。
// 锁定时直接把速度设为 0。
AirSpeed = 0;
}
@@ -706,7 +706,7 @@ namespace Plane.Copters
if (Mode == FlightMode.RTL)
{
- // 林俊清, 20160126, 目前飞行器只在返航时会旋转机头，面对飞行方向。
+ // 王海, 20160126, 目前飞行器只在返航时会旋转机头，面对飞行方向。
Yaw = (float)direction.RadToDeg();
Heading = (short)Yaw;
Roll = 0;
diff --git a/PlaneGcsSdk_Shared/Copters/FlightMode.cs b/PlaneGcsSdk_Shared/Copters/FlightMode.cs
index 467819c..3d4b0d4 100644
--- a/PlaneGcsSdk_Shared/Copters/FlightMode.cs
+++ b/PlaneGcsSdk_Shared/Copters/FlightMode.cs
@@ -9,11 +9,11 @@ namespace Plane.Copters
#endif
enum FlightMode
{
- // 林俊清，20150608：不可将以下枚举项重命名。
+ // 王海，20150608：不可将以下枚举项重命名。
STABILIZE = 0, // hold level position
- ACRO = 1, // rate control // 林俊清, 20160205, 特技模式：http://copter.ardupilot.cn/wiki/acro-mode/
+ ACRO = 1, // rate control // 王海, 20160205, 特技模式：http://copter.ardupilot.cn/wiki/acro-mode/
ALT_HOLD = 2, // AUTO control
@@ -27,11 +27,11 @@ namespace Plane.Copters
CIRCLE = 7,
- POSITION = 8, // 林俊清, 20160205, 位置模式：http://copter.ardupilot.cn/wiki/POSITION-mode/
+ POSITION = 8, // 王海, 20160205, 位置模式：http://copter.ardupilot.cn/wiki/POSITION-mode/
LAND = 9, // AUTO control
- OF_LOITER = 10, // 林俊清, 20160205, 光流悬停模式：http://copter.ardupilot.cn/wiki/loiter-mode/ 底部。
+ OF_LOITER = 10, // 王海, 20160205, 光流悬停模式：http://copter.ardupilot.cn/wiki/loiter-mode/ 底部。
TOY = 11
}
diff --git a/PlaneGcsSdk_Shared/Copters/PLCopter.cs b/PlaneGcsSdk_Shared/Copters/PLCopter.cs
index 7bd564b..68fe842 100644
--- a/PlaneGcsSdk_Shared/Copters/PLCopter.cs
+++ b/PlaneGcsSdk_Shared/Copters/PLCopter.cs
@@ -292,7 +292,7 @@ namespace Plane.Copters
public async Task TakeOffAsync(float alt)
{
var currentTakeOffCount = ++_takeOffCount;
- // 林俊清, 20160312, 从固件版本 3.1.1（0x3101）开始支持直接解锁起飞命令。
+ // 王海, 20160312, 从固件版本 3.1.1（0x3101）开始支持直接解锁起飞命令。
//if (FirmwareVersion >= 0x3101)
{
await SetChannelsAsync(
diff --git a/PlaneGcsSdk_Shared/Copters/PlaneCopter.NestedTypes.cs b/PlaneGcsSdk_Shared/Copters/PlaneCopter.NestedTypes.cs
index c16e447..d72afba 100644
--- a/PlaneGcsSdk_Shared/Copters/PlaneCopter.NestedTypes.cs
+++ b/PlaneGcsSdk_Shared/Copters/PlaneCopter.NestedTypes.cs
@@ -46,7 +46,7 @@ namespace Plane.Copters
((ICollection)bitArray).CopyTo(array, 0);
return array[0];
}
- // 林俊清，20150703：BitArray 的构造函数的参数是数组长度，这里根本不对啊。
+ // 王海，20150703：BitArray 的构造函数的参数是数组长度，这里根本不对啊。
//set
//{
// bitArray = new BitArray(value);
diff --git a/PlaneGcsSdk_Shared/Copters/PlaneCopter.cs b/PlaneGcsSdk_Shared/Copters/PlaneCopter.cs
index 51df102..4a7107a 100644
--- a/PlaneGcsSdk_Shared/Copters/PlaneCopter.cs
+++ b/PlaneGcsSdk_Shared/Copters/PlaneCopter.cs
@@ -348,7 +348,7 @@ namespace Plane.Copters
return flightModes.ToList();
}
- // 林俊清, 20151029, 由于只在 myComm 循环中读取数据包，因此去掉了锁。
+ // 王海, 20151029, 由于只在 myComm 循环中读取数据包，因此去掉了锁。
//volatile object readlock = new object();
#if DEBUG && LOG_PACKETS
@@ -364,7 +364,7 @@ namespace Plane.Copters
private byte[] _readBuffer = new byte[263];
///
- /// 异步读取数据包。// 林俊清, 20151029, 去掉了锁，不要在除读数据包循环之外的地方调用此方法。
+ /// 异步读取数据包。// 王海, 20151029, 去掉了锁，不要在除读数据包循环之外的地方调用此方法。
///
/// 表示此异步操作的 实例，其结果为读取到的数据包。
private async Task ReadPacketAsync()
@@ -612,7 +612,7 @@ namespace Plane.Copters
}
catch
{
- // 林俊清, 20151031, 异常已通过 IConnection.ExceptionThrown 事件传到外部，此处吞掉就行了。
+ // 王海, 20151031, 异常已通过 IConnection.ExceptionThrown 事件传到外部，此处吞掉就行了。
}
}
}
@@ -688,7 +688,7 @@ namespace Plane.Copters
}
catch
{
- // 林俊清, 20151031, 异常已通过 IConnection.ExceptionThrown 事件传到外部，此处吞掉就行了。
+ // 王海, 20151031, 异常已通过 IConnection.ExceptionThrown 事件传到外部，此处吞掉就行了。
}
}
}
diff --git a/PlaneGcsSdk_Shared/Protocols/MAVLinkTypes.cs b/PlaneGcsSdk_Shared/Protocols/MAVLinkTypes.cs
index 88b59b6..19002d8 100644
--- a/PlaneGcsSdk_Shared/Protocols/MAVLinkTypes.cs
+++ b/PlaneGcsSdk_Shared/Protocols/MAVLinkTypes.cs
@@ -29,7 +29,7 @@ namespace Plane.Protocols
public const bool MAVLINK_NEED_BYTE_SWAP = (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN);
- // ֿ, 20150721: Ϣȱδʹãû£ɾ
+ // , 20150721: Ϣȱδʹãû£ɾ
//public static readonly byte[] MAVLINK_MESSAGE_LENGTHS = new byte[] { 9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 8, 48, 19, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0 };
//public static readonly byte[] MAVLINK_MESSAGE_CRCS = new byte[] {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 203, 220, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 154, 21, 21, 144, 1, 234, 73, 181, 22, 83, 167, 138, 234, 240, 47, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 59, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0 };
@@ -79,15 +79,15 @@ namespace Plane.Protocols
/// Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
TAKEOFF = 22,
///
- /// // ֿ, 20160331, Թʦ˵Ǵļõġ
+ /// // , 20160331, 1˵Ǵļõġ
///
TELL_COPTER = 23,
///
- /// // ֿ, 20160331, Թʦʼδ֪
+ /// // , 20160331, 1ʼδ֪
///
FILE_TRANS_MODE = 24,
///
- /// // ֿ, 20160331, Թʦʼ RF ԡ
+ /// // , 20160331, 1ʼ RF ԡ
///
RF_TEST = 25,
/// Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
@@ -1366,7 +1366,7 @@ namespace Plane.Protocols
/// Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
public byte type;
/// Autopilot type / class. defined in MAV_AUTOPILOT ENUM
- /// // ֿ, 20160311, ںй GPS ģʽı־
+ /// // , 20160311, ںй GPS ģʽı־
public byte autopilot;
/// System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
public byte base_mode;
diff --git a/PlaneGcsSdk_Shared/Protocols/MavlinkUtil.cs b/PlaneGcsSdk_Shared/Protocols/MavlinkUtil.cs
index 4e36007..783a0ac 100644
--- a/PlaneGcsSdk_Shared/Protocols/MavlinkUtil.cs
+++ b/PlaneGcsSdk_Shared/Protocols/MavlinkUtil.cs
@@ -44,7 +44,7 @@ namespace Plane.Protocols
Marshal.Copy(bytearray, startoffset, i, len);
packet = Marshal.PtrToStructure(i);
}
- // 林俊清, 20151026, 改为不吞异常了。
+ // 王海, 20151026, 改为不吞异常了。
//catch
//{
// //log.Error("ByteArrayToStructure FAIL", ex);
diff --git a/PlaneGcsSdk_Shared/Protocols/MavlinkUtil_NET45.cs b/PlaneGcsSdk_Shared/Protocols/MavlinkUtil_NET45.cs
index fbd48aa..dd4e52c 100644
--- a/PlaneGcsSdk_Shared/Protocols/MavlinkUtil_NET45.cs
+++ b/PlaneGcsSdk_Shared/Protocols/MavlinkUtil_NET45.cs
@@ -43,7 +43,7 @@ namespace Plane.Protocols
Marshal.Copy(bytearray, startoffset, i, len);
packet = MarshalEx.PtrToStructure(i);
}
- // 林俊清, 20151026, 改为不吞异常了。
+ // 王海, 20151026, 改为不吞异常了。
//catch
//{
// //log.Error("ByteArrayToStructure FAIL", ex);
diff --git a/PlaneGcsSdk_Shared/TaskTools/HIL/Vector3.cs b/PlaneGcsSdk_Shared/TaskTools/HIL/Vector3.cs
index b683426..837bb3c 100644
--- a/PlaneGcsSdk_Shared/TaskTools/HIL/Vector3.cs
+++ b/PlaneGcsSdk_Shared/TaskTools/HIL/Vector3.cs
@@ -39,13 +39,13 @@ namespace TaskTools.HIL
self.z);
}
- // 林俊清，20150702：删除 MissionPlanner.Utilities.dll。
+ // 王海，20150702：删除 MissionPlanner.Utilities.dll。
//public static implicit operator Vector3(PointLatLngAlt a)
//{
// return new Vector3(a.Lat,a.Lng,a.Alt);
//}
- // 林俊清，20150702：删除 GMap.NET.Core.dll（仅此处使用其 PointLatLng）。
+ // 王海，20150702：删除 GMap.NET.Core.dll（仅此处使用其 PointLatLng）。
//public static implicit operator Vector3(PointLatLng a)
//{