From 3e46bbb3769e6c876c46e2d78fc8c8eae590f3ae Mon Sep 17 00:00:00 2001 From: xu Date: Sun, 20 Sep 2020 11:43:27 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=90=8D=E5=AD=97?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Copters/ICopterActions.cs | 2 +- .../Copters/IFakeCopter.cs | 2 +- .../Copters/FakeCopter.Private.cs | 2 +- .../Copters/PLCopter.Private.cs | 2 +- .../Copters/PlaneCopter.Private.cs | 2 +- .../TcpServerConnectionManager.cs | 2 +- .../CommunicationManagement/CommModule.cs | 5 +++-- .../CommModuleGenerateMavLink.cs | 7 +++---- .../CopterControllers/AvatarController.cs | 2 +- .../CopterControllers/KeyboardController.cs | 2 +- .../Copters/CopterImplSharedPart.cs | 18 +++++++++--------- .../EHCopter.InternalCopterEventHandlers.cs | 2 +- PlaneGcsSdk_Shared/Copters/FakeCopter.cs | 18 +++++++++--------- PlaneGcsSdk_Shared/Copters/FlightMode.cs | 8 ++++---- PlaneGcsSdk_Shared/Copters/PLCopter.cs | 2 +- .../Copters/PlaneCopter.NestedTypes.cs | 2 +- PlaneGcsSdk_Shared/Copters/PlaneCopter.cs | 8 ++++---- PlaneGcsSdk_Shared/Protocols/MAVLinkTypes.cs | 10 +++++----- PlaneGcsSdk_Shared/Protocols/MavlinkUtil.cs | 2 +- .../Protocols/MavlinkUtil_NET45.cs | 2 +- PlaneGcsSdk_Shared/TaskTools/HIL/Vector3.cs | 4 ++-- 21 files changed, 52 insertions(+), 52 deletions(-) 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) //{