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为了减小通讯，不发心跳包，有通道包，rtk包等，不发心跳也没问题

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批量设置参数有问题，临时提交
降低通道发送频率为2次/秒
This commit is contained in:
panxu 2018-07-11 10:37:17 +08:00
parent 22b8f46359
commit 471f0ba872
3 changed files with 11 additions and 5 deletions
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4
PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
View File

@ -170,6 +170,7 @@ namespace Plane.Copters
await Task.Delay(_intervalToUpdateFlightTimeSpan).ConfigureAwait(false);
}
});
Task.Run(async () =>
{
while (true)
@ -182,9 +183,10 @@ namespace Plane.Copters
{
StatusText = null;
}
await Task.Delay(50);
await Task.Delay(500); //50
}
});
Task.Run(async () =>
{
var lastHeartbeatCount = HeartbeatCount;

10
PlaneGcsSdk_Shared/Copters/PLCopter.cs
View File

@ -221,12 +221,16 @@ namespace Plane.Copters
var stopwatch = Stopwatch.StartNew();
while (true)
{
for (int ii = 0; ii < 5; ii++)
/* for (int ii = 0; ii < 5; ii++)
{
await _internalCopter.SetParam2Async(paramName, paramValue).ConfigureAwait(false);
await Task.Delay(5).ConfigureAwait(false);
}
*/
await _internalCopter.SetParam2Async(paramName, paramValue).ConfigureAwait(false);
await Task.Delay(5).ConfigureAwait(false);
int i = 0;
try
{
@ -235,7 +239,7 @@ namespace Plane.Copters
// await Task.Delay(5).ConfigureAwait(false);
//}
if (await _internalCopter.GetParamAsync(paramName, 1000) == paramValue)
// if (await _internalCopter.GetParamAsync(paramName, millisecondsTimeout) == paramValue)
{
i = 1;
}

2
PlaneGcsSdk_Shared/Copters/PlaneCopter.cs
View File

@ -212,7 +212,7 @@ namespace Plane.Copters
autopilot = (byte)MAVLink.MAV_AUTOPILOT.GENERIC,
mavlink_version = 3,
};
await SendPacketAsync(htb).ConfigureAwait(false); //发心跳包
// await SendPacketAsync(htb).ConfigureAwait(false); //发心跳包
#if DEBUG && LOG_PACKETS
if (!_sendHeartbeatStopwatch.IsRunning)
{