From 471f0ba872d518d8f42796baa14cc0e7f938665d Mon Sep 17 00:00:00 2001
From: panxu <pxzleo@126.com>
Date: Wed, 11 Jul 2018 10:37:17 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=BA=E4=BA=86=E5=87=8F=E5=B0=8F=E9=80=9A?=
 =?UTF-8?q?=E8=AE=AF=EF=BC=8C=E4=B8=8D=E5=8F=91=E5=BF=83=E8=B7=B3=E5=8C=85?=
 =?UTF-8?q?=EF=BC=8C=E6=9C=89=E9=80=9A=E9=81=93=E5=8C=85=EF=BC=8Crtk?=
 =?UTF-8?q?=E5=8C=85=E7=AD=89=EF=BC=8C=E4=B8=8D=E5=8F=91=E5=BF=83=E8=B7=B3?=
 =?UTF-8?q?=E4=B9=9F=E6=B2=A1=E9=97=AE=E9=A2=98=20=E6=89=B9=E9=87=8F?=
 =?UTF-8?q?=E8=AE=BE=E7=BD=AE=E5=8F=82=E6=95=B0=E6=9C=89=E9=97=AE=E9=A2=98?=
 =?UTF-8?q?=EF=BC=8C=E4=B8=B4=E6=97=B6=E6=8F=90=E4=BA=A4=20=E9=99=8D?=
 =?UTF-8?q?=E4=BD=8E=E9=80=9A=E9=81=93=E5=8F=91=E9=80=81=E9=A2=91=E7=8E=87?=
 =?UTF-8?q?=E4=B8=BA2=E6=AC=A1/=E7=A7=92?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs |  4 +++-
 PlaneGcsSdk_Shared/Copters/PLCopter.cs             | 10 +++++++---
 PlaneGcsSdk_Shared/Copters/PlaneCopter.cs          |  2 +-
 3 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
index d822912..2da9e88 100644
--- a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
+++ b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
@@ -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;
diff --git a/PlaneGcsSdk_Shared/Copters/PLCopter.cs b/PlaneGcsSdk_Shared/Copters/PLCopter.cs
index acbc1ae..658960c 100644
--- a/PlaneGcsSdk_Shared/Copters/PLCopter.cs
+++ b/PlaneGcsSdk_Shared/Copters/PLCopter.cs
@@ -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;
                     }
diff --git a/PlaneGcsSdk_Shared/Copters/PlaneCopter.cs b/PlaneGcsSdk_Shared/Copters/PlaneCopter.cs
index b34527c..161ee1a 100644
--- a/PlaneGcsSdk_Shared/Copters/PlaneCopter.cs
+++ b/PlaneGcsSdk_Shared/Copters/PlaneCopter.cs
@@ -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)
                         {