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

8
PlaneGcsSdk_Shared/Copters/PLCopter.cs
View File

@ -221,11 +221,15 @@ namespace Plane.Copters
var stopwatch = Stopwatch.StartNew(); var stopwatch = Stopwatch.StartNew();
while (true) while (true)
{ {
for (int ii = 0; ii < 5; ii++) /* for (int ii = 0; ii < 5; ii++)
{ {
await _internalCopter.SetParam2Async(paramName, paramValue).ConfigureAwait(false); await _internalCopter.SetParam2Async(paramName, paramValue).ConfigureAwait(false);
await Task.Delay(5).ConfigureAwait(false); await Task.Delay(5).ConfigureAwait(false);
} }
*/
await _internalCopter.SetParam2Async(paramName, paramValue).ConfigureAwait(false);
await Task.Delay(5).ConfigureAwait(false);
int i = 0; int i = 0;
try try
@ -235,7 +239,7 @@ namespace Plane.Copters
// await Task.Delay(5).ConfigureAwait(false); // await Task.Delay(5).ConfigureAwait(false);
//} //}
if (await _internalCopter.GetParamAsync(paramName, 1000) == paramValue) // if (await _internalCopter.GetParamAsync(paramName, millisecondsTimeout) == paramValue)
{ {
i = 1; i = 1;
} }

2
PlaneGcsSdk_Shared/Copters/PlaneCopter.cs
View File

@ -212,7 +212,7 @@ namespace Plane.Copters
autopilot = (byte)MAVLink.MAV_AUTOPILOT.GENERIC, autopilot = (byte)MAVLink.MAV_AUTOPILOT.GENERIC,
mavlink_version = 3, 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 DEBUG && LOG_PACKETS
if (!_sendHeartbeatStopwatch.IsRunning) if (!_sendHeartbeatStopwatch.IsRunning)
{ {