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修改支持多台飞机校准通讯接口类

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This commit is contained in:
zxd 2019-01-25 11:58:04 +08:00
parent 35b8a5282e
commit 4ae451aded
1 changed files with 18 additions and 6 deletions
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24
PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
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@ -363,10 +363,14 @@ namespace Plane.CommunicationManagement
/// </summary> /// </summary>
/// <param name="copterId"></param> /// <param name="copterId"></param>
/// <returns></returns> /// <returns></returns>
public async Task DoStartPreflightCompassAsync(short copterId) public async Task DoStartPreflightCompassAsync(IEnumerable<ICopter> copters = null)
{ {
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0); byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0);
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false); await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
} }
/// <summary> /// <summary>
@ -374,14 +378,18 @@ namespace Plane.CommunicationManagement
/// </summary> /// </summary>
/// <param name="copterId"></param> /// <param name="copterId"></param>
/// <returns></returns> /// <returns></returns>
public async Task DoNextPreflightCompassAsync(short copterId) public async Task DoNextPreflightCompassAsync(IEnumerable<ICopter> copters = null)
{ {
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
MAVLink.mavlink_command_ack_t req = new MAVLink.mavlink_command_ack_t(); MAVLink.mavlink_command_ack_t req = new MAVLink.mavlink_command_ack_t();
req.command = 1; req.command = 1;
req.result = 1; req.result = 1;
byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_COMMAND_ACK, req); byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_COMMAND_ACK, req);
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false); await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
} }
/// <summary> /// <summary>
@ -389,10 +397,14 @@ namespace Plane.CommunicationManagement
/// </summary> /// </summary>
/// <param name="copterId"></param> /// <param name="copterId"></param>
/// <returns></returns> /// <returns></returns>
public async Task DoCalibrationCompassAsync(short copterId) public async Task DoCalibrationCompassAsync(IEnumerable<ICopter> copters = null)
{ {
short copterId = 0;
byte[] batchPacket = null;
GetCopterIds(copters, out copterId, out batchPacket);
byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_START_MAG_CAL, 0, 1, 1, 0, 0, 0, 0); byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_START_MAG_CAL, 0, 1, 1, 0, 0, 0, 0);
await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false); await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
} }
/// <summary> /// <summary>