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加入启动任务功能

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This commit is contained in:
panxu 2018-04-30 17:56:45 +08:00
parent b000e7fa0f
commit 65e7394926
6 changed files with 26 additions and 3 deletions
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1
PlaneGcsSdk.Contract_Shared/Copters/ICopterActionsSharedByCopterManager.cs
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@ -129,6 +129,7 @@ namespace Plane.Copters
Task InjectGpsDataAsync(byte[] data, ushort length);
Task MissionStartAsync(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat);
}

4
PlaneGcsSdk_Shared/CopterManagement/SingleCopterManager.cs
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@ -147,6 +147,10 @@ namespace Plane.CopterManagement
{
return Copter.StartEmergencyHoverAsync();
}
public Task MissionStartAsync(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
{
return Copter.MissionStartAsync(hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
}
public void StartMobileControl(int? millisecondsInterval = default(int?))
{

5
PlaneGcsSdk_Shared/Copters/EmptyCopter.cs
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@ -93,7 +93,10 @@ namespace Plane.Copters
{
return TaskUtils.CompletedTask;
}
public Task MissionStartAsync(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
{
return TaskUtils.CompletedTask;
}
public Task UnlockAsync()
{
return TaskUtils.CompletedTask;

5
PlaneGcsSdk_Shared/Copters/FakeCopter.cs
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@ -354,6 +354,11 @@ namespace Plane.Copters
_takeOffTargetAltitude = (int)alt;
await TakeOffAsync().ConfigureAwait(false);
}
public Task MissionStartAsync(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
{
return TaskUtils.CompletedTask;
}
public async Task UnlockAsync()
{

8
PlaneGcsSdk_Shared/Copters/PLCopter.cs
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@ -84,7 +84,13 @@ namespace Plane.Copters
await _internalCopter.DoARMAsync(false).ConfigureAwait(false);
}
}
public async Task MissionStartAsync(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
{
if (IsUnlocked)
{
await _internalCopter.DoMissionStartAsync(hour_utc, minute_utc, second_utc, Missionlng, Missionlat).ConfigureAwait(false);
}
}
public override async Task SetChannelsAsync()
{
await _internalCopter.SetChannelsAsync(

6
PlaneGcsSdk_Shared/Copters/PlaneCopter.cs
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@ -607,7 +607,11 @@ namespace Plane.Copters
///<summary> 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| </summary>
return await DoCommandAsync(MAVLink.MAV_CMD.TAKEOFF, 0, 0, 0, -1, 0, 0, 15);
}
public async Task<bool> DoMissionStartAsync(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
{
///<summary> 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| </summary>
return await DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, (float)Missionlng, (float)Missionlat, 0, 0);
}
public async Task<bool> DoCommandAsync(MAVLink.MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
{
giveComport = true;