加入启动任务功能

PlaneGcsSdk.Contract_Shared/Copters/ICopterActionsSharedByCopterManager.cs

@@ -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);
 
 
     }

PlaneGcsSdk_Shared/CopterManagement/SingleCopterManager.cs

@@ -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?))
         {

PlaneGcsSdk_Shared/Copters/EmptyCopter.cs

@@ -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;

PlaneGcsSdk_Shared/Copters/FakeCopter.cs

@@ -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()
         {

PlaneGcsSdk_Shared/Copters/PLCopter.cs

@@ -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(

PlaneGcsSdk_Shared/Copters/PlaneCopter.cs

@@ -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;