加入对新RTK状态支持，

加入RGB灯控制第一版

PlaneGcsSdk.Contract_Shared/Copters/GpsFixType.cs

@@ -6,7 +6,8 @@
         Fix2D = 2,
         Fix3D = 3,
         DGPS3D=4,
-        RTK3D= 5
+        RTKFLOAT= 5,
+        RTKFIXED = 6
 
 
     }

PlaneGcsSdk.Contract_Shared/Copters/ICopterActions.cs

@@ -112,8 +112,8 @@ namespace Plane.Copters
 
         Task SetShowLEDAsync(bool Ledon);
         Task SetShowLEDFlashAsync(int Flashtype, int millisecondsTime);
-        
 
+        Task SetShowRGBLEDAsync(int RedValue, int GreenValue, int BlueValue);
 
         /// <summary>
         /// 开始对频。

PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs

@@ -886,6 +886,41 @@ namespace Plane.Copters
 
         public async Task TakeOffAsync()
         {
+
+
+          /*  await SetChannelsAsync(
+                ch1: 1500,
+                ch2: 1500,
+                ch3: 1500,
+                ch4: 1500
+            ).ConfigureAwait(false);
+            _forcedState = CopterState.TakingOff;
+            State = CopterState.TakingOff;
+            await DoCommandAsync(MAVLink.MAV_CMD.TAKEOFF, 0, 0, 0, 0, 0, 0, alt).ConfigureAwait(false);
+            var temp = Task.Run(async () =>
+            {
+                var startTime = DateTime.Now;
+                var secondsTimeout = alt / 0.7;
+                while (currentTakeOffCount == _takeOffCount)
+                {
+                    if (alt - Altitude < 0.2 || startTime.AddSeconds(secondsTimeout) <= DateTime.Now)
+                    {
+                        _forcedState = null;
+                        await HoverAsync().ConfigureAwait(false);
+                        break;
+                    }
+                    await Task.Delay(50).ConfigureAwait(false);
+                }
+            });
+*/
+
+
+
+
+
+
+
+
             if (await SetModeAsync(FlightMode.AUTO).ConfigureAwait(false))
             {
                 await SetChannelsAsync(
@@ -895,6 +930,7 @@ namespace Plane.Copters
                     ch4: 1500
                 ).ConfigureAwait(false);
             }
+           
         }
 
         /// <summary>

PlaneGcsSdk_Shared/Copters/EmptyCopter.cs

@@ -72,6 +72,13 @@ namespace Plane.Copters
             return TaskUtils.CompletedTask;
         }
 
+        public Task SetShowRGBLEDAsync(int RedValue, int GreenValue, int BlueValue)
+        {
+            return TaskUtils.CompletedTask;
+        }
+
+
+
         public Task StartPairingAsync()
         {
             return TaskUtils.CompletedTask;

PlaneGcsSdk_Shared/Copters/FakeCopter.cs

@@ -275,6 +275,14 @@ namespace Plane.Copters
             RaiseLocationChanged();
             return TaskUtils.CompletedTask;
         }
+
+
+        public Task SetShowRGBLEDAsync(int RedValue, int GreenValue, int BlueValue)
+        {
+            return TaskUtils.CompletedTask;
+        }
+
+
         public Task SetShowLEDFlashAsync(int Flashtype, int millisecondsTime)
         {
             bool Ledison;

PlaneGcsSdk_Shared/Copters/PLCopter.cs

@@ -149,6 +149,17 @@ namespace Plane.Copters
             _showLed = Ledon;
          }
 
+
+
+
+        public async Task SetShowRGBLEDAsync(int RedValue,int GreenValue,int BlueValue)
+        {
+            float rgbvalue = (RedValue & 255) << 16 + (GreenValue & 255) << 8 + (BlueValue & 255);
+            await SetParamNoCheckAsync("NTF_SHOWRGBLED", rgbvalue);
+        }
+
+
+
         /// <summary>
         /// 闪烁SHOWLED，如果当前没亮，那就亮一下，如果本来就是亮的，那就暗一下
         /// </summary>