From 6a18c8ac4e9114ebc52502f7fcdc6c087549bc4f Mon Sep 17 00:00:00 2001
From: pxzleo <pxzleo@126.com>
Date: Fri, 4 Aug 2017 22:32:12 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E5=85=A5=E5=AF=B9=E6=96=B0RTK?=
 =?UTF-8?q?=E7=8A=B6=E6=80=81=E6=94=AF=E6=8C=81=EF=BC=8C=20=E5=8A=A0?=
 =?UTF-8?q?=E5=85=A5RGB=E7=81=AF=E6=8E=A7=E5=88=B6=E7=AC=AC=E4=B8=80?=
 =?UTF-8?q?=E7=89=88?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
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---
 .../Copters/GpsFixType.cs                     |  3 +-
 .../Copters/ICopterActions.cs                 |  2 +-
 .../Copters/CopterImplSharedPart.cs           | 36 +++++++++++++++++++
 PlaneGcsSdk_Shared/Copters/EmptyCopter.cs     |  7 ++++
 PlaneGcsSdk_Shared/Copters/FakeCopter.cs      |  8 +++++
 PlaneGcsSdk_Shared/Copters/PLCopter.cs        | 11 ++++++
 6 files changed, 65 insertions(+), 2 deletions(-)

diff --git a/PlaneGcsSdk.Contract_Shared/Copters/GpsFixType.cs b/PlaneGcsSdk.Contract_Shared/Copters/GpsFixType.cs
index 77bd3aa..b2af0ea 100644
--- a/PlaneGcsSdk.Contract_Shared/Copters/GpsFixType.cs
+++ b/PlaneGcsSdk.Contract_Shared/Copters/GpsFixType.cs
@@ -6,7 +6,8 @@
         Fix2D = 2,
         Fix3D = 3,
         DGPS3D=4,
-        RTK3D= 5
+        RTKFLOAT= 5,
+        RTKFIXED = 6
 
 
     }
diff --git a/PlaneGcsSdk.Contract_Shared/Copters/ICopterActions.cs b/PlaneGcsSdk.Contract_Shared/Copters/ICopterActions.cs
index b597f9e..d579501 100644
--- a/PlaneGcsSdk.Contract_Shared/Copters/ICopterActions.cs
+++ b/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。
diff --git a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
index 51ee631..881bd32 100644
--- a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
+++ b/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>
diff --git a/PlaneGcsSdk_Shared/Copters/EmptyCopter.cs b/PlaneGcsSdk_Shared/Copters/EmptyCopter.cs
index fcbdcf6..1f7c642 100644
--- a/PlaneGcsSdk_Shared/Copters/EmptyCopter.cs
+++ b/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;
diff --git a/PlaneGcsSdk_Shared/Copters/FakeCopter.cs b/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
index 7c0b3f6..d693bbd 100644
--- a/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
+++ b/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;
diff --git a/PlaneGcsSdk_Shared/Copters/PLCopter.cs b/PlaneGcsSdk_Shared/Copters/PLCopter.cs
index d2213c9..2794b65 100644
--- a/PlaneGcsSdk_Shared/Copters/PLCopter.cs
+++ b/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>