主要修改取消UDPserver 更换通信模块的通信

最小距离的修改
无悬停的快速航点模拟
时间长度的限定 如flyto的时间限定为4095
计划路线的修改：只显示当前航点的路线
飞控版本检测
航点失败续写和航点单写

PlaneGcsSdk.Contract_Shared/Communication/ConnectionEstablishedEventArgs.cs

@@ -13,5 +13,7 @@ namespace Plane.Communication
         public IConnection Connection { get; private set; }
 
         public string RemoteAddress { get; private set; }
+
+
     }
 }

PlaneGcsSdk.Contract_Shared/Copters/ICopter.cs

@@ -4,5 +4,6 @@ namespace Plane.Copters
 {
     public partial interface ICopter : ICopterStatus, ICopterEvents, ICopterActions, ICopterCommunication, INotifyPropertyChanged
     {
+       
     }
 }

PlaneGcsSdk.Contract_Shared/Copters/ICopterStatus.cs

@@ -172,5 +172,7 @@ namespace Plane.Copters
         /// 获取当前电池电压，单位为伏特。
         /// </summary>
         float Voltage { get; }
+
+        byte[] Retain { get; }
     }
 }

PlaneGcsSdk_Shared/Communication/TcpConnectionBase.cs

@@ -37,6 +37,21 @@ namespace Plane.Communication
             }
         }
 
+        public  bool IsOnline
+        {
+            get
+            {
+                try
+                {
+                    return !((_client.Client.Poll(1000, SelectMode.SelectRead) && (_client.Client.Available == 0)) || !_client.Client.Connected);
+                }
+                catch (ObjectDisposedException)
+                {
+                    return false;
+                }
+            }
+        }
+
         public bool IsOpen
         {
             get
@@ -54,8 +69,8 @@ namespace Plane.Communication
 
         public void Close()
         {
-            _stream.Close();
-            _client.Close();
+            _stream?.Close();
+            _client?.Close();
         }
 
         public abstract Task OpenAsync();
@@ -92,7 +107,10 @@ namespace Plane.Communication
             {
                 while (Available < count)
                 {
-                    if (!IsOpen) return 0;
+                    //if (!IsOpen)
+                    //    return 0;
+                    if (!IsOnline)
+                        return 0;
                     await Task.Delay(5).ConfigureAwait(false);
                 }
                 return await _stream.ReadAsync(buffer, offset, count);

PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs

@@ -123,6 +123,8 @@ namespace Plane.Copters
 
         private bool _IsCheckingConnection;
 
+        private bool _CommModuleConnected;
+
         private bool _IsConnected;
 
         private bool _IsEmergencyHoverActive;
@@ -138,6 +140,7 @@ namespace Plane.Copters
         private double _Longitude;
 
         private FlightMode _Mode;
+        private FlightMode _CommModuleMode;
 
         private float _Pitch;
 
@@ -145,6 +148,8 @@ namespace Plane.Copters
 
         private byte _SatCount;
 
+        private byte[] _Retain = new byte[4];
+
         private CopterState _State;
 
         private string _StatusText;
@@ -513,6 +518,12 @@ namespace Plane.Copters
             protected set { Set(nameof(IsConnected), ref _IsConnected, value); }
         }
 
+        public bool CommModuleConnected
+        {
+            get { return _CommModuleConnected; }
+            set { Set(nameof(CommModuleConnected), ref _CommModuleConnected, value); }
+        }
+
         public bool IsEmergencyHoverActive
         {
             get { return _IsEmergencyHoverActive; }
@@ -584,6 +595,7 @@ namespace Plane.Copters
 
         public string Name { get; set; }
 
+
         public float Pitch
         {
             get { return _Pitch; }
@@ -602,6 +614,12 @@ namespace Plane.Copters
             protected set { Set(nameof(SatCount), ref _SatCount, value); }
         }
 
+        public byte[] Retain
+        {
+            get { return _Retain; }
+            protected set { Set(nameof(Retain), ref _Retain, value); }
+        }
+
         public CopterState State
         {
             get { return _State; }
@@ -638,6 +656,12 @@ namespace Plane.Copters
             protected set { Set(nameof(Yaw), ref _Yaw, value); }
         }
 
+        public FlightMode CommModuleMode
+        {
+            get { return _CommModuleMode; }
+            protected set { Set(nameof(CommModuleMode), ref _CommModuleMode, value); }
+        }
+
 #if PRIVATE
         public
 #else

PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs

@@ -29,10 +29,17 @@ namespace Plane.Copters
                         SatCount = _internalCopter.satcount;
                         GpsFixType = _internalCopter.gpsstatus.ToGpsFixType();
                         GpsHdop = _internalCopter.gpshdop;
-                        Elevation = _internalCopter.gpsalt;
-                        
-                        if (IsGpsAccurate)
+                        Altitude = _internalCopter.gpsalt;
+                        Retain = BitConverter.GetBytes(_internalCopter.retain);
+                        Voltage = _internalCopter.battery_voltage;
+                        CommModuleMode = (FlightMode)_internalCopter.commModuleMode;
+                        IsUnlocked = _internalCopter.isUnlocked;
+                        Yaw = _internalCopter.yaw;
+                        HeartbeatCount++;
+
+                        if (SatCount > 8)
                         {
+                            IsGpsAccurate = true;
                             RecordLat = _internalCopter.lat;
                             RecordLng = _internalCopter.lng;
                         }

PlaneGcsSdk_Shared/Copters/PLCopter.cs

@@ -348,6 +348,7 @@ namespace Plane.Copters
                     ch3: 1100,
                     ch4: 1500
                 ).ConfigureAwait(false);
+
                 if (await SetModeAsync(FlightMode.ALT_HOLD).ConfigureAwait(false))
                 {
                     await _internalCopter.DoARMAsync(true).ConfigureAwait(false);
@@ -360,7 +361,6 @@ namespace Plane.Copters
            
             await Task.Run(async () =>
             {
-                Console.WriteLine("LEDAsync");
                 await _internalCopter.DoLEDAsync().ConfigureAwait(false);
 
             }).ConfigureAwait(false);

PlaneGcsSdk_Shared/Copters/PlaneCopter.PacketAnalysis.cs

@@ -373,5 +373,27 @@ namespace Plane.Copters
             heading = vfr.heading;
             RaiseReceiveDataStreamEventOnUIThread(buffer[5]);
         }
+
+        /// <summary>
+        /// 处理通信模块发过来的数据
+        /// </summary>
+        /// <param name="buffer"></param>
+        public void AnalyzeCommMouldePositionIntPacket(byte[] buffer)
+        {
+            var info = buffer.ByteArrayToStructure<MavComm.comm_copter_info>(0);
+            lat = info.lat * 1.0e-7; 
+            lng = info.lng * 1.0e-7;
+            commModuleMode = (uint)info.control_mode;
+            gpsstatus = (byte)info.gps_status;
+            gpsalt = ((float)info.alt) / 1000;
+            satcount = info.gps_num_sats;
+            isUnlocked = info.lock_status == 1;
+
+            battery_voltage = ((float)info.battery_voltage) / 1000;
+            yaw = ((float)info.yaw / 100) % 360;
+
+            retain = info.retain;
+            RaiseReceiveDataStreamEventOnUIThread(MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT);
+        }
     }
 }

PlaneGcsSdk_Shared/Copters/PlaneCopter.cs

@@ -42,6 +42,8 @@ namespace Plane.Copters
         public bool failsafe { get; set; }
 
         public uint mode { get; set; }
+        public uint commModuleMode { get; set; }
+        public bool isUnlocked { get; set; }
 
         public float battery_voltage { get; set; }
         public byte battery_remaining { get; set; }
@@ -54,6 +56,7 @@ namespace Plane.Copters
         public byte gpsstatus { get; set; }
         public float gpshdop { get; set; }
         public byte satcount { get; set; }
+        public int retain { get; set; }
         public float groundspeed { get; set; }
         public float groundcourse { get; set; }
         public double lat { get; set; }

PlaneGcsSdk_Shared/PlaneGcsSdk_Shared.projitems

@@ -9,12 +9,17 @@
     <Import_RootNamespace>Plane</Import_RootNamespace>
   </PropertyGroup>
   <ItemGroup>
+    <Compile Include="$(MSBuildThisFileDirectory)CommunicationManagement\CommModuleGenerateMavLink.cs" />
+    <Compile Include="$(MSBuildThisFileDirectory)CommunicationManagement\CommunicationReceiveCopterInfoEventArgs.cs" />
+    <Compile Include="$(MSBuildThisFileDirectory)CommunicationManagement\CommConnection.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)CommunicationManagement\CommModule.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)CommunicationManagement\CommModulePacketAnalysis.cs" />
+    <Compile Include="$(MSBuildThisFileDirectory)CommunicationManagement\CommWriteMissinState.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Communication\ExceptionThrownEventSource.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Communication\EmptyConnection.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Communication\CompositeConnection.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Communication\SerialPortConnection.cs" />
+    <Compile Include="$(MSBuildThisFileDirectory)Communication\TcpClientWithTimeout.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Communication\TcpConnectionBase.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Communication\TcpConnection.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Communication\TcpServerConnection.cs" />

PlaneGcsSdk_Shared/Protocols/MAVLinkTypes.cs

@@ -31,8 +31,8 @@ namespace Plane.Protocols
         //public static readonly byte[] MAVLINK_MESSAGE_LENGTHS = new byte[] { 9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 8, 48, 19, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0 };
 
         //public static readonly byte[] MAVLINK_MESSAGE_CRCS = new byte[] {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 203, 220, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 154, 21, 21, 144, 1, 234, 73, 181, 22, 83, 167, 138, 234, 240, 47, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 59, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0 };
-        public static readonly byte[] MAVLINK_MESSAGE_CRCS = new byte[] { 50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 203, 220, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 154, 21, 21, 144, 1, 234, 73, 181, 22, 83, 167, 138, 234, 240, 47, 0, 0, 0, 0, 0, 0, 0, 72, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 59, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0 };
-
+        //public static readonly byte[] MAVLINK_MESSAGE_CRCS = new byte[] { 50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 203, 220, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 154, 21, 21, 144, 1, 234, 73, 181, 22, 83, 167, 138, 234, 240, 47, 0, 0, 0, 0, 0, 0, 0, 72, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 59, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0 };
+        public static readonly byte[] MAVLINK_MESSAGE_CRCS = new byte[] { 50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 118, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 203, 220, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 154, 21, 21, 144, 1, 234, 73, 181, 22, 83, 167, 138, 234, 240, 47, 0, 0, 0, 0, 85, 0, 0, 72, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 59, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0 };
         //public static Type[] MAVLINK_MESSAGE_INFO = new Type[] { typeof(mavlink_heartbeat_t), typeof(mavlink_sys_status_t), typeof(mavlink_system_time_t), null, typeof(mavlink_ping_t), typeof(mavlink_change_operator_control_t), typeof(mavlink_change_operator_control_ack_t), typeof(mavlink_auth_key_t), null, null, null, typeof(mavlink_set_mode_t), null, null, null, null, null, null, null, null, typeof(mavlink_param_request_read_t), typeof(mavlink_param_request_list_t), typeof(mavlink_param_value_t), typeof(mavlink_param_set_t), typeof(mavlink_gps_raw_int_t), typeof(mavlink_gps_status_t), typeof(mavlink_scaled_imu_t), typeof(mavlink_raw_imu_t), typeof(mavlink_raw_pressure_t), typeof(mavlink_scaled_pressure_t), typeof(mavlink_attitude_t), typeof(mavlink_attitude_quaternion_t), typeof(mavlink_local_position_ned_t), typeof(mavlink_global_position_int_t), typeof(mavlink_rc_channels_scaled_t), typeof(mavlink_rc_channels_raw_t), typeof(mavlink_servo_output_raw_t), typeof(mavlink_mission_request_partial_list_t), typeof(mavlink_mission_write_partial_list_t), typeof(mavlink_mission_item_t), typeof(mavlink_mission_request_t), typeof(mavlink_mission_set_current_t), typeof(mavlink_mission_current_t), typeof(mavlink_mission_request_list_t), typeof(mavlink_mission_count_t), typeof(mavlink_mission_clear_all_t), typeof(mavlink_mission_item_reached_t), typeof(mavlink_mission_ack_t), typeof(mavlink_set_gps_global_origin_t), typeof(mavlink_gps_global_origin_t), typeof(mavlink_set_local_position_setpoint_t), typeof(mavlink_local_position_setpoint_t), typeof(mavlink_global_position_setpoint_int_t), typeof(mavlink_set_global_position_setpoint_int_t), typeof(mavlink_safety_set_allowed_area_t), typeof(mavlink_safety_allowed_area_t), typeof(mavlink_set_roll_pitch_yaw_thrust_t), typeof(mavlink_set_roll_pitch_yaw_speed_thrust_t), typeof(mavlink_roll_pitch_yaw_thrust_setpoint_t), typeof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t), typeof(mavlink_set_quad_motors_setpoint_t), typeof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t), typeof(mavlink_nav_controller_output_t), typeof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t), typeof(mavlink_state_correction_t), null, typeof(mavlink_request_data_stream_t), typeof(mavlink_data_stream_t), null, typeof(mavlink_manual_control_t), typeof(mavlink_rc_channels_override_t), null, null, null, typeof(mavlink_vfr_hud_t), null, typeof(mavlink_command_long_t), typeof(mavlink_command_ack_t), null, null, typeof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t), typeof(mavlink_manual_setpoint_t), null, null, null, null, null, null, null, typeof(mavlink_local_position_ned_system_global_offset_t), typeof(mavlink_hil_state_t), typeof(mavlink_hil_controls_t), typeof(mavlink_hil_rc_inputs_raw_t), null, null, null, null, null, null, null, typeof(mavlink_optical_flow_t), typeof(mavlink_global_vision_position_estimate_t), typeof(mavlink_vision_position_estimate_t), typeof(mavlink_vision_speed_estimate_t), typeof(mavlink_vicon_position_estimate_t), typeof(mavlink_highres_imu_t), null, null, null, null, typeof(mavlink_file_transfer_start_t), typeof(mavlink_file_transfer_dir_list_t), typeof(mavlink_file_transfer_res_t), null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, typeof(mavlink_battery_status_t), typeof(mavlink_setpoint_8dof_t), typeof(mavlink_setpoint_6dof_t), typeof(mavlink_sensor_offsets_t), typeof(mavlink_set_mag_offsets_t), typeof(mavlink_meminfo_t), typeof(mavlink_ap_adc_t), typeof(mavlink_digicam_configure_t), typeof(mavlink_digicam_control_t), typeof(mavlink_mount_configure_t), typeof(mavlink_mount_control_t), typeof(mavlink_mount_status_t), null, typeof(mavlink_fence_point_t), typeof(mavlink_fence_fetch_point_t), typeof(mavlink_fence_status_t), typeof(mavlink_ahrs_t), typeof(mavlink_simstate_t), typeof(mavlink_hwstatus_t), typeof(mavlink_radio_t), typeof(mavlink_limits_status_t), typeof(mavlink_wind_t), typeof(mavlink_data16_t), typeof(mavlink_data32_t), typeof(mavlink_data64_t), typeof(mavlink_data96_t), typeof(mavlink_rangefinder_t), null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, typeof(mavlink_rc_mobile_control_t), typeof(mavlink_set_pair_t), null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, typeof(mavlink_memory_vect_t), typeof(mavlink_debug_vect_t), typeof(mavlink_named_value_float_t), typeof(mavlink_named_value_int_t), typeof(mavlink_statustext_t), typeof(mavlink_debug_t), null };
         public static Type[] MAVLINK_MESSAGE_INFO = new Type[] { typeof(mavlink_heartbeat_t), typeof(mavlink_sys_status_t), typeof(mavlink_system_time_t), null, typeof(mavlink_ping_t), typeof(mavlink_change_operator_control_t), typeof(mavlink_change_operator_control_ack_t), typeof(mavlink_auth_key_t), null, null, null, typeof(mavlink_set_mode_t), null, null, null, null, null, null, null, null, typeof(mavlink_param_request_read_t), typeof(mavlink_param_request_list_t), typeof(mavlink_param_value_t), typeof(mavlink_param_set_t), typeof(mavlink_gps_raw_int_t), typeof(mavlink_gps_status_t), typeof(mavlink_scaled_imu_t), typeof(mavlink_raw_imu_t), typeof(mavlink_raw_pressure_t), typeof(mavlink_scaled_pressure_t), typeof(mavlink_attitude_t), typeof(mavlink_attitude_quaternion_t), typeof(mavlink_local_position_ned_t), typeof(mavlink_global_position_int_t), typeof(mavlink_rc_channels_scaled_t), typeof(mavlink_rc_channels_raw_t), typeof(mavlink_servo_output_raw_t), typeof(mavlink_mission_request_partial_list_t), typeof(mavlink_mission_write_partial_list_t), typeof(mavlink_mission_item_t), typeof(mavlink_mission_request_t), typeof(mavlink_mission_set_current_t), typeof(mavlink_mission_current_t), typeof(mavlink_mission_request_list_t), typeof(mavlink_mission_count_t), typeof(mavlink_mission_clear_all_t), typeof(mavlink_mission_item_reached_t), typeof(mavlink_mission_ack_t), typeof(mavlink_set_gps_global_origin_t), typeof(mavlink_gps_global_origin_t), typeof(mavlink_set_local_position_setpoint_t), typeof(mavlink_local_position_setpoint_t), typeof(mavlink_global_position_setpoint_int_t), typeof(mavlink_set_global_position_setpoint_int_t), typeof(mavlink_safety_set_allowed_area_t), typeof(mavlink_safety_allowed_area_t), typeof(mavlink_set_roll_pitch_yaw_thrust_t), typeof(mavlink_set_roll_pitch_yaw_speed_thrust_t), typeof(mavlink_roll_pitch_yaw_thrust_setpoint_t), typeof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t), typeof(mavlink_set_quad_motors_setpoint_t), typeof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t), typeof(mavlink_nav_controller_output_t), typeof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t), typeof(mavlink_state_correction_t), null, typeof(mavlink_request_data_stream_t), typeof(mavlink_data_stream_t), null, typeof(mavlink_manual_control_t), typeof(mavlink_rc_channels_override_t), null, null, null, typeof(mavlink_vfr_hud_t), null, typeof(mavlink_command_long_t), typeof(mavlink_command_ack_t), null, null, typeof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t), typeof(mavlink_manual_setpoint_t), null, null, null, null, null, null, null, typeof(mavlink_local_position_ned_system_global_offset_t), typeof(mavlink_hil_state_t), typeof(mavlink_hil_controls_t), typeof(mavlink_hil_rc_inputs_raw_t), null, null, null, null, null, null, null, typeof(mavlink_optical_flow_t), typeof(mavlink_global_vision_position_estimate_t), typeof(mavlink_vision_position_estimate_t), typeof(mavlink_vision_speed_estimate_t), typeof(mavlink_vicon_position_estimate_t), typeof(mavlink_highres_imu_t), null, null, null, null, typeof(mavlink_file_transfer_start_t), typeof(mavlink_file_transfer_dir_list_t), typeof(mavlink_file_transfer_res_t), null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, typeof(mavlink_battery_status_t), typeof(mavlink_setpoint_8dof_t), typeof(mavlink_setpoint_6dof_t), typeof(mavlink_sensor_offsets_t), typeof(mavlink_set_mag_offsets_t), typeof(mavlink_meminfo_t), typeof(mavlink_ap_adc_t), typeof(mavlink_digicam_configure_t), typeof(mavlink_digicam_control_t), typeof(mavlink_mount_configure_t), typeof(mavlink_mount_control_t), typeof(mavlink_mount_status_t), null, typeof(mavlink_fence_point_t), typeof(mavlink_fence_fetch_point_t), typeof(mavlink_fence_status_t), typeof(mavlink_ahrs_t), typeof(mavlink_simstate_t), typeof(mavlink_hwstatus_t), typeof(mavlink_radio_t), typeof(mavlink_limits_status_t), typeof(mavlink_wind_t), typeof(mavlink_data16_t), typeof(mavlink_data32_t), typeof(mavlink_data64_t), typeof(mavlink_data96_t), typeof(mavlink_rangefinder_t), null, null, null, null, null, null, null, null, null, null, null, null, typeof(mavlink_msg_id_led_control), null, null, null, null, null, null, null, null, null, null, null, null, null, typeof(mavlink_rc_mobile_control_t), typeof(mavlink_set_pair_t), null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, typeof(mavlink_memory_vect_t), typeof(mavlink_debug_vect_t), typeof(mavlink_named_value_float_t), typeof(mavlink_named_value_int_t), typeof(mavlink_statustext_t), typeof(mavlink_debug_t), null };
 
@@ -3064,6 +3064,13 @@ namespace Plane.Protocols
 
         };
 
+        public const byte MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST = 183;
+        [StructLayout(LayoutKind.Sequential, Pack = 1, Size = 2)]
+        public struct mavlink_sversion_request
+        {
+            public Int16 version;
+        }
+
 
         public const byte MAVLINK_MSG_ID_MEMORY_VECT = 249;
         [StructLayout(LayoutKind.Sequential, Pack = 1, Size = 36)]

PlaneGcsSdk_Shared/Protocols/MavlinkUtil.cs

@@ -26,7 +26,7 @@ namespace Plane.Protocols
         /// <returns>The newly created mavlink packet</returns>
         internal static TMavlinkPacket ByteArrayToStructure<TMavlinkPacket>(this byte[] bytearray, int startoffset = 6) where TMavlinkPacket : struct
         {
-            if (bytearray[0] == 'U')
+            if (bytearray[0] == 'U' && startoffset == 6 )
             {
                 throw new NotSupportedException("bytearray[0] == 'U' is not supported.");
                 //ByteArrayToStructureEndian(bytearray, ref obj, startoffset);