1.加入回传功率设置

2.服务器IP可从设置文件读取
3.增加抛物功能

PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs

@@ -12,17 +12,23 @@ using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Media;
 
+using System.Runtime.InteropServices;
+
 namespace Plane.CommunicationManagement
 {
     //通信模块
     public partial class CommModuleManager: ExceptionThrownEventSource, IDisposable
     {
+        [DllImport("kernel32")] //返回取得字符串缓冲区的长度
+        private static extern int GetPrivateProfileString(string section, string key, string def, StringBuilder retVal, int size, string filePath);
+
         private static CommModuleManager _Instance = new CommModuleManager();
         public static CommModuleManager Instance { get { return _Instance; } }
 
         public TcpConnection Connection = null;
         public bool CommOK = false;
-        private const string MODULE_IP = "192.168.199.51"; // "192.168.199.51"; //在用版本  ----//"192.168.1.65"; //新版本
+        private const string MODULE_IP = "192.168.199.51";         //"192.168.199.51"; // "192.168.199.51"; //在用版本  ----//"192.168.1.65"; //新版本
+        private string ServerIP = MODULE_IP;
         // private const string LOCAL_IP = "192.168.199.50";  //"192.168.199.50"; 
         private const int PORT = 9551;
         private bool _disposed;
@@ -36,17 +42,32 @@ namespace Plane.CommunicationManagement
         /// </summary>
         private Stopwatch _writeMissionStopwatch;
 
+        private void LoadIPSet()
+        {
+            StringBuilder temp = new StringBuilder(255);
+
+            string path = Environment.CurrentDirectory + @"\Config.ini";
+
+            int i = GetPrivateProfileString("Default", "ServerIP", "", temp, 255, path);
+            ServerIP= temp.ToString();
+
+            if (ServerIP == "") ServerIP = MODULE_IP;
+        }
+
+
         public async Task ConnectAsync()
         {
-            Connection = new TcpConnection(MODULE_IP, PORT);
+            LoadIPSet();
+            Connection = new TcpConnection(ServerIP, PORT);
             await ConnectOpenAsync();
         }
 
         public void Connect()
         {
+            LoadIPSet();
             Task.Run(async () =>
             {
-                Connection = new TcpConnection(MODULE_IP, PORT);
+                Connection = new TcpConnection(ServerIP, PORT);
                 await ConnectOpenAsync();
             }
             );
@@ -371,6 +392,18 @@ namespace Plane.CommunicationManagement
 
 
 
+        public async Task SetModulePower(short ModuleNo, short ModulePower)
+        {
+            byte[] packet = { 0x01, 0x00, 0x03, 0x00, 0x01, 0x0A };
+            packet[2] = (byte)(ModuleNo & 0xFF);
+            packet[3] = (byte)((ModuleNo & 0xFF00) >> 8);
+            packet[5] = (byte)(ModulePower);
+           await WriteCommPacketAsync(0, MavComm.COMM_TO_MODULE, packet);
+        }
+
+
+
+
 
         bool temp = false;
         //测试用 灯光间隔1S闪烁

PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs

@@ -201,6 +201,18 @@ namespace Plane.CommunicationManagement
 
             return GeneratePacket(MAVLink.MAVLINK_MSG_ID_LED_CONTROL, led);
         }
+        private byte[] DoThrowoutCommandAsync()
+        {
+            MAVLink.mavlink_msg_id_led_control led = new MAVLink.mavlink_msg_id_led_control();
+            led.target_system = 1;
+            led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
+            led.instance = 0;
+            led.pattern = 0;
+            led.custom_len = 1;                //长度是1个字节
+            led.custom_bytes = new byte[24];
+            led.custom_bytes[0] = (byte)10;  //10代表抛物
+            return GeneratePacket(MAVLink.MAVLINK_MSG_ID_LED_CONTROL, led);
+        }
 
 
         private byte[] DoTaskLEDCommandAsync(int ledmode, float ledInterval, int ledtimes, byte cR,byte cG,Byte cB)
@@ -442,7 +454,7 @@ namespace Plane.CommunicationManagement
         public async Task DoMissionStartAsync(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
         {
             if (UseTransModule)
-                await DoMissionStartAsync_CMod(hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
+                await DoMissionStartAsync_CMod(copters,hour_utc, minute_utc, second_utc, Missionlng, Missionlat);
             else await DoMissionStartAsync_Single(copters, hour_utc, minute_utc, second_utc, Missionlng, Missionlat); 
 
         }
@@ -462,10 +474,16 @@ namespace Plane.CommunicationManagement
         }
 
 
-        public async Task DoMissionStartAsync_CMod(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
+        public async Task DoMissionStartAsync_CMod(IEnumerable<ICopter> copters,int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
         {
+
             byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, (float)Missionlng, (float)Missionlat, 0, -1);
-            await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+            short copterId = 0;
+            byte[] batchPacket = null;
+            //部分开始任务
+            if (copters!=null)
+               GetCopterIds(copters, out copterId, out batchPacket);
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
         }
 
 
@@ -529,6 +547,39 @@ namespace Plane.CommunicationManagement
             }
         }
 
+
+        /// <summary>
+        /// 抛物
+        /// </summary>
+        /// <param name="copters">要解锁的飞机</param>
+        /// <returns></returns>
+        public void ThrowoutAsync(IEnumerable<ICopter> copters = null)
+        {
+            if (UseTransModule)
+            {
+                Task.Run(async () =>
+                {
+                    short copterId = 0;
+                    byte[] batchPacket = null;
+                    GetCopterIds(copters, out copterId, out batchPacket);
+
+                    byte[] packet = DoThrowoutCommandAsync();
+                    await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+                });
+            }
+            else
+            {
+               /*
+                 Task.Run(async () =>
+                {
+                    foreach (var vcopter in copters)
+                        await vcopter.LEDAsync();
+                });
+                */
+
+            }
+        }
+
         /// <summary>
         /// LED闪烁白灯
         /// </summary>

PlaneGcsSdk_Shared/CommunicationManagement/CommModulePacketAnalysis.cs

@@ -104,6 +104,10 @@ namespace Plane.CommunicationManagement
                     SaveMissionWriteStat(copterId, buffer[1]);
                     break;
 
+                case 0x04:
+                    Message.Show($"飞机{copterId}:功率设置成功，新回传功率：{buffer[1]}");
+                    break;
+
                 case 0x0e:
                     if (copterId == 0)
                         Message.Show("----------全部更新完成----------");

PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs

@@ -74,6 +74,14 @@ namespace Plane.Protocols
         /// </summary>
         public const short COMM_FLIGHT_LOAD_MODE = 0x55;
 
+
+        /// <summary>
+        /// 发送非针对飞控的内部控制指令
+        /// </summary>
+        public const short COMM_TO_MODULE = 0x5F;
+
+
+
         /// <summary>
         /// 通信模块
         /// </summary>