紧急返航功能，策略不对，临时保存
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@ -1,4 +1,5 @@
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using Plane.Copters;
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using Plane.Geography;
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using Plane.Protocols;
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using System;
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using System.Collections.Generic;
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@ -842,6 +843,36 @@ namespace Plane.CommunicationManagement
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}
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public async Task DoMissionEmergencyRetAsync(PLLocation takeoffcentloc, PLLocation taskcentloc, float mindistance,int rettime,bool descending)
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{
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Int32 param7 = rettime << 16;
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//低16位中的第一位表示是否直接降低高度
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if (descending)
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param7 = param7 | 1;
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if (UseTransModule)
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{
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byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START,
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(float)takeoffcentloc.Latitude * 1000,
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(float)takeoffcentloc.Longitude * 1000,//起飞高度不用传=0
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(float)taskcentloc.Latitude * 1000,
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(float)taskcentloc.Longitude * 1000,
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taskcentloc.Altitude,
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mindistance, param7
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);
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short copterId = 0;
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byte[] batchPacket = null;
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await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
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}
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else
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{
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Windows.Messages.Message.Show($"未开发完成！！");
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}
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}
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public async Task GetCommsumAsync(IEnumerable<ICopter> copters = null)
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{
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if (UseTransModule)
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@ -131,6 +131,15 @@ namespace Plane.Copters
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private System.Drawing.ColorConverter rgbconverter;
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private PLLocation _takeoffcentloc;
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private PLLocation _taskcentloc;
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private float _mindistance;
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private int _rettime;
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private bool _descending;
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int Emergency_Retstatus = 0;
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//返航路径第一个航点
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PLLocation Emergency_firstloc;
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/// <summary>
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/// 使用 <see cref="SynchronizationContext.Current"/> 创建 <see cref="FakeCopter"/> 实例。
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/// </summary>
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@ -281,6 +290,50 @@ namespace Plane.Copters
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IsCheckingConnection = false;
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return TaskUtils.CompletedTask;
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}
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private void BuildPath()
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{
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float taralt;
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//返航高度参数
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float retalt = 15;
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if (_descending)
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{
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if (Altitude <= retalt) taralt = Altitude;
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else
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{
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float maxalt = Altitude - retalt;
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//降低一个随机高度，随机高度介于0和maxalt之间，也就是目标高度不要低于retalt, 防止飞机在同一高度飞行
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taralt = (float)(Altitude - (new Random().NextDouble() * maxalt));
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}
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Emergency_firstloc = new PLLocation(this.Latitude,this.Longitude, taralt);
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}
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else
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{
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//计算当前位置和起飞点的距离
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float dis = (float)this.CalcDistance(TakeOffPoint.Latitude, TakeOffPoint.Longitude,Altitude);
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//随机水平飞行距离
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float maxdis = (float)new Random().NextDouble() * dis;
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}
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}
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public Task EmergencyRetAsync(PLLocation takeoffcentloc, PLLocation taskcentloc, float mindistance, int rettime, bool descending)
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{
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_takeoffcentloc = takeoffcentloc;
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_taskcentloc = taskcentloc;
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_mindistance = mindistance;
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_rettime = rettime;
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_descending = descending;
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Emergency_Retstatus = 0;
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//计算返航路径
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BuildPath();
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Mode = FlightMode.EMERG_RTL;
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return TaskUtils.CompletedTask;
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}
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protected override Task FlyToCoreAsync(double lat, double lng, float alt, float flytime = 0, int flytype = 0)
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{
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@ -497,8 +550,12 @@ namespace Plane.Copters
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_takeOffTargetAltitude = (int)alt;
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await TakeOffAsync().ConfigureAwait(false);
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}
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DateTime MissionStartTime;
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public Task MissionStartAsync(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
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{
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MissionStartTime = DateTime.Now;
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TakeOffPoint = new PLLocation(Missionlat, Missionlng, 0);
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return TaskUtils.CompletedTask;
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}
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@ -764,6 +821,49 @@ namespace Plane.Copters
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case FlightMode.TOY:
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break;
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//紧急返航
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case FlightMode.EMERG_RTL:
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switch(Emergency_Retstatus)
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{
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case 0: //等待返航
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if ((DateTime.Now- MissionStartTime).TotalSeconds > _rettime)
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{
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Emergency_Retstatus = 1;
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//平飞或降落随机距离
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FlyToCoreAsync(Emergency_firstloc.Latitude, Emergency_firstloc.Longitude, Emergency_firstloc.Altitude);
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//FlyToCoreAsync里面把模式改成了GUIDED，这里改回来
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Mode = FlightMode.EMERG_RTL;
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}
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break;
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case 1: //返航阶段一:等待平飞或降落随机距离并到达,然后飞到起飞点上空
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UpdateWithDestination(Emergency_firstloc.Latitude, Emergency_firstloc.Longitude, Emergency_firstloc.Altitude);
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if (ReachedDestination(Emergency_firstloc.Latitude, Emergency_firstloc.Longitude, Emergency_firstloc.Altitude))
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{
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FlyToCoreAsync(TakeOffPoint.Latitude, TakeOffPoint.Longitude, Emergency_firstloc.Altitude);
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//FlyToCoreAsync里面把模式改成了GUIDED，这里改回来
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Mode = FlightMode.EMERG_RTL;
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Emergency_Retstatus = 2;
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}
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break;
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case 2: //返航阶段二:等待到达起飞点上空,然后降落
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UpdateWithDestination(TakeOffPoint.Latitude, TakeOffPoint.Longitude, Emergency_firstloc.Altitude);
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if (ReachedDestination(TakeOffPoint.Latitude, TakeOffPoint.Longitude, Emergency_firstloc.Altitude))
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{
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FlyToCoreAsync(TakeOffPoint.Latitude, TakeOffPoint.Longitude, Emergency_firstloc.Altitude);
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//FlyToCoreAsync里面把模式改成了GUIDED，这里改回来
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Mode = FlightMode.LAND;
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Emergency_Retstatus = 3;
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}
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break;
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case 3: //降落
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break;
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}
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break;
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default:
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break;
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@ -33,7 +33,9 @@ namespace Plane.Copters
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OF_LOITER = 10, // 王海, 20160205, 光流悬停模式：http://copter.ardupilot.cn/wiki/loiter-mode/ 底部。
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TOY = 11
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TOY = 11,
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EMERG_RTL=12, //紧急返航模式
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}
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internal static class FightModeExtensions
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