From c72399d3b0f7033d2d62e4205f0e0e8035ef99e7 Mon Sep 17 00:00:00 2001
From: xu <pxzleo@126.com>
Date: Wed, 29 Jan 2020 02:40:05 +0800
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---
 PlaneGcsSdk_Shared/Copters/FakeCopter.cs | 20 ++++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

diff --git a/PlaneGcsSdk_Shared/Copters/FakeCopter.cs b/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
index 104bbb6..f750363 100644
--- a/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
+++ b/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
@@ -32,7 +32,7 @@ namespace Plane.Copters
         /// <summary>
         /// 更新虚拟飞行器状态的时间间隔，单位为毫秒。
         /// </summary>
-        private const int UPDATE_INTERVAL = 100;
+        private const int UPDATE_INTERVAL = 150;  //150可以跑1000架 100可以跑500架
 
         /// <summary>
         /// 对飞行器的模拟是否正在运行。
@@ -139,14 +139,19 @@ namespace Plane.Copters
             this.Connection = connection ?? EmptyConnection.Instance;
             _isRunning = true;
             // 持续计算并更新虚拟飞行器的状态。
-            Task.Run(async () =>
-            {
+            // Task.Run(async () =>
+
+             Task.Factory.StartNew(async () =>
+
+             {
                 while (_isRunning)
                 {
                     Update();
                     await TaskUtils.Delay(UPDATE_INTERVAL).ConfigureAwait(false);
                 }
-            });
+            }
+             , TaskCreationOptions.LongRunning
+             );
           
            
             ++HeartbeatCount;
@@ -682,10 +687,12 @@ namespace Plane.Copters
             // 更新高度。
             Altitude += altDelta;
 
+            
             // 目标点相对于当前位置的方向。
-            var direction = this.CalcDirection2D(lat, lng);
-
+             var direction = this.CalcDirection2D(lat, lng);
+            /*
             // 更新姿态。
+
             if (Mode == FlightMode.RTL)
             {
                 // 林俊清, 20160126, 目前飞行器只在返航时会旋转机头，面对飞行方向。
@@ -701,6 +708,7 @@ namespace Plane.Copters
                // Roll = MAX_TILT_IN_FLIGHT * (float)Math.Sin(directionDelta);
                // Pitch = MAX_TILT_IN_FLIGHT * (float)Math.Cos(directionDelta);
             }
+            */
 
             // 水平面上的移动距离。
             var moveInHorizontalPlane = Math.Sqrt(move * move - altDelta * altDelta);