From c7e521274635bf1a7baa97b63617b0f9e36640db Mon Sep 17 00:00:00 2001 From: zxd Date: Mon, 23 Jul 2018 16:27:19 +0800 Subject: [PATCH] =?UTF-8?q?=E9=A3=9E=E6=9C=BALED=E7=81=AF=E5=85=89?= =?UTF-8?q?=E4=BF=AE=E6=94=B9=20GPS=E4=B8=8D=E7=B2=BE=E5=87=86=E6=97=B6?= =?UTF-8?q?=EF=BC=8C=E6=98=BE=E7=A4=BA=E9=A3=9E=E6=9C=BA=E4=BD=8D=E7=BD=AE?= =?UTF-8?q?(=E7=94=A8=E4=BA=8E=E5=AE=A4=E5=86=85=E5=86=99=E8=88=AA?= =?UTF-8?q?=E7=82=B9)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Copters/FlightCommand.cs | 7 +++- .../Copters/IMission.cs | 17 ++++++++- .../Copters/CopterImplSharedPart.cs | 17 +++++++++ .../EHCopter.InternalCopterEventHandlers.cs | 13 ++++--- .../Copters/EHCopter.Mission.cs | 16 +++++++-- PlaneGcsSdk_Shared/Copters/Mission.cs | 36 +++++++++++++++++-- 6 files changed, 94 insertions(+), 12 deletions(-) diff --git a/PlaneGcsSdk.Contract_Shared/Copters/FlightCommand.cs b/PlaneGcsSdk.Contract_Shared/Copters/FlightCommand.cs index 52f1bf0..f6f5887 100644 --- a/PlaneGcsSdk.Contract_Shared/Copters/FlightCommand.cs +++ b/PlaneGcsSdk.Contract_Shared/Copters/FlightCommand.cs @@ -33,6 +33,11 @@ /// /// 命令飞行器起飞。 /// - TakeOff = 22 + TakeOff = 22, + + /// + /// 命令LED颜色改变 + /// + LEDControl = 203 } } diff --git a/PlaneGcsSdk.Contract_Shared/Copters/IMission.cs b/PlaneGcsSdk.Contract_Shared/Copters/IMission.cs index 2145fe9..a69001b 100644 --- a/PlaneGcsSdk.Contract_Shared/Copters/IMission.cs +++ b/PlaneGcsSdk.Contract_Shared/Copters/IMission.cs @@ -49,5 +49,20 @@ /// 获取或设置序号。 /// ushort Sequence { get; set; } - } + + /// + /// 获取或设置LED控制RGB的Red + /// + float R { get; set; } + + /// + /// 获取或设置LED控制RGB的Green + /// + float G { get; set; } + + /// + /// 获取或设置LED控制RGB的Blue + /// + float B { get; set; } +} } diff --git a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs index 2da9e88..3a0e62b 100644 --- a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs +++ b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs @@ -157,6 +157,11 @@ namespace Plane.Copters private float _Yaw; + //初始时位置：使用地图Center + private double _RecordLat; + + private double _RecordLng; + #endregion Backing Fields public CopterImplSharedPart(SynchronizationContext uiSyncContext) : base(uiSyncContext) @@ -560,6 +565,18 @@ namespace Plane.Copters protected set { Set(nameof(Longitude), ref _Longitude, value); } } + public double RecordLat + { + get { return _RecordLat; } + set { Set(nameof(RecordLat), ref _RecordLat, value); } + } + + public double RecordLng + { + get { return _RecordLng; } + set { Set(nameof(RecordLng), ref _RecordLng, value); } + } + /// /// 获取任务总数。 /// diff --git a/PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs b/PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs index 9da7187..608f7f3 100644 --- a/PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs +++ b/PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs @@ -26,19 +26,22 @@ namespace Plane.Copters { case MAVLINK_MSG_ID_GPS_RAW_INT: //需要 { - Latitude = _internalCopter.lat; - Longitude = _internalCopter.lng; SatCount = _internalCopter.satcount; GpsFixType = _internalCopter.gpsstatus.ToGpsFixType(); GpsHdop = _internalCopter.gpshdop; Elevation = _internalCopter.gpsalt; - + if (IsGpsAccurate) { - UpdateFlightDataIfNeeded(); - RaiseLocationChangedIfNeeded(); + RecordLat = _internalCopter.lat; + RecordLng = _internalCopter.lng; } + Latitude = RecordLat; + Longitude = RecordLng; + UpdateFlightDataIfNeeded(); + RaiseLocationChangedIfNeeded(); + RaiseDataStreamReceived(PDataStreamType.GPS_RAW_INT); break; diff --git a/PlaneGcsSdk_Shared/Copters/EHCopter.Mission.cs b/PlaneGcsSdk_Shared/Copters/EHCopter.Mission.cs index 48607b0..e12c075 100644 --- a/PlaneGcsSdk_Shared/Copters/EHCopter.Mission.cs +++ b/PlaneGcsSdk_Shared/Copters/EHCopter.Mission.cs @@ -240,9 +240,19 @@ namespace Plane.Copters req.autocontinue = 1; req.frame = (byte)frame; - req.x = (float)mission.Latitude; - req.y = (float)mission.Longitude; - req.z = mission.Altitude; + if (mission.Command == FlightCommand.LEDControl) + { + req.x = mission.R; + req.y = mission.G; + req.z = mission.B; + } + else + { + req.x = (float)mission.Latitude; + req.y = (float)mission.Longitude; + req.z = mission.Altitude; + } + req.param1 = mission.Param1; req.param2 = mission.Param2; diff --git a/PlaneGcsSdk_Shared/Copters/Mission.cs b/PlaneGcsSdk_Shared/Copters/Mission.cs index 4c84ad0..c0d8d57 100644 --- a/PlaneGcsSdk_Shared/Copters/Mission.cs +++ b/PlaneGcsSdk_Shared/Copters/Mission.cs @@ -19,6 +19,9 @@ namespace Plane.Copters private float _Param3; private float _Param4; private ushort _Sequence; + private float _R; + private float _G; + private float _B; #endregion Backing Fields @@ -107,6 +110,26 @@ namespace Plane.Copters set { Set(nameof(Sequence), ref _Sequence, value); } } + public float R + { + get { return _R; } + set { Set(nameof(R), ref _R, value); } + } + + public float G + { + get { return _G; } + set { Set(nameof(G), ref _G, value); } + } + + public float B + { + get { return _B; } + set { Set(nameof(B), ref _B, value); } + } + + + /// /// 创建降落任务。 /// @@ -160,7 +183,16 @@ namespace Plane.Copters Altitude = alt }; - - + public static IMission CreateLEDControlMission(int delay, int ledmode, int ledrate, int ledtimes, byte red, byte green, byte blue) => new Mission + { + Command = FlightCommand.LEDControl, + Param1 = delay, //灯光延时 单位:100ms + Param2 = ledmode, //灯光模式 0.常亮 1.闪烁 2.随机闪烁(RGB无意义) + Param3 = ledrate, //闪烁延时 单位:100ms + Param4 = ledtimes, //次数 (暂无意义) + R = red, //Red + G = green, //Green + B = blue //Blue + }; } }