飞机LED灯光修改

GPS不精准时，显示飞机位置(用于室内写航点)

PlaneGcsSdk.Contract_Shared/Copters/FlightCommand.cs

@@ -33,6 +33,11 @@
         /// <summary>
         /// 命令飞行器起飞。
         /// </summary>
-        TakeOff = 22
+        TakeOff = 22,
+
+        /// <summary>
+        /// 命令LED颜色改变
+        /// </summary>
+        LEDControl = 203
     }
 }

PlaneGcsSdk.Contract_Shared/Copters/IMission.cs

@@ -49,5 +49,20 @@
         /// 获取或设置序号。
         /// </summary>
         ushort Sequence { get; set; }
-    }
+
+        /// <summary>
+        /// 获取或设置LED控制RGB的Red
+        /// </summary>
+        float R { get; set; }
+
+        /// <summary>
+        /// 获取或设置LED控制RGB的Green
+        /// </summary>
+        float G { get; set; }
+
+        /// <summary>
+        /// 获取或设置LED控制RGB的Blue
+        /// </summary>
+        float B { get; set; }
+}
 }

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); }
+        }
+
         /// <summary>
         /// 获取任务总数。
         /// </summary>

PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs

@@ -26,8 +26,6 @@ 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;
@@ -35,10 +33,15 @@ namespace Plane.Copters
                         
                         if (IsGpsAccurate)
                         {
-                            UpdateFlightDataIfNeeded();
+                            RecordLat = _internalCopter.lat;
-                            RaiseLocationChangedIfNeeded();
+                            RecordLng = _internalCopter.lng;
                         }
 
+                        Latitude = RecordLat;
+                        Longitude = RecordLng;
+                        UpdateFlightDataIfNeeded();
+                        RaiseLocationChangedIfNeeded();
+
                         RaiseDataStreamReceived(PDataStreamType.GPS_RAW_INT);
 
                         break;

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;
+            if (mission.Command == FlightCommand.LEDControl)
-            req.y = (float)mission.Longitude;
+            {
-            req.z = mission.Altitude;
+                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;

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); }
+        }
+
+        
+
         /// <summary>
         /// 创建降落任务。
         /// </summary>
@@ -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
+        };
     }
 }