From ce73335fd9356ef7fe558090d9a03f32b66b2ee4 Mon Sep 17 00:00:00 2001 From: zxd Date: Sat, 23 Nov 2019 22:57:46 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8F=8C=E9=A2=91RTK=E4=B8=89=E6=9D=A1?= =?UTF-8?q?=E4=B8=80=E8=B5=B7=E5=8F=91=E9=80=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../CommunicationManagement/CommModule.cs | 13 ++++++----- .../CommModuleGenerateMavLink.cs | 22 +++++++++---------- 2 files changed, 18 insertions(+), 17 deletions(-) diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs index 7d01430..74652b2 100644 --- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs +++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs @@ -323,13 +323,14 @@ namespace Plane.CommunicationManagement //await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet); byte[] senddata = packet; - for (int times = 0; times < 13; times++) - { - senddata = senddata.Concat(packet).ToArray(); - } - - +// for (int times = 0; times < 14; times++) +// { +// senddata = senddata.Concat(packet).ToArray(); +// } +// byte[] myByteArray = Enumerable.Repeat((byte)0x08, 15).ToArray(); +// +// senddata = senddata.Concat(myByteArray).ToArray(); temp = !temp; while (temp) diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs index 07cce03..26ea810 100644 --- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs +++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs @@ -630,18 +630,18 @@ namespace Plane.CommunicationManagement gps.len = (byte)copy; byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_GPS_RTCM_DATA, gps); - Windows.Messages.Message.Show($"{DateTime.Now.ToString("HH:mm:ss:fff")} 通信数据长度 = {packet.Length}"); - await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false); + //Windows.Messages.Message.Show($"{DateTime.Now.ToString("HH:mm:ss:fff")} 单次长度 = {packet.Length}"); + //await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false); -// lock (lock_rtcm) -// { -// rtcm_packets.Add(packet); -// if (rtcm_packets.Count == 1) -// { -// waitRtcmTime = DateTime.Now; -// starttime = true; -// } -// } + lock (lock_rtcm) + { + rtcm_packets.Add(packet); + if (rtcm_packets.Count == 1) + { + waitRtcmTime = DateTime.Now; + starttime = true; + } + } } }