去掉飞行时间，飞行距离，姿态计算和更新，提高效率

碰撞检测改为异步提示
修改任务无法停止的bug

PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs

@@ -179,6 +179,7 @@ namespace Plane.Copters
         public CopterImplSharedPart(SynchronizationContext uiSyncContext) : base(uiSyncContext)
         {
             PropertyChanged += CopterImplSharedPart_PropertyChanged;
+            /*
             Task.Run(async () =>
             {
                 while (true)
@@ -230,7 +231,9 @@ namespace Plane.Copters
                         await Task.Delay(5000).ConfigureAwait(false);
                     }
                 }
+                
             });
+            */
         }
 
         public event EventHandler AltitudeChanged;

PlaneGcsSdk_Shared/Copters/FakeCopter.cs

@@ -137,16 +137,13 @@ namespace Plane.Copters
             _scaledFastMaxMoveInInterval = MAX_MOVE_IN_INTERVAL_FAST * _speedScale;
 
             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 () =>
             {
-                while (true)
+                while (_isRunning)
                 {
-                    if (_isRunning)
+                    Update();
-                    {
-                        Update();
-                    }
                     await TaskUtils.Delay(UPDATE_INTERVAL).ConfigureAwait(false);
                 }
             });
@@ -424,11 +421,15 @@ namespace Plane.Copters
 
         protected override void UpdateFlightDataIfNeeded()
         {
+            //计算飞机距离，没必要
+            /*
             if (!TakeOffPoint.IsNullOrEmpty())
             {
                 FlightDistance = TakeOffPoint.CalcDistance(this);
                 FlightDistance2D = TakeOffPoint.CalcDistance2D(this);
             }
+           
+
             if (FlightTimeSpan.TotalSeconds > 0)
             {
                 if (_lastCalcSpeedPoint.IsNullOrEmpty())
@@ -457,6 +458,7 @@ namespace Plane.Copters
                     }
                 }
             }
+            */
         }
 
         private void MoveToPointImmediately(double lat, double lng, float alt)
@@ -520,7 +522,8 @@ namespace Plane.Copters
 
                         case FlightMode.GUIDED:
                             // 林俊清, 20160317, 指点时也能体感控制若干通道。
-                            UpdateWithChannels();
+                            //考虑不更新这个，好像没必要-xu
+                            //UpdateWithChannels();
                             UpdateWithDestination(_targetLat, _targetLng, _targetAlt);
                             break;
 
@@ -590,11 +593,14 @@ namespace Plane.Copters
             }
             _uiSyncContext.Post(() =>
             {
+                //位置变化需要在UI刷新
                 RaiseLocationChangedIfNeeded();
-                RaiseAltitudeChangedIfNeeded();
+                //高度变化需要在UI刷新
-
+               // RaiseAltitudeChangedIfNeeded();
-                RaiseDataStreamReceived(PDataStreamType.GPS_RAW_INT);
+                //GPS数据用于显示
-                RaiseAttitudeChanged();
+              //  RaiseDataStreamReceived(PDataStreamType.GPS_RAW_INT);
+                //不考虑姿态
+             //   RaiseAttitudeChanged();
             });
         }
 
@@ -690,9 +696,10 @@ namespace Plane.Copters
             }
             else
             {
-                var directionDelta = direction - Heading.DegToRad();
+                //不用更新姿态-xu
-                Roll = MAX_TILT_IN_FLIGHT * (float)Math.Sin(directionDelta);
+                //var directionDelta = direction - Heading.DegToRad();
-                Pitch = MAX_TILT_IN_FLIGHT * (float)Math.Cos(directionDelta);
+               // 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。