修改灯光频率为小数，传输转换为间隔

修改没有刷新编号的bug

PlaneGcsSdk.Contract_Shared/Copters/ICopterAttribute.cs

@@ -13,5 +13,6 @@ namespace Plane.Copters
         /// 飞行器摆放时地面的相对高度
         /// </summary>
         float GroundAlt { get; set; }
+        float RetainInt{ get; }
     }
 }

PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs

@@ -6,6 +6,7 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Windows.Media;
 using static Plane.Copters.PlaneCopter;
 
 namespace Plane.CommunicationManagement
@@ -201,6 +202,30 @@ namespace Plane.CommunicationManagement
             return GeneratePacket(MAVLink.MAVLINK_MSG_ID_LED_CONTROL, led);
         }
 
+
+        private byte[] DoTaskLEDCommandAsync(int ledmode, float ledrate, int ledtimes, byte cR,byte cG,Byte cB)
+        {
+            //频率转为间隔单位100ms
+            byte LEDInterval = (byte)(10 / ledrate);
+
+            MAVLink.mavlink_msg_id_led_control led = new MAVLink.mavlink_msg_id_led_control();
+            led.target_system = 1;
+            led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
+            led.instance = 0;
+            led.pattern = 0;
+            led.custom_len = 6;
+            led.custom_bytes = new byte[24];
+            led.custom_bytes[0] = cR;
+            led.custom_bytes[1] = cG;
+            led.custom_bytes[2] = cB;
+            led.custom_bytes[3] =(byte)ledmode;
+            led.custom_bytes[4] = LEDInterval;
+            led.custom_bytes[5] = (byte)ledtimes;
+            return GeneratePacket(MAVLink.MAVLINK_MSG_ID_LED_CONTROL, led);
+        }
+
+
+
         private byte[] BatchCopterIdData(IEnumerable<ICopter> copters)
         {
             byte[] BatchByte = null;
@@ -536,6 +561,31 @@ namespace Plane.CommunicationManagement
 
         }
 
+        /*
+
+        private int ledmode = 0;     //灯光模式 0常亮 1闪烁 2随机闪烁(RGB无意义)
+        private float ledrate = 0;     //频率 最小0.1
+        private int ledtimes = 0;    //次数 (预留、暂取消其意义)
+        private string ledRGB = "FFFFFF";      //灯光颜色
+
+    */
+
+        public void LED_TaskAsync( int  ledmode, float ledrate, int ledtimes, string ledRGB, ICopter copter )
+        {
+            if (UseTransModule)
+            {
+                Task.Run(async () =>
+                {
+                    Color rightColor = (Color)ColorConverter.ConvertFromString("#" + ledRGB);
+                    byte[] packet = DoTaskLEDCommandAsync(ledmode, ledrate, ledtimes, (byte)rightColor.R, (byte)rightColor.G, (byte)rightColor.B);
+                    await WriteCommPacketAsync(short.Parse(copter.Id), MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+                });
+            }
+           
+
+        }
+
+
 
         /// <summary>
         /// 设置参数

PlaneGcsSdk_Shared/CommunicationManagement/CommModulePacketAnalysis.cs

@@ -119,17 +119,19 @@ namespace Plane.CommunicationManagement
             {
                 lock (MissinLocker)
                 {
+                   // var copter = _copterManager.Copters.FirstOrDefault(c => c.Id == arrs[0]);
+
                     if (wirteMissRet == 0x20)
                     {
                         if (missionWriteState.ContainsKey(copterId))
                             missionWriteState[copterId].WriteSucceed = true;
-                        Message.Show($"{copterId}:航点写入成功");
+                        Message.Show($"ID:{copterId}:航点写入成功");
                     }
                     if (wirteMissRet > 0x20 && wirteMissRet < 0x30)
                     {
                         if (missionWriteState.ContainsKey(copterId))
                             missionWriteState[copterId].WriteSucceed = false;
-                        Message.Show($"{copterId}:航点写入失败");
+                        Message.Show($"ID:{copterId}:航点写入失败");
                     }
                 }
                 await Task.Delay(10).ConfigureAwait(false);

PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs

@@ -407,19 +407,19 @@ namespace Plane.Copters
         public int VirtualId
         {
             get { return _VirtualId; }
-            set { Set(nameof(VirtualId), ref _VirtualId, value); }
+            set { Set(nameof(VirtualId), ref _VirtualId, value); RefreashLoc(); }
         }
 
         public bool DisplayVirtualId
         {
             get { return _DisplayVirtualId; }
-            set { Set(nameof(DisplayVirtualId), ref _DisplayVirtualId, value); }
+            set { Set(nameof(DisplayVirtualId), ref _DisplayVirtualId, value); RefreashLoc(); }
         }
 
         public bool DisplayID
         {
             get { return _DisplayID; }
-            set { Set(nameof(DisplayID), ref _DisplayID, value); }
+            set { Set(nameof(DisplayID), ref _DisplayID, value); RefreashLoc(); }
         }
 
 

PlaneGcsSdk_Shared/Copters/Mission.cs

@@ -187,7 +187,7 @@ 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
+        public static IMission CreateLEDControlMission(int delay, int ledmode, float ledrate, int ledtimes, byte red, byte green, byte blue) => new Mission
         {
             Command = FlightCommand.LEDControl,
             Param1 = delay,     //灯光延时  单位:100ms