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添加测试拉烟的功能

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添加多参数同时写入（用于一键关闭测试灯光）
This commit is contained in:
zxd 2019-07-09 14:49:24 +08:00
parent 2464022801
commit e607ab4c7d
2 changed files with 82 additions and 1 deletions
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64
PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
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@ -331,11 +331,73 @@ namespace Plane.CommunicationManagement
temp = !temp;
while (temp)
{
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet);
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
await Task.Delay(1000).ConfigureAwait(false);
}
}
public async Task TestFire(short id, int channel)
{
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 = 1;
led.custom_bytes = new byte[24];
led.custom_bytes[0] = (byte)channel;
byte[] data;
data = MavlinkUtil.StructureToByteArray(led);
byte[] packet = new byte[data.Length + 6 + 2];
packet[0] = MAVLink.MAVLINK_STX;
packet[1] = (byte)(data.Length);
packet[2] = 1;
packet[3] = 255; // this is always 255 - MYGCS
packet[4] = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_MISSIONPLANNER;
packet[5] = MAVLink.MAVLINK_MSG_ID_LED_CONTROL;
int i = 6;
foreach (byte b in data)
{
packet[i] = b;
i++;
}
ushort checksum = MavlinkCRC.crc_calculate(packet, packet[1] + 6);
checksum = MavlinkCRC.crc_accumulate(MAVLink.MAVLINK_MESSAGE_CRCS[MAVLink.MAVLINK_MSG_ID_LED_CONTROL], checksum);
byte ck_a = (byte)(checksum & 0xFF); ///< High byte
byte ck_b = (byte)(checksum >> 8); ///< Low byte
packet[i] = ck_a;
i += 1;
packet[i] = ck_b;
i += 1;
//await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
byte[] senddata = packet;
for (int times = 0; times < 3; times++)
{
senddata = senddata.Concat(packet).ToArray();
}
temp = !temp;
while (temp)
{
await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
await Task.Delay(1000).ConfigureAwait(false);
}
}
/// <summary>
/// 生成通信模块packet并且发送
/// </summary>

19
PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
View File

@ -198,6 +198,25 @@ namespace Plane.CommunicationManagement
return packetNum;
}
public async Task<int> SetMultipleParamAsync(params string[] param)
{
if (param.Length % 2 == 1)
return 0;
byte[] packet = null;
int packetNum = 0;
for (int i = 0; i < param.Length; i += 2)
{
string paramname = param[i];
float value = float.Parse(param[i + 1]);
byte[] data = SetParam2Async(paramname, value);
packetNum = data[2];
packet = packet == null ? data : packet.Concat(data).ToArray();
}
await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
return packetNum;
}
/// <summary>
/// 读取参数