From e909b7a3d39d3f382db268de0304adb56c339e9f Mon Sep 17 00:00:00 2001
From: xu <pxzleo@126.com>
Date: Mon, 24 Jun 2024 20:44:12 +0800
Subject: [PATCH] =?UTF-8?q?[=E7=B1=BB=E5=9E=8B]=20=E5=8A=A0=E5=85=A5?=
 =?UTF-8?q?=E6=9B=B4=E5=A4=9A=E9=94=99=E8=AF=AF=E6=8F=90=E7=A4=BA=E5=92=8C?=
 =?UTF-8?q?rtk=E9=87=8D=E5=8F=91=20rtk=E9=87=8D=E5=8F=91=E5=90=8E=E8=BF=98?=
 =?UTF-8?q?=E6=98=AF=E6=9B=B4=E5=8F=AF=E9=9D=A0=E4=B8=80=E4=BA=9B=EF=BC=8C?=
 =?UTF-8?q?=E5=B9=B6=E4=B8=94=E4=B8=8D=E4=BC=9A=E5=AF=BC=E8=87=B4=E6=95=B0?=
 =?UTF-8?q?=E9=87=8F=E5=A4=A7=E9=98=BB=E5=A1=9E?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

# 类型 包含:
# feat：新功能（feature）
# fix：修补bug
# docs：文档（documentation）
# style： 格式（不影响代码运行的变动）
# refactor：重构（即不是新增功能，也不是修改bug的代码变动）
# test：增加测试
# chore：构建过程或辅助工具的变动
---
 .../CommModuleGenerateMavLink.cs                    |  4 ++--
 PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs  | 13 ++++++++++++-
 2 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index 67a20cb..582c9eb 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -1359,8 +1359,8 @@ namespace Plane.CommunicationManagement
 
                    // 重发一次，有序列号(target_component)飞机可以检测出来重复接收的
                     //需要新固件支持
-                    // await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
-                    //await Task.Delay(80).ConfigureAwait(false); //没有延时得话如果超过110长度，连续发可能收不到
+                    await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+                    await Task.Delay(80).ConfigureAwait(false); //没有延时得话如果超过110长度，连续发可能收不到
 
                     
                     //重发一次，有序列号(target_component)飞机可以检测出来重复接收的--需要新固件支持
diff --git a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
index 07043a5..31f64b2 100644
--- a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
+++ b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
@@ -288,6 +288,7 @@ namespace Plane.Copters
 
         private static readonly Dictionary<int, string> ErrorIdToString = new Dictionary<int, string>
         {
+            {1, "未知异常"},
             {2, "气压计异常"},
             {3, "磁罗盘异常"},
             {4, "GPS异常"},
@@ -314,7 +315,17 @@ namespace Plane.Copters
             {25, "加速计需要重启"},
             {26, "加速计不一致"},
             {27, "陀螺仪不一致"},
-
+            {28, "EKF需要定位"},
+            {29, "需要位置估计"},
+            {30, "GPS信号不好"},
+            {31, "EKF磁罗盘变动大"},
+            {32, "EKF位置变动大"},
+            {33, "EKF速度变动大"},
+            {34, "EKF高度变动大"},
+            {35, "需要高度估计"},
+            {36, "航姿没有心跳"},
+            {37, "磁罗盘没有心跳"},
+            {38, "安全开关没按"},
         };
         public  String getcoptererrorstr(byte errorcode)
         {