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添加了降落任务，一键起飞，测试电机，flyto的下降点，检测所有飞机5秒平均电压，通信模块的测试，起飞延时，降落延时

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This commit is contained in:
zxd 2018-08-03 11:42:34 +08:00
parent 08d4474798
commit f0b1a62334
9 changed files with 39 additions and 7 deletions
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3
PlaneGcsSdk.Contract_Shared/Copters/ICopterActionsSharedByCopterManager.cs
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@ -133,6 +133,7 @@ namespace Plane.Copters
Task LEDAsync();
//电机转动
Task MotorTestAsync(int motor);
}
}

5
PlaneGcsSdk_Shared/CopterManagement/SingleCopterManager.cs
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@ -195,8 +195,11 @@ namespace Plane.CopterManagement
return Copter.InjectGpsDataAsync(data, length);
}
public Task MotorTestAsync(int motor)
{
return Copter.TakeOffAsync(motor);
}
public Task TakeOffAsync(float alt)
{

1
PlaneGcsSdk_Shared/Copters/EHCopter.Mission.cs
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@ -260,6 +260,7 @@ namespace Plane.Copters
req.param4 = mission.Param4;
req.seq = mission.Sequence;
return _internalCopter.GeneratePacketAsync(MAVLINK_MSG_ID_MISSION_ITEM, req);
}

7
PlaneGcsSdk_Shared/Copters/EmptyCopter.cs
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@ -121,6 +121,13 @@ namespace Plane.Copters
return TaskUtils.CompletedTask;
}
public Task MotorTestAsync(int motor)
{
return TaskUtils.CompletedTask;
}
public Task InjectGpsDataAsync(byte[] data, ushort length)
{
return TaskUtils.CompletedTask;

5
PlaneGcsSdk_Shared/Copters/FakeCopter.cs
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@ -237,6 +237,11 @@ namespace Plane.Copters
return TaskUtils.CompletedTask;
}
public Task MotorTestAsync(int motor)
{
return TaskUtils.CompletedTask;
}
public override Task SetChannelsAsync()
{
Channel1 = DesiredChannel1 ?? Channel1;

8
PlaneGcsSdk_Shared/Copters/Mission.cs
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@ -134,9 +134,10 @@ namespace Plane.Copters
/// 创建降落任务。
/// </summary>
/// <returns>降落任务。</returns>
public static IMission CreateLandMission() => new Mission
public static IMission CreateLandMission(int waittime) => new Mission
{
Command = FlightCommand.Land
Command = FlightCommand.Land,
Param1 = waittime, //停留时间 s
};
/// <summary>
@ -148,6 +149,9 @@ namespace Plane.Copters
Command = FlightCommand.ReturnToLaunch
};
/// <summary>
/// 创建航点任务。
/// </summary>

11
PlaneGcsSdk_Shared/Copters/PLCopter.cs
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@ -13,7 +13,7 @@ namespace Plane.Copters
{
private double _FlightDistance2D;
private PlaneCopter _internalCopter;
public PlaneCopter _internalCopter;
private int _setModeCount = 0;
@ -74,6 +74,11 @@ namespace Plane.Copters
return await _internalCopter.GetParamAsync(paramName, millisecondsTimeout).ConfigureAwait(false);
}
public async Task MotorTestAsync(int motor)
{
await _internalCopter.DoMotorTestAsync(motor, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5 , 5).ConfigureAwait(false);
}
/// <summary>
/// 锁定飞行器。在调用之前务必判断高度及让使用者确认！
/// </summary>
@ -288,7 +293,7 @@ namespace Plane.Copters
{
var currentTakeOffCount = ++_takeOffCount;
// 林俊清, 20160312, 从固件版本 3.1.1（0x3101）开始支持直接解锁起飞命令。
if (FirmwareVersion >= 0x3101)
//if (FirmwareVersion >= 0x3101)
{
await SetChannelsAsync(
ch1: 1500,
@ -315,6 +320,7 @@ namespace Plane.Copters
}
});
}
/*
else
{
await UnlockAsync().ConfigureAwait(false);
@ -329,6 +335,7 @@ namespace Plane.Copters
}
}
}
*/
}
public async Task UnlockAsync()

4
PlaneGcsSdk_Shared/Copters/PlaneCopter.cs
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@ -714,7 +714,7 @@ namespace Plane.Copters
public async Task<bool> DoARMAsync(bool armit)
{
return await DoCommandAsync(MAVLink.MAV_CMD.COMPONENT_ARM_DISARM, armit ? 1 : 0, 0, 0, 0, 0, 0, 0);
return await DoCommandAsync(MAVLink.MAV_CMD.COMPONENT_ARM_DISARM, armit ? 1 : 0, 21196, 0, 0, 0, 0, 0);
}
public async Task<bool> DoMotorTestAsync(int motor, MAVLink.MOTOR_TEST_THROTTLE_TYPE thr_type, int throttle, int timeout)
@ -749,6 +749,8 @@ namespace Plane.Copters
req.command = (ushort)actionid;
Console.WriteLine("P1 = " + p1);
req.param1 = p1;
req.param2 = p2;
req.param3 = p3;

2
PlaneGcsSdk_Shared/PlaneGcsSdk_Shared.projitems
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@ -9,6 +9,7 @@
<Import_RootNamespace>Plane</Import_RootNamespace>
</PropertyGroup>
<ItemGroup>
<Compile Include="$(MSBuildThisFileDirectory)CommunicationManagement\CommModule.cs" />
<Compile Include="$(MSBuildThisFileDirectory)Communication\ExceptionThrownEventSource.cs" />
<Compile Include="$(MSBuildThisFileDirectory)Communication\EmptyConnection.cs" />
<Compile Include="$(MSBuildThisFileDirectory)Communication\CompositeConnection.cs" />
@ -45,6 +46,7 @@
<Compile Include="$(MSBuildThisFileDirectory)Copters\FakeCopter.cs" />
<Compile Include="$(MSBuildThisFileDirectory)Copters\FlightMode.cs" />
<Compile Include="$(MSBuildThisFileDirectory)Copters\Mission.cs" />
<Compile Include="$(MSBuildThisFileDirectory)Protocols\MavCommTypes.cs" />
<Compile Include="$(MSBuildThisFileDirectory)Protocols\MavlinkCRC.cs" />
<Compile Include="$(MSBuildThisFileDirectory)Protocols\MAVLinkTypes.cs" />
<Compile Include="$(MSBuildThisFileDirectory)Protocols\MavlinkUtil_NET45.cs" />