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

PlaneGcsSdk.Contract_Shared/Copters/ICopterActionsSharedByCopterManager.cs

@@ -133,6 +133,7 @@ namespace Plane.Copters
 
         Task LEDAsync();
 
-
+        //电机转动
+        Task MotorTestAsync(int motor);
     }
 }

PlaneGcsSdk_Shared/CopterManagement/SingleCopterManager.cs

@@ -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)
         {

PlaneGcsSdk_Shared/Copters/EHCopter.Mission.cs

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

PlaneGcsSdk_Shared/Copters/EmptyCopter.cs

@@ -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;

PlaneGcsSdk_Shared/Copters/FakeCopter.cs

@@ -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;

PlaneGcsSdk_Shared/Copters/Mission.cs

@@ -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>

PlaneGcsSdk_Shared/Copters/PLCopter.cs

@@ -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()

PlaneGcsSdk_Shared/Copters/PlaneCopter.cs

@@ -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;

PlaneGcsSdk_Shared/PlaneGcsSdk_Shared.projitems

@@ -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" />