From fef98ae096191aa22ba1a8b2b4c5a5552730d9e7 Mon Sep 17 00:00:00 2001
From: panxu <pxzleo@126.com>
Date: Mon, 30 Apr 2018 23:42:05 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=86=99=E5=85=A5=E4=BB=BB?=
 =?UTF-8?q?=E5=8A=A1=E9=80=82=E5=BA=94=E6=96=B0=E7=9A=84=E5=9B=BA=E4=BB=B6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../Copters/EHCopter.Mission.cs               |  5 +++--
 PlaneGcsSdk_Shared/Copters/Mission.cs         | 21 ++++++++++++++++---
 2 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/PlaneGcsSdk_Shared/Copters/EHCopter.Mission.cs b/PlaneGcsSdk_Shared/Copters/EHCopter.Mission.cs
index b16d5d1..48607b0 100644
--- a/PlaneGcsSdk_Shared/Copters/EHCopter.Mission.cs
+++ b/PlaneGcsSdk_Shared/Copters/EHCopter.Mission.cs
@@ -132,7 +132,7 @@ namespace Plane.Copters
             else _writeMissionListStopwatch.Restart();
 
             // 写任务总数。
-            await WriteMissionCountAsync((ushort)(missions.Count() + 2)).ConfigureAwait(false);
+            await WriteMissionCountAsync((ushort)(missions.Count() + 1)).ConfigureAwait(false);
 
             // 任务序号。
             ushort seq = 0;
@@ -146,7 +146,7 @@ namespace Plane.Copters
 
             // 写起飞前准备任务。
             await WriteMissionAsync(PRE_TAKE_OFF_MISSION).ConfigureAwait(false);
-
+/*
             seq++;
 
             // 等待飞控请求 seq 号任务。
@@ -158,6 +158,7 @@ namespace Plane.Copters
 
             // 写起飞任务。
             await WriteMissionAsync(TAKE_OFF_MISSION).ConfigureAwait(false);
+            */
 
             foreach (var mission in missions)
             {
diff --git a/PlaneGcsSdk_Shared/Copters/Mission.cs b/PlaneGcsSdk_Shared/Copters/Mission.cs
index f9fc282..4c84ad0 100644
--- a/PlaneGcsSdk_Shared/Copters/Mission.cs
+++ b/PlaneGcsSdk_Shared/Copters/Mission.cs
@@ -130,8 +130,8 @@ namespace Plane.Copters
         /// </summary>
         /// <param name="loc">航点目的地。</param>
         /// <returns>航点任务。</returns>
-        public static IMission CreateWaypointMission(ILocation loc) =>
-            CreateWaypointMission(loc.Latitude, loc.Longitude, loc.Altitude);
+      //  public static IMission CreateWaypointMission(ILocation loc) =>
+      //      CreateWaypointMission(loc.Latitude, loc.Longitude, loc.Altitude);
 
         /// <summary>
         /// 创建航点任务。
@@ -140,12 +140,27 @@ namespace Plane.Copters
         /// <param name="lng">目的地经度。</param>
         /// <param name="alt">目的地相巴拉圭高度。</param>
         /// <returns>航点任务。</returns>
-        public static IMission CreateWaypointMission(double lat, double lng, float alt) => new Mission
+        public static IMission CreateWaypointMission(int loitertime,int flytime, double lat, double lng, float alt) => new Mission
         {
             Command = FlightCommand.Waypoint,
+            Param1= loitertime,  //停留时间  s
+            Param2= flytime,   //飞行时间 s
             Latitude = lat,
             Longitude = lng,
             Altitude = alt
         };
+
+        public static IMission CreateTakeoffMission(int waittime,int flytime, double lat, double lng, float alt) => new Mission
+        {
+            Command = FlightCommand.TakeOff,
+            Param1 = waittime,  //起飞等待时间  s
+            Param2 = flytime,   //起飞飞行时间 s
+            Latitude = lat,
+            Longitude = lng,
+            Altitude = alt
+        };
+
+
+
     }
 }