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修改写入任务适应新的固件

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panxu 2018-04-30 23:42:05 +08:00
parent 65e7394926
commit fef98ae096
2 changed files with 21 additions and 5 deletions
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5
PlaneGcsSdk_Shared/Copters/EHCopter.Mission.cs
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@ -132,7 +132,7 @@ namespace Plane.Copters
else _writeMissionListStopwatch.Restart(); else _writeMissionListStopwatch.Restart();
// 写任务总数。 // 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。 // 任务序号。
ushort seq = 0; ushort seq = 0;
@ -146,7 +146,7 @@ namespace Plane.Copters
// 写起飞前准备任务。 // 写起飞前准备任务。
await WriteMissionAsync(PRE_TAKE_OFF_MISSION).ConfigureAwait(false); await WriteMissionAsync(PRE_TAKE_OFF_MISSION).ConfigureAwait(false);
/*
seq++; seq++;
// 等待飞控请求 seq 号任务。 // 等待飞控请求 seq 号任务。
@ -158,6 +158,7 @@ namespace Plane.Copters
// 写起飞任务。 // 写起飞任务。
await WriteMissionAsync(TAKE_OFF_MISSION).ConfigureAwait(false); await WriteMissionAsync(TAKE_OFF_MISSION).ConfigureAwait(false);
*/
foreach (var mission in missions) foreach (var mission in missions)
{ {

21
PlaneGcsSdk_Shared/Copters/Mission.cs
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@ -130,8 +130,8 @@ namespace Plane.Copters
/// </summary> /// </summary>
/// <param name="loc">航点目的地。</param> /// <param name="loc">航点目的地。</param>
/// <returns>航点任务。</returns> /// <returns>航点任务。</returns>
public static IMission CreateWaypointMission(ILocation loc) => // public static IMission CreateWaypointMission(ILocation loc) =>
CreateWaypointMission(loc.Latitude, loc.Longitude, loc.Altitude); // CreateWaypointMission(loc.Latitude, loc.Longitude, loc.Altitude);
/// <summary> /// <summary>
/// 创建航点任务。 /// 创建航点任务。
@ -140,12 +140,27 @@ namespace Plane.Copters
/// <param name="lng">目的地经度。</param> /// <param name="lng">目的地经度。</param>
/// <param name="alt">目的地相巴拉圭高度。</param> /// <param name="alt">目的地相巴拉圭高度。</param>
/// <returns>航点任务。</returns> /// <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, Command = FlightCommand.Waypoint,
Param1= loitertime, //停留时间 s
Param2= flytime, //飞行时间 s
Latitude = lat, Latitude = lat,
Longitude = lng, Longitude = lng,
Altitude = alt 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
};
} }
} }