考虑RTK数据采用发送---未完成

一个MissionStatus参数，确定当前飞行任务执行情况，如果是1就是正在飞行到目标航点中，界面上飞机图标前面会有个小标识，到达航点后消失，用来人为判断哪些飞机没有到达航点

PlaneGcsSdk.Contract_Shared/Copters/ICopterStatus.cs

@@ -172,5 +172,15 @@ namespace Plane.Copters
         /// 获取当前电池电压，单位为伏特。
         /// </summary>
         float Voltage { get; }
+
+        //定位类型RTK,GPS
+        CopterLocationType LocationType { get; }
+
+
+        /// <summary>
+        /// MissionStatus=1表示正在飞向目标中，0标识达到目标
+        /// </summary>
+        int MissionStatus { get; set; }
+
     }
 }

PlaneGcsSdk.Contract_Shared/PlaneGcsSdk.Contract_Shared.projitems

@@ -20,6 +20,7 @@
     <Compile Include="$(MSBuildThisFileDirectory)CopterManagement\ICopterManager.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\Constants.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\CopterCommand.cs" />
+    <Compile Include="$(MSBuildThisFileDirectory)Copters\CopterLocationType.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\CopterState.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\PLObservableObject.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\FlightCommand.cs" />

PlaneGcsSdk_Shared/Communication/UdpServerConnection_NET.cs

@@ -9,6 +9,7 @@ namespace Plane.Communication
     internal class UdpServerConnection : UdpConnectionBase
     {
         private IPEndPoint _remoteEP;
+        private IPEndPoint _boardaddEP;
 
         private Func<byte[], int, IPEndPoint, Task<int>> _sendFunc;
 
@@ -17,6 +18,7 @@ namespace Plane.Communication
         /// </summary>
         public UdpServerConnection(IPEndPoint remoteEP, Func<byte[], int, IPEndPoint, Task<int>> sendFunc)
         {
+            _boardaddEP = new IPEndPoint(IPAddress.Parse("192.168.62.255"), remoteEP.Port);
             _remoteEP = remoteEP;
             _sendFunc = sendFunc;
         }
@@ -37,6 +39,13 @@ namespace Plane.Communication
             try
             {
                 await _sendFunc(datagram, bytes, _remoteEP).ConfigureAwait(false);
+                /*
+                //如果是广播包,用于广播消息，比如RTK等
+                if (false)
+                  await _sendFunc(datagram, bytes, _boardaddEP).ConfigureAwait(false);
+                else
+                  await _sendFunc(datagram, bytes, _remoteEP).ConfigureAwait(false);
+                  */
             }
             catch (Exception ex)
             {

PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs

@@ -155,8 +155,12 @@ namespace Plane.Copters
 
         private float _Voltage;
 
+        private CopterLocationType _LocationType= CopterLocationType.GPS;
+
         private float _Yaw;
 
+        private int _MissionStatus;
+
         #endregion Backing Fields
 
         public CopterImplSharedPart(SynchronizationContext uiSyncContext) : base(uiSyncContext)
@@ -613,12 +617,27 @@ namespace Plane.Copters
             protected set { Set(nameof(Voltage), ref _Voltage, value); }
         }
 
+
+        public CopterLocationType LocationType
+        {
+            get { return _LocationType; }
+            protected set { Set(nameof(LocationType), ref _LocationType, value); }
+        }
+
         public float Yaw
         {
             get { return _Yaw; }
             protected set { Set(nameof(Yaw), ref _Yaw, value); }
         }
 
+        public int MissionStatus
+        {
+            get { return _MissionStatus; }
+            set { Set(nameof(MissionStatus), ref _MissionStatus, value); }
+        }
+
+
+
 #if PRIVATE
         public
 #else

PlaneGcsSdk_Shared/Copters/EmptyCopter.cs

@@ -84,6 +84,11 @@ namespace Plane.Copters
             return TaskUtils.CompletedTask;
         }
 
+        public Task InitAsync()
+        {
+            return TaskUtils.CompletedTask;
+        }
+
         public Task StopPairingAsync()
         {
             return TaskUtils.CompletedTask;

PlaneGcsSdk_Shared/Copters/FakeCopter.cs

@@ -343,6 +343,12 @@ namespace Plane.Copters
             return TaskUtils.CompletedTask;
         }
 
+
+        public Task InitAsync()
+        {
+            return TaskUtils.CompletedTask;
+        }
+
         public Task StopPairingAsync()
         {
             return TaskUtils.CompletedTask;

PlaneGcsSdk_Shared/Copters/PLCopter.cs

@@ -54,6 +54,8 @@ namespace Plane.Copters
             await _internalCopter.ConnectAsync().ConfigureAwait(false);
             IsConnected = _internalCopter.IsConnected;
             IsCheckingConnection = true;
+            //连接完成后做一些初始化的工作
+            await InitAsync();
         }
 
         public virtual async Task DisconnectAsync()
@@ -248,6 +250,17 @@ namespace Plane.Copters
             await _internalCopter.GeneratePacketAsync(MAVLink.MAVLINK_MSG_ID_SET_PAIR, packet).ConfigureAwait(false);
         }
 
+        public async Task InitAsync()
+        {
+            float Gpstype=  await _internalCopter.GetParamAsync("GPS_TYPE") ;
+            if (Gpstype == 15)
+                LocationType = CopterLocationType.RTK;
+            else
+                LocationType = CopterLocationType.GPS;
+        }
+
+
+
         public async Task StopPairingAsync()
         {
             if (!IsPairing) return;