PlaneGcsSdk.Contract_Shared/Copters/ICopterStatus.cs

@@ -172,15 +172,5 @@ 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

@@ -20,7 +20,6 @@
     <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

@@ -9,7 +9,6 @@ namespace Plane.Communication
     internal class UdpServerConnection : UdpConnectionBase
     {
         private IPEndPoint _remoteEP;
-        private IPEndPoint _boardaddEP;
 
         private Func<byte[], int, IPEndPoint, Task<int>> _sendFunc;
 
@@ -18,7 +17,6 @@ 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;
         }
@@ -39,13 +37,6 @@ 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

@@ -155,12 +155,8 @@ 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)
@@ -617,27 +613,12 @@ 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

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

PlaneGcsSdk_Shared/Copters/FakeCopter.cs

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

PlaneGcsSdk_Shared/Copters/PLCopter.cs

@@ -54,8 +54,6 @@ 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()
@@ -250,17 +248,6 @@ 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;