关于MSDK的一些问题

class VirtualStickFragment : DJIFragment() {

    private val basicAircraftControlVM: BasicAircraftControlVM by activityViewModels()
    private val virtualStickVM: VirtualStickVM by activityViewModels()
    private val simulatorVM: SimulatorVM by activityViewModels()
    private val deviation: Double = 0.02
    private lateinit var logUtils: LogUtils
    private lateinit var logUtilsSend: LogUtilsSend
    private lateinit var lineChart: LineChart
    private lateinit var binding: FragVirtualStickPageBinding
    var rollT = 0
    var yawT = 0
    var pitchT = 0
    var rollTime = 0.0
    var yawTime = 0.0
    var pitchTime = 0.0
    var number = 0
    var pi = 0.0
    var max = 0.0
    var taskManager : TaskManager?= null

    val entries1 = ArrayList<Entry>()
    val entries2 = ArrayList<Entry>()
    val entries3 = ArrayList<Entry>()

    val entries10 = ArrayList<Entry>()
    val entries20 = ArrayList<Entry>()
    val entries30 = ArrayList<Entry>()

    var flag = true

    override fun onCreateView(
        inflater: LayoutInflater,
        container: ViewGroup?,
        savedInstanceState: Bundle?
    ): View? {
        val view = inflater.inflate(R.layout.frag_virtual_stick_page, container, false)
        lineChart = view.findViewById(R.id.line_chart)
//        initChart()
        return view
//        return inflater.inflate(R.layout.frag_virtual_stick_page, container, false)
    }

    override fun onViewCreated(view: View, savedInstanceState: Bundle?) {
        super.onViewCreated(view, savedInstanceState)
        widget_horizontal_situation_indicator.setSimpleModeEnable(false)
        initBtnClickListener()
        initStickListener()
        virtualStickVM.listenRCStick()
        virtualStickVM.currentSpeedLevel.observe(viewLifecycleOwner) {
            updateVirtualStickInfo()
        }
        virtualStickVM.useRcStick.observe(viewLifecycleOwner) {
            updateVirtualStickInfo()
        }
        virtualStickVM.currentVirtualStickStateInfo.observe(viewLifecycleOwner) {
            updateVirtualStickInfo()
        }
        virtualStickVM.stickValue.observe(viewLifecycleOwner) {
            updateVirtualStickInfo()
        }
        virtualStickVM.virtualStickAdvancedParam.observe(viewLifecycleOwner) {
            updateVirtualStickInfo()
        }
        simulatorVM.simulatorStateSb.observe(viewLifecycleOwner) {
            simulator_state_info_tv.text = it
        }
        virtualStickVM.virtualStickAdvancedParam.value?.let { param ->
            param.yawControlMode = YawControlMode.ANGLE
            // 更新 ViewModel 中的值
            virtualStickVM.virtualStickAdvancedParam.postValue(param)
            virtualStickVM.sendVirtualStickAdvancedParam(param)
        }
        logUtils = LogUtils(requireContext())
        logUtilsSend = LogUtilsSend(requireContext())
        var logUtilsPosition = LogUtilsPosition(requireContext())
        initChart()
        taskManager = TaskManager()
        KeyManager.getInstance().listen(createKey(FlightControllerKey.KeyAircraftLocation),this
        ) { _, newValue -> logUtilsPosition.log(newValue.toString())
        }
    }

    override fun onDestroy() {
        super.onDestroy()
        taskManager?.destroy()
    }

    private fun initChart(){
        entries1.add(Entry(0f, 0f, null))
        entries2.add(Entry(0f, 0f, null))
        entries3.add(Entry(0f, 0f, null))

        entries10.add(Entry(0f, 0f, null))
        entries20.add(Entry(0f, 0f, null))
        entries30.add(Entry(0f, 0f, null))

        val dataSet1 = getDataSet(entries1, "pitch")
        val dataSet2 = getDataSet(entries2, "roll")
        val dataSet3 = getDataSet(entries3, "yaw")
        // 创建数据对象
        val data = LineData(dataSet1,dataSet2,dataSet3)

        // 设置数据
        lineChart.data = data

        // 配置图表描述
        lineChart.description.isEnabled = false
    }

    private fun getDataSet(entries: List<Entry>, label: String): LineDataSet {
        return LineDataSet(entries, label).apply {
            var color = Color.BLACK
            when (label) {
                "pitch" -> color = Color.RED
                "roll" -> color = Color.GREEN
                "yaw" -> color = Color.BLUE
            }
            setColor(color) // 设置折线颜色
            setLineWidth(2.5f) // 设置线条宽度
            setCircleColor(color) // 设置圆点颜色
            setCircleRadius(4f) // 设置圆点半径
            setMode(LineDataSet.Mode.CUBIC_BEZIER) // 设置线型为圆滑曲线
            valueTextSize = 9f
            setDrawValues(false)
        }
    }
    private fun getDataSet0(entries: List<Entry>, label: String): LineDataSet {
        return LineDataSet(entries, label).apply {
            var color = Color.BLACK
            when (label) {
                "pitchSet" -> color = Color.RED
                "rollSet" -> color = Color.GREEN
                "yawSet" -> color = Color.BLUE
            }
            setColor(color) // 设置折线颜色
            setLineWidth(1.5f) // 设置线条宽度
            setDrawCircles(false)
            setCircleColor(Color.TRANSPARENT) // 可选：将圆点颜色设为透明（如果仍然想保留绘制圆点的代码，但希望它们不可见）
            setCircleRadius(0f)
            setMode(LineDataSet.Mode.STEPPED)
            valueTextSize = 9f
            setDrawValues(false)
        }
    }

    private fun initBtnClickListener() {
        btn_enable_virtual_stick.setOnClickListener {
            virtualStickVM.enableVirtualStick(object : CommonCallbacks.CompletionCallback {
                override fun onSuccess() {
                    ToastUtils.showToast("enableVirtualStick success.")
                }

                override fun onFailure(error: IDJIError) {
                    ToastUtils.showToast("enableVirtualStick error,$error")
                }
            })
        }
        btn_disable_virtual_stick.setOnClickListener {
            virtualStickVM.disableVirtualStick(object : CommonCallbacks.CompletionCallback {
                override fun onSuccess() {
                    ToastUtils.showToast("disableVirtualStick success.")
                }

                override fun onFailure(error: IDJIError) {
                    ToastUtils.showToast("disableVirtualStick error,${error})")
                }
            })
        }
        btn_set_virtual_stick_speed_level.setOnClickListener {
            val speedLevels = doubleArrayOf(0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0)
            initPopupNumberPicker(Helper.makeList(speedLevels)) {
                virtualStickVM.setSpeedLevel(speedLevels[indexChosen[0]])
                resetIndex()
            }
        }
        btn_take_off.setOnClickListener {
            basicAircraftControlVM.startTakeOff(object :
                CommonCallbacks.CompletionCallbackWithParam<EmptyMsg> {
                override fun onSuccess(t: EmptyMsg?) {
                    ToastUtils.showToast("start takeOff onSuccess.")
                }

                override fun onFailure(error: IDJIError) {
                    ToastUtils.showToast("start takeOff onFailure,$error")
                }
            })
        }
        btn_landing.setOnClickListener {
            basicAircraftControlVM.startLanding(object :
                CommonCallbacks.CompletionCallbackWithParam<EmptyMsg> {
                override fun onSuccess(t: EmptyMsg?) {
                    ToastUtils.showToast("start landing onSuccess.")
                }

                override fun onFailure(error: IDJIError) {
                    ToastUtils.showToast("start landing onFailure,$error")
                }
            })
        }
        btn_use_rc_stick.setOnClickListener {
            virtualStickVM.useRcStick.value = virtualStickVM.useRcStick.value != true
            if (virtualStickVM.useRcStick.value == true) {
                ToastUtils.showToast(
                    "After it is turned on," +
                            "the joystick value of the RC will be used as the left/ right stick value"
                )
            }
        }
        btn_set_virtual_stick_advanced_param.setOnClickListener {
            KeyValueDialogUtil.showInputDialog(
                activity, "Set Virtual Stick Advanced Param",
                JsonUtil.toJson(virtualStickVM.virtualStickAdvancedParam.value), "", false
            ) {
                it?.apply {
                    val param = JsonUtil.toBean(this, VirtualStickFlightControlParam::class.java)
                    if (param == null) {
                        ToastUtils.showToast("Value Parse Error")
                        return@showInputDialog
                    }
                    virtualStickVM.virtualStickAdvancedParam.postValue(param)
                }
            }
        }

        btn_send_virtual_stick_advanced_param.setOnClickListener {
            virtualStickVM.virtualStickAdvancedParam.value?.let {
                virtualStickVM.sendVirtualStickAdvancedParam(it)
            }
        }
        btn_enable_virtual_stick_advanced_mode.setOnClickListener {
            virtualStickVM.enableVirtualStickAdvancedMode()
        }
        btn_disable_virtual_stick_advanced_mode.setOnClickListener {
            virtualStickVM.disableVirtualStickAdvancedMode()
        }

        val handler = Handler(Looper.getMainLooper()) // 确保Handler在UI线程

        fun calculateSineWave(A: Double, omega: Double, x: Double, phi: Double): Double {
            // 计算ωx + φ
            val argument = omega * x + phi
            // 计算A * sin(ωx + φ)
            val result = A * Math.sin(argument)
            //保留2位小数
//            val nf = NumberFormat.getNumberInstance()
//            nf.maximumFractionDigits = 2
//            nf.roundingMode = RoundingMode.UP
//            return nf.format(result).toDouble()
            return result
        }
        fun sendPitch(pitchMax: Double,tNumber: Int,tPi:Double){
            var times = -1
            virtualStickVM.virtualStickAdvancedParam.value?.let { param ->
                var i = 0.0
                val task1 = Runnable {
                    //需要执行的任务
                    param.pitch = calculateSineWave(pitchMax,tPi * Math.PI,i,0.0)
                    param.roll = 0.0
                    param.yaw = 0.0
                    virtualStickVM.sendVirtualStickAdvancedParam(param)
                    virtualStickVM.virtualStickAdvancedParam.postValue(param)
                    i+=0.1
                    if(param.pitch * calculateSineWave(pitchMax,tPi * Math.PI,i,0.0) < 0){
                        times++
                    }
                    if(param.pitch == 0.0) times++
                    if(times==tNumber*2){
                        taskManager?.pauseTask1()
                    }
                }
                taskManager?.startTask1(task1, 0, 100, TimeUnit.MILLISECONDS)
            }
        }

        fun sendRoll(rollMax: Double,tNumber: Int,tPi:Double){
            flag = false
            var times = -1
            virtualStickVM.virtualStickAdvancedParam.value?.let { param ->
                var i = 0.0
                val task2 = Runnable {
                    //需要执行的任务
                    param.pitch = 0.0
                    param.roll = calculateSineWave(rollMax,tPi * Math.PI,i,0.0)
                    param.yaw = 0.0
                    virtualStickVM.sendVirtualStickAdvancedParam(param)
                    virtualStickVM.virtualStickAdvancedParam.postValue(param)
                    i+=0.1
                    if(param.roll * calculateSineWave(rollMax,tPi * Math.PI,i,0.0) < 0){
                        times++
                    }
                    if(param.roll == 0.0) times++
                    if(times==tNumber*2){
                        flag = true
                        taskManager?.pauseTask2()
                    }
                }
                taskManager?.startTask2(task2, 0, 100, TimeUnit.MILLISECONDS)
            }
        }

        fun sendYaw(yawMax: Double,tNumber: Int,tPi:Double){
            flag = false
            var times = -1
            virtualStickVM.virtualStickAdvancedParam.value?.let { param ->
                var i = 0.0
                val task3 = Runnable {
                    //需要执行的任务
                    param.pitch = 0.0
                    param.roll = 0.0
                    param.yaw = calculateSineWave(yawMax,tPi * Math.PI,i,0.0)
                    virtualStickVM.sendVirtualStickAdvancedParam(param)
                    virtualStickVM.virtualStickAdvancedParam.postValue(param)
                    i+=0.1
                    if(param.yaw * calculateSineWave(yawMax,tPi * Math.PI,i,0.0) < 0){
                        times++
                    }
                    if(param.yaw == 0.0) times++
                    if(times==tNumber*2){
                        flag = true
                        taskManager?.pauseTask3()
                    }
                }
                taskManager?.startTask3(task3, 0, 100, TimeUnit.MILLISECONDS)
            }
        }
        fun sendThrottle(throttleTime: Double,throttlePitch: Double){
            val task = object : TimerTask() {
                override fun run() {
                    // 在这里定义任务的行为
                    flag = true
                    taskManager?.pauseTask0()
                }
            }
            val timer = Timer()
            timer.schedule(task, throttleTime.toLong() * 1000)
            virtualStickVM.virtualStickAdvancedParam.value?.let { param ->
                try {
                    val task0 = Runnable {
                        //需要执行的任务
                        param.pitch = throttlePitch
                        param.roll = 0.0
                        param.yaw = 0.0
                        virtualStickVM.sendVirtualStickAdvancedParam(param)
                        virtualStickVM.virtualStickAdvancedParam.postValue(param)
                    }
                    taskManager?.startTask0(task0, 0, 100, TimeUnit.MILLISECONDS)
                } catch (e: NumberFormatException) {
                    // 处理数字格式异常
                    Log.e("VirtualStick", "Invalid number format", e)
                    ToastUtils.showToast("请补全参数", Toast.LENGTH_SHORT)
                }
            }
        }

        fun sendTurn(turnTime: Double,turnYaw: Double){
            val task = object : TimerTask() {
                override fun run() {
                    // 在这里定义任务的行为
                    flag = true
                    taskManager?.pauseTask0()
                }
            }
            val timer = Timer()
            timer.schedule(task, turnTime.toLong() * 1000)
            virtualStickVM.virtualStickAdvancedParam.value?.let { param ->
                try {
                    val task0 = Runnable {
                        //需要执行的任务
                        param.pitch = 0.0
                        param.roll = 0.0
                        param.yaw = turnYaw
                        virtualStickVM.sendVirtualStickAdvancedParam(param)
                        virtualStickVM.virtualStickAdvancedParam.postValue(param)
                    }
                    taskManager?.startTask0(task0, 0, 100, TimeUnit.MILLISECONDS)
                } catch (e: NumberFormatException) {
                    // 处理数字格式异常
                    Log.e("VirtualStick", "Invalid number format", e)
                    ToastUtils.showToast("请补全参数", Toast.LENGTH_SHORT)
                }
            }
        }

        fun read(){
            val filename = fileName.text.toString().trim()
            if (filename.isEmpty()) {
                ToastUtils.showToast("请输入文件名", Toast.LENGTH_SHORT)
            }else{
                val file = FileUtils(requireContext(),filename)
                fom_info_tv.text = file.readAll()
            }
        }
        btn_save_pitch.setOnClickListener {
            val filename = fileName.text.toString().trim()
            if (filename.isEmpty()) {
                ToastUtils.showToast("请输入文件名", Toast.LENGTH_SHORT)
            }else{
                val file = FileUtils(requireContext(),filename)
                try {
                    number = nPitch.text.toString().toInt()
                    pi = sPitch.text.toString().toDouble()
                    max = mPitch.text.toString().toDouble()
                }catch (e: NumberFormatException) {
                    ToastUtils.showToast("请补全参数", Toast.LENGTH_SHORT)
                }
                val message = "俯仰 ${number} 组 周期 ${pi} π 最大值 ${max}"
                file.writer(message,false)
                read()
            }
        }
        btn_save_roll.setOnClickListener {
            val filename = fileName.text.toString().trim()
            if (filename.isEmpty()) {
                ToastUtils.showToast("请输入文件名", Toast.LENGTH_SHORT)
            }else{
                val file = FileUtils(requireContext(),filename)
                try {
                    number = nRoll.text.toString().toInt()
                    pi = sRoll.text.toString().toDouble()
                    max = mRoll.text.toString().toDouble()
                }catch (e: NumberFormatException) {
                    ToastUtils.showToast("请补全参数", Toast.LENGTH_SHORT)
                }
                val message = "横滚 ${number} 组 周期 ${pi} π 最大值 ${max}"
                file.writer(message,false)
                read()
            }
        }
        btn_save_yaw.setOnClickListener {
            val filename = fileName.text.toString().trim()
            if (filename.isEmpty()) {
                ToastUtils.showToast("请输入文件名", Toast.LENGTH_SHORT)
            }else{
                val file = FileUtils(requireContext(),filename)
                try {
                    number = nYaw.text.toString().toInt()
                    pi = sYaw.text.toString().toDouble()
                    max = mYaw.text.toString().toDouble()
                }catch (e: NumberFormatException) {
                    ToastUtils.showToast("请补全参数", Toast.LENGTH_SHORT)
                }
                val message = "偏航 ${number} 组 周期 ${pi} π 最大值 ${max}"
                file.writer(message,false)
                read()
            }
        }

        btn_save_throttle.setOnClickListener {
            val filename = fileName.text.toString().trim()
            if (filename.isEmpty()) {
                ToastUtils.showToast("请输入文件名", Toast.LENGTH_SHORT)
            }else{
                val file = FileUtils(requireContext(),filename)
                try {
                    val time = sThrottle.text.toString().toDouble()
                    val throttle = throttlePitch.text.toString().toDouble()
                    val message = "平飞 ${time} 秒 角度 ${throttle}"
                    file.writer(message,false)
                    read()
                }catch (e: NumberFormatException) {
                    ToastUtils.showToast("请补全参数", Toast.LENGTH_SHORT)
                }
            }
        }

        btn_save_turn.setOnClickListener {
            val filename = fileName.text.toString().trim()
            if (filename.isEmpty()) {
                ToastUtils.showToast("请输入文件名", Toast.LENGTH_SHORT)
            }else{
                val file = FileUtils(requireContext(),filename)
                try {
                    val turn = turn.text.toString().toDouble()
                    val message = "转弯 1.0 秒 角度 $turn"
                    file.writer(message,false)
                    read()
                }catch (e: NumberFormatException) {
                    ToastUtils.showToast("请补全参数", Toast.LENGTH_SHORT)
                }
            }
        }

        btn_read.setOnClickListener {
            read()
        }
        btn_fom.setOnClickListener {
            // 获取当前文本
            val currentText = fom_info_tv.text.toString()
            // 按行拆分文本（假设文本中使用换行符 "\n" 分隔行）
            val lines = currentText.split("\n".toRegex()).dropLastWhile { it.isEmpty() }.toTypedArray()
            if(lines.size>0){
                val param = lines[0].split(" ")
                if (param[0].equals("俯仰")){
                    sendPitch(param[7].toDouble(),param[1].toInt(),param[4].toDouble())
                }else if (param[0].equals("横滚")){
                    sendRoll(param[7].toDouble(),param[1].toInt(),param[4].toDouble())
                }else if (param[0].equals("偏航")){
                    sendYaw(param[7].toDouble(),param[1].toInt(),param[4].toDouble())
                }else if (param[0].equals("平飞")){
                    sendThrottle(param[1].toDouble(),param[4].toDouble())
                }else if (param[0].equals("转弯")){
                    sendTurn(param[1].toDouble(),param[4].toDouble())
                }
                // 检查是否有多行文本
                if (lines.size > 1) {
                    // 移除第一行并重新组合文本
                    val newText = lines.sliceArray(1 until lines.size).joinToString("\n")
                    // 设置新的文本
                    fom_info_tv.text = newText
                } else {
                    // 如果只有一行，则清空文本或显示提示信息
                    fom_info_tv.text = "" // 或者 textView.text = "没有更多行可以移除"
                }
            }else{
                ToastUtils.showToast("请重新读取", Toast.LENGTH_SHORT)
            }
        }

        btn_listenPose.setOnClickListener {
            KeyManager.getInstance().listen(createKey(FlightControllerKey.KeyAircraftAttitude),this
            ) { _, newValue -> logUtils.log(newValue.toString())
                // 将新数据点添加到LineDataSet中
                val newXValue = entries1.size + 1f // 假设新X值是前一个条目的大小加1
                if (newValue != null) {
                    entries1.add(Entry(newXValue, newValue.pitch.toFloat(), null))
                } // getNewYValue 是一个假设的函数，用于生成新的Y值
                if (newValue != null) {
                    entries2.add(Entry(newXValue, newValue.roll.toFloat(), null))
                } // 示例：为entries2添加稍微不同的Y值
                if (newValue != null) {
                    entries3.add(Entry(newXValue, newValue.yaw.toFloat(), null))
                } // 示例：为entries3添加稍微不同的Y值

                virtualStickVM.virtualStickAdvancedParam.value?.let { param ->
                    logUtilsSend.log(param.toString())
                    entries10.add(Entry(newXValue, param.pitch.toFloat(), null))
                    entries20.add(Entry(newXValue, param.roll.toFloat(), null))
                    entries30.add(Entry(newXValue, param.yaw.toFloat(), null))
                }

                // 更新数据集
                val dataSet1 = getDataSet(entries1, "pitch")
                val dataSet2 = getDataSet(entries2, "roll")
                val dataSet3 = getDataSet(entries3, "yaw")

                val dataSet10 = getDataSet0(entries10, "pitchSet")
                val dataSet20 = getDataSet0(entries20, "rollSet")
                val dataSet30 = getDataSet0(entries30, "yawSet")

                // 创建一个新的LineData对象并设置给图表
                val lineData = LineData(dataSet1, dataSet2, dataSet3,dataSet10, dataSet20, dataSet30)
                lineChart.data = lineData
                // 通知图表更新（这里我们直接调用invalidate()）
                lineChart.invalidate() // 这将导致图表重绘，并显示所有LineDataSet中的最新数据
                lineChart.moveViewToX(newXValue)
            }

    }

    private fun initStickListener() {
        left_stick_view.setJoystickListener(object : OnScreenJoystickListener {
            override fun onTouch(joystick: OnScreenJoystick?, pX: Float, pY: Float) {
                var leftPx = 0F
                var leftPy = 0F

                if (abs(pX) >= deviation) {
                    leftPx = pX
                }

                if (abs(pY) >= deviation) {
                    leftPy = pY
                }

                virtualStickVM.setLeftPosition(
                    (leftPx * Stick.MAX_STICK_POSITION_ABS).toInt(),
                    (leftPy * Stick.MAX_STICK_POSITION_ABS).toInt()
                )
            }
        })
        right_stick_view.setJoystickListener(object : OnScreenJoystickListener {
            override fun onTouch(joystick: OnScreenJoystick?, pX: Float, pY: Float) {
                var rightPx = 0F
                var rightPy = 0F

                if (abs(pX) >= deviation) {
                    rightPx = pX
                }

                if (abs(pY) >= deviation) {
                    rightPy = pY
                }

                virtualStickVM.setRightPosition(
                    (rightPx * Stick.MAX_STICK_POSITION_ABS).toInt(),
                    (rightPy * Stick.MAX_STICK_POSITION_ABS).toInt()
                )
            }
        })
    }

    private fun updateVirtualStickInfo() {
        val builder = StringBuilder()
        builder.append("Speed level:").append(virtualStickVM.currentSpeedLevel.value)
        builder.append("\n")
        builder.append("Use rc stick as virtual stick:").append(virtualStickVM.useRcStick.value)
        builder.append("\n")
        builder.append("Is virtual stick enable:").append(virtualStickVM.currentVirtualStickStateInfo.value?.state?.isVirtualStickEnable)
        builder.append("\n")
        builder.append("Current control permission owner:").append(virtualStickVM.currentVirtualStickStateInfo.value?.state?.currentFlightControlAuthorityOwner)
        builder.append("\n")
        builder.append("Change reason:").append(virtualStickVM.currentVirtualStickStateInfo.value?.reason)
        builder.append("\n")
        builder.append("Rc stick value:").append(virtualStickVM.stickValue.value?.toString())
        builder.append("\n")
        builder.append("Is virtual stick advanced mode enable:").append(virtualStickVM.currentVirtualStickStateInfo.value?.state?.isVirtualStickAdvancedModeEnabled)
        builder.append("\n")
        builder.append("Virtual stick advanced mode param:").append(virtualStickVM.virtualStickAdvancedParam.value?.toJson())
        builder.append("\n")
        mainHandler.post {
            virtual_stick_info_tv.text = builder.toString()
        }
    }
}

你好，我现在实现的是利用虚拟摇杆实现无人机四边FOM飞行，就是在一个正方形路径中做俯仰横滚偏航等动作，现在我遇到的问题是：1.代码中可以看到我有设置转弯90°，但是转弯90°以后，我再次点俯仰横滚动作时，飞机没有按照转弯后的方向继续做，而是回到第一条边的方向，自动转回初始方向了。2.转弯90°，也就是偏航90°，怎样设置成参照机头方向转弯，目前我只能第一个弯转90°，第二个弯180°没第三个就无法解决了，我在遥控器的虚拟摇杆高高级模式坐标系设置的是BODY模式。3.我想要实现每0.1秒回传一次姿态数据，数据包括无人机发送的数据和无人机响应的数据，怎样可以卡着0.1s回传这些数据呢？
麻烦您帮忙解答，谢谢。