print("Current Progress:%.2f%%"%(nextPoint/len(Mapdata.keys())*100))
print("%d Degrees to next location"%Route.yaw)
if(distance > MaxDistance):
#如果超出范围
pass
#----根据夹角调转机头----#
elif(nextPoint == len(Mapdata.keys())):
#未超出范围，则已达到目标点。
nextPoint = nextPoint
Route.EndOfNav = 1
time.sleep(1)
os.system('mplayer -really-quiet "/home/pi/RpiCentre/sound/ARRIVEDEST.mp3"')
else:
Route.EndOfNav = 0
nextPoint += 1
Comm.SendNavMessege(ser,Route,wirelessPort)
elif ValidShip.manual_automatic == STATE_COLLECTING_POINTS:
if(Comm.Ship_Attitude_On_Screen(ValidShip)):
index = 1
Coordinates_Saving_File = open("LatLong_Record.txt","w+")
print("Coordinate Saving File Created.")
print("Recording Coordinates")
while (ValidShip.manual_automatic==STATE_COLLECTING_POINTS):
time.sleep(0.7)#采点时间间隔设置
print('%ds Coordinates saved')
Record_Coordinates.start(Coordinates_Saving_File,index,ValidShip.longtitude,ValidShip.lattitude,0)
index += 1
Coordinates_Saving_File.close()
os.rename('LatLong_Record.txt','LatLong.txt')
print("New Coordinates Saved")
elif ValidShip.manual_automatic == STATE_MANUAL_CTRL:
