private void button1_Click(object sender, EventArgs e) { if (string.IsNullOrEmpty(mCbxPort.Text)) { return; } if (string.IsNullOrEmpty(mCbxBandrate.Text)) { return; } try { _mMavLink = new MavLinkSerialPortTransport { BaudRate = Convert.ToInt32(mCbxBandrate.Text), SerialPortName = mCbxPort.Text, MavlinkSystemId = 0xFF, MavlinkComponentId = 0xBE }; _mMavLink.OnPacketReceived += OnMavLinkPacketReceived; _mMavLink.Initialize(); } catch (Exception) { MessageBox.Show(@"通信接口初始化失败!"); return; } _mMavLink.BeginHeartBeatLoop(); button1.Enabled = false; button2.Enabled = true; }