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ardupilot/Tools/ArdupilotMegaPlanner/Setup/Setup.cs

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import Tools directory
2011-09-08 22:31:32 -03:00
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
namespace ArdupilotMega.Setup
{
public partial class Setup : Form
{
internal GCSViews.Configuration Configuration;
bool run = false;
bool startup = false;
const float rad2deg = (float)(180 / Math.PI);
const float deg2rad = (float)(1.0 / rad2deg);
float[] rcmin = new float[8];
float[] rcmax = new float[8];
float[] rctrim = new float[8];
Timer timer = new Timer();
public Setup()
{
InitializeComponent();
for (int a = 0; a < rcmin.Length; a++)
{
rcmin[a] = 3000;
rcmax[a] = 0;
rctrim[a] = 1500;
}
timer.Tick += new EventHandler(timer_Tick);
timer.Enabled = true;
timer.Interval = 100;
timer.Start();
}
void timer_Tick(object sender, EventArgs e)
{
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
float pwm = 0;
APM Planner 1.0.67 - git build
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
import Tools directory
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{
pwm = MainV2.cs.ch8in;
LBL_flightmodepwm.Text = "8: " + MainV2.cs.ch8in.ToString();
}
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
pwm = MainV2.cs.ch5in;
LBL_flightmodepwm.Text = "5: " + MainV2.cs.ch5in.ToString();
}
Control[] fmodelist = new Control[] { CMB_fmode1, CMB_fmode2, CMB_fmode3, CMB_fmode4, CMB_fmode5, CMB_fmode6 };
foreach (Control ctl in fmodelist)
{
ctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
}
byte no = readSwitch(pwm);
fmodelist[no].BackColor = Color.Green;
if (tabControl1.SelectedTab == tabHeli)
{
if (HS3.minline == 0)
HS3.minline = 2200;
if (HS4.minline == 0)
HS4.minline = 2200;
HS3.minline = Math.Min(HS3.minline, (int)MainV2.cs.ch3in);
HS3.maxline = Math.Max(HS3.maxline, (int)MainV2.cs.ch3in);
HS4.minline = Math.Min(HS4.minline, (int)MainV2.cs.ch4in);
HS4.maxline = Math.Max(HS4.maxline, (int)MainV2.cs.ch4in);
}
}
// from arducopter code
byte readSwitch(float inpwm)
{
int pulsewidth = (int)inpwm; // default for Arducopter
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual
if (pulsewidth >= 1750) return 5; // Hardware Manual
return 0;
}
private void BUT_Calibrateradio_Click(object sender, EventArgs e)
{
if (run)
{
BUT_Calibrateradio.Text = "Please goto the next tab";
run = false;
return;
}
MessageBox.Show("Ensure your transmitter is on and receiver is powered and connected\nEnsure your motor does not have power/no props!!!");
byte oldrc = MainV2.cs.raterc;
byte oldatt = MainV2.cs.rateattitude;
byte oldpos = MainV2.cs.rateposition;
byte oldstatus = MainV2.cs.ratestatus;
MainV2.cs.raterc = 10;
MainV2.cs.rateattitude = 0;
MainV2.cs.rateposition = 0;
MainV2.cs.ratestatus = 0;
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, 10);
BUT_Calibrateradio.Text = "Click when Done";
run = true;
while (run)
{
Application.DoEvents();
System.Threading.Thread.Sleep(5);
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true);
if (MainV2.cs.ch1in > 800 && MainV2.cs.ch1in < 2200)
{
rcmin[0] = Math.Min(rcmin[0], MainV2.cs.ch1in);
rcmax[0] = Math.Max(rcmax[0], MainV2.cs.ch1in);
rcmin[1] = Math.Min(rcmin[1], MainV2.cs.ch2in);
rcmax[1] = Math.Max(rcmax[1], MainV2.cs.ch2in);
rcmin[2] = Math.Min(rcmin[2], MainV2.cs.ch3in);
rcmax[2] = Math.Max(rcmax[2], MainV2.cs.ch3in);
rcmin[3] = Math.Min(rcmin[3], MainV2.cs.ch4in);
rcmax[3] = Math.Max(rcmax[3], MainV2.cs.ch4in);
rcmin[4] = Math.Min(rcmin[4], MainV2.cs.ch5in);
rcmax[4] = Math.Max(rcmax[4], MainV2.cs.ch5in);
rcmin[5] = Math.Min(rcmin[5], MainV2.cs.ch6in);
rcmax[5] = Math.Max(rcmax[5], MainV2.cs.ch6in);
rcmin[6] = Math.Min(rcmin[6], MainV2.cs.ch7in);
rcmax[6] = Math.Max(rcmax[6], MainV2.cs.ch7in);
rcmin[7] = Math.Min(rcmin[7], MainV2.cs.ch8in);
rcmax[7] = Math.Max(rcmax[7], MainV2.cs.ch8in);
BARroll.minline = (int)rcmin[0];
BARroll.maxline = (int)rcmax[0];
BARpitch.minline = (int)rcmin[1];
BARpitch.maxline = (int)rcmax[1];
BARthrottle.minline = (int)rcmin[2];
BARthrottle.maxline = (int)rcmax[2];
BARyaw.minline = (int)rcmin[3];
BARyaw.maxline = (int)rcmax[3];
BAR5.minline = (int)rcmin[4];
BAR5.maxline = (int)rcmax[4];
BAR6.minline = (int)rcmin[5];
BAR6.maxline = (int)rcmax[5];
BAR7.minline = (int)rcmin[6];
BAR7.maxline = (int)rcmax[6];
BAR8.minline = (int)rcmin[7];
BAR8.maxline = (int)rcmax[7];
}
}
MessageBox.Show("Ensure all your sticks are centered, and click ok to continue");
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true);
rctrim[0] = MainV2.cs.ch1in;
rctrim[1] = MainV2.cs.ch2in;
rctrim[2] = MainV2.cs.ch3in;
rctrim[3] = MainV2.cs.ch4in;
rctrim[4] = MainV2.cs.ch5in;
rctrim[5] = MainV2.cs.ch6in;
rctrim[6] = MainV2.cs.ch7in;
rctrim[7] = MainV2.cs.ch8in;
string data = "---------------\n";
for (int a = 0; a < 8; a++)
{
// we want these to save no matter what
BUT_Calibrateradio.Text = "Saving";
try
{
if (rcmin[a] != rcmax[a])
{
MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_MIN", rcmin[a]);
MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_MAX", rcmax[a]);
}
if (rctrim[a] < 1195 && rctrim[a] > 1205)
MainV2.comPort.setParam("RC" + (a + 1).ToString("0") + "_TRIM", rctrim[a]);
}
catch { MessageBox.Show("Failed to set Channel " + (a + 1).ToString()); }
data = data +"CH" + (a+1) + " " + rcmin[a] + " | " + rcmax[a] + "\n";
}
MainV2.cs.raterc = oldrc;
MainV2.cs.rateattitude = oldatt;
MainV2.cs.rateposition = oldpos;
MainV2.cs.ratestatus = oldstatus;
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, oldrc);
if (Configuration != null)
{
Configuration.startup = true;
Configuration.processToScreen();
Configuration.startup = false;
}
MessageBox.Show("Here are the detected radio options\nNOTE Channels not connected are displayed as 1500 +-2\nNormal values are around 1100 | 1900\nChannel:Min | Max \n" + data, "Radio");
BUT_Calibrateradio.Text = "Please goto the next tab";
}
private void tabControl1_SelectedIndexChanged(object sender, EventArgs e)
{
if (tabControl1.SelectedTab == tabModes)
{
APM Planner 1.0.67 - git build
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if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
import Tools directory
2011-09-08 22:31:32 -03:00
{
APM Planner 1.0.69 prep for ac2 2.0.43 - simple mode modify some scaling in Config add hud speed warning. add link quality and time to HUD fix ac2 logs, relative alt. prep for mavlink 1.0 add time to tlog > plain text conversion
2011-09-17 10:22:07 -03:00
CB_simple1.Visible = false;
CB_simple2.Visible = false;
CB_simple3.Visible = false;
CB_simple4.Visible = false;
CB_simple5.Visible = false;
CB_simple6.Visible = false;
import Tools directory
2011-09-08 22:31:32 -03:00
CMB_fmode1.Items.Clear();
CMB_fmode2.Items.Clear();
CMB_fmode3.Items.Clear();
CMB_fmode4.Items.Clear();
CMB_fmode5.Items.Clear();
CMB_fmode6.Items.Clear();
CMB_fmode1.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode2.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode3.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode4.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode5.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
CMB_fmode6.Items.AddRange(Enum.GetNames(typeof(Common.apmmodes)));
try
{
CMB_fmode1.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE1"].ToString()).ToString();
CMB_fmode2.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE2"].ToString()).ToString();
CMB_fmode3.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE3"].ToString()).ToString();
CMB_fmode4.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE4"].ToString()).ToString();
CMB_fmode5.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE5"].ToString()).ToString();
CMB_fmode6.Text = Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE6"].ToString()).ToString();
}
catch { }
}
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
CMB_fmode1.Items.Clear();
CMB_fmode2.Items.Clear();
CMB_fmode3.Items.Clear();
CMB_fmode4.Items.Clear();
CMB_fmode5.Items.Clear();
CMB_fmode6.Items.Clear();
CMB_fmode1.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode2.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode3.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode4.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode5.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
CMB_fmode6.Items.AddRange(Enum.GetNames(typeof(Common.ac2modes)));
try
{
CMB_fmode1.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE1"].ToString()).ToString();
CMB_fmode2.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE2"].ToString()).ToString();
CMB_fmode3.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE3"].ToString()).ToString();
CMB_fmode4.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE4"].ToString()).ToString();
CMB_fmode5.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE5"].ToString()).ToString();
CMB_fmode6.Text = Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE6"].ToString()).ToString();
APM Planner 1.0.73 add opengl and gdi+ option to hud. fix simple mode display fix throttle hold imax scaling. fix drawing of bad wps in log playback
2011-09-19 21:04:58 -03:00
int simple = int.Parse(MainV2.comPort.param["SIMPLE"].ToString());
CB_simple1.Checked = ((simple >> 0 & 1) == 1);
CB_simple2.Checked = ((simple >> 1 & 1) == 1);
CB_simple3.Checked = ((simple >> 2 & 1) == 1);
CB_simple4.Checked = ((simple >> 3 & 1) == 1);
CB_simple5.Checked = ((simple >> 4 & 1) == 1);
CB_simple6.Checked = ((simple >> 5 & 1) == 1);
import Tools directory
2011-09-08 22:31:32 -03:00
}
catch { }
}
}
if (tabControl1.SelectedTab == tabHardware)
{
startup = true;
if (MainV2.comPort.param["ARSPD_ENABLE"] != null)
CHK_enableairspeed.Checked = MainV2.comPort.param["ARSPD_ENABLE"].ToString() == "1" ? true : false;
if (MainV2.comPort.param["SONAR_ENABLE"] != null)
CHK_enablesonar.Checked = MainV2.comPort.param["SONAR_ENABLE"].ToString() == "1" ? true : false;
if (MainV2.comPort.param["MAG_ENABLE"] != null)
CHK_enablecompass.Checked = MainV2.comPort.param["MAG_ENABLE"].ToString() == "1" ? true : false;
if (MainV2.comPort.param["BATT_MONITOR"] != null)
{
if (MainV2.comPort.param["BATT_MONITOR"].ToString() != "0")
{
CHK_enablebattmon.Checked = true;
CMB_batmontype.SelectedIndex = (int)float.Parse(MainV2.comPort.param["BATT_MONITOR"].ToString());
}
}
if (MainV2.comPort.param["COMPASS_DEC"] != null)
TXT_declination.Text = (float.Parse(MainV2.comPort.param["COMPASS_DEC"].ToString()) * rad2deg).ToString();
if (MainV2.comPort.param["BATT_CAPACITY"] != null)
TXT_battcapacity.Text = MainV2.comPort.param["BATT_CAPACITY"].ToString();
startup = false;
}
if (tabControl1.SelectedTab == tabArducopter)
{
APM Planner 1.0.67 - git build
2011-09-10 03:15:14 -03:00
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
import Tools directory
2011-09-08 22:31:32 -03:00
{
tabArducopter.Enabled = false;
return;
}
}
if (tabControl1.SelectedTab == tabHeli)
{
if (MainV2.comPort.param["GYR_ENABLE_"] == null)
{
tabHeli.Enabled = false;
return;
}
startup = true;
try
{
foreach (string value in MainV2.comPort.param.Keys)
{
if (value == "")
continue;
Control[] control = tabHeli.Controls.Find(value, true);
if (control.Length > 0)
{
if (control[0].GetType() == typeof(TextBox))
{
TextBox temp = (TextBox)control[0];
string option = MainV2.comPort.param[value].ToString();
temp.Text = option;
}
if (control[0].GetType() == typeof(CheckBox))
{
CheckBox temp = (CheckBox)control[0];
string option = MainV2.comPort.param[value].ToString();
temp.Checked = option == "1" ? true : false;
}
if (control[0].GetType() == typeof(MyTrackBar))
{
MyTrackBar temp = (MyTrackBar)control[0];
string option = MainV2.comPort.param[value].ToString();
temp.Value = int.Parse(option);
}
}
}
}
catch { }
startup = false;
}
}
private void BUT_SaveModes_Click(object sender, EventArgs e)
{
try
{
APM Planner 1.0.67 - git build
2011-09-10 03:15:14 -03:00
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
import Tools directory
2011-09-08 22:31:32 -03:00
{
MainV2.comPort.setParam("FLTMODE1", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode1.Text));
MainV2.comPort.setParam("FLTMODE2", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode2.Text));
MainV2.comPort.setParam("FLTMODE3", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode3.Text));
MainV2.comPort.setParam("FLTMODE4", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode4.Text));
MainV2.comPort.setParam("FLTMODE5", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode5.Text));
MainV2.comPort.setParam("FLTMODE6", (float)(int)Enum.Parse(typeof(Common.apmmodes), CMB_fmode6.Text));
}
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
{
MainV2.comPort.setParam("FLTMODE1", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode1.Text));
MainV2.comPort.setParam("FLTMODE2", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode2.Text));
MainV2.comPort.setParam("FLTMODE3", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode3.Text));
MainV2.comPort.setParam("FLTMODE4", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode4.Text));
MainV2.comPort.setParam("FLTMODE5", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode5.Text));
MainV2.comPort.setParam("FLTMODE6", (float)(int)Enum.Parse(typeof(Common.ac2modes), CMB_fmode6.Text));
APM Planner 1.0.69 prep for ac2 2.0.43 - simple mode modify some scaling in Config add hud speed warning. add link quality and time to HUD fix ac2 logs, relative alt. prep for mavlink 1.0 add time to tlog > plain text conversion
2011-09-17 10:22:07 -03:00
float value = (float)(CB_simple1.Checked ? 1 : 0) + (CB_simple2.Checked ? 1 << 1 : 0) + (CB_simple3.Checked ? 1 <<2 : 0)
+ (CB_simple4.Checked ? 1 << 3 : 0) + (CB_simple5.Checked ? 1 << 4 : 0) + (CB_simple6.Checked ? 1 << 5 : 0);
MainV2.comPort.setParam("SIMPLE", value);
import Tools directory
2011-09-08 22:31:32 -03:00
}
}
catch { MessageBox.Show("Failed to set Flight modes"); }
}
private void TXT_declination_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
e.Cancel = !float.TryParse(TXT_declination.Text, out ans);
}
private void TXT_battcapacity_Validating(object sender, CancelEventArgs e)
{
float ans = 0;
APM Planner 1.0.73 add opengl and gdi+ option to hud. fix simple mode display fix throttle hold imax scaling. fix drawing of bad wps in log playback
2011-09-19 21:04:58 -03:00
e.Cancel = !float.TryParse(TXT_declination.Text, out ans);
import Tools directory
2011-09-08 22:31:32 -03:00
}
private void CMB_batmontype_SelectedIndexChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["BATT_MONITOR"] == null)
{
MessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("BATT_MONITOR", CMB_batmontype.SelectedIndex);
if (CMB_batmontype.SelectedIndex != 0)
{
CHK_enablebattmon.Checked = true;
}
else
{
CHK_enablebattmon.Checked = false;
}
}
}
catch { MessageBox.Show("Set BATT_MONITOR Failed"); }
}
private void TXT_declination_Validated(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["COMPASS_DEC"] == null)
{
MessageBox.Show("Not Available");
}
else
{
float dec = 0.0f;
try
{
string declination = TXT_declination.Text;
float.TryParse(declination, out dec);
float deg = (float)((int)dec);
float mins = (dec - deg);
if (dec > 0)
{
dec += ((mins) / 60.0f);
}
else
{
dec -= ((mins) / 60.0f);
}
}
catch { MessageBox.Show("Invalid input!"); return; }
MainV2.comPort.setParam("COMPASS_DEC", dec * deg2rad);
}
}
catch { MessageBox.Show("Set COMPASS_DEC Failed"); }
}
private void TXT_battcapacity_Validated(object sender, EventArgs e)
{
if (startup || ((TextBox)sender).Enabled == false)
return;
try
{
if (MainV2.comPort.param["BATT_CAPACITY"] == null)
{
MessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("BATT_CAPACITY", float.Parse(TXT_battcapacity.Text));
}
}
catch { MessageBox.Show("Set BATT_CAPACITY Failed"); }
}
private void CHK_enablecompass_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["MAG_ENABLE"] == null)
{
MessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("MAG_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { MessageBox.Show("Set MAG_ENABLE Failed"); }
}
//((CheckBox)sender).Checked = !((CheckBox)sender).Checked;
private void CHK_enablebattmon_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (((CheckBox)sender).Checked == false)
{
CMB_batmontype.SelectedIndex = 0;
}
else
{
if (CMB_batmontype.SelectedIndex <= 0)
CMB_batmontype.SelectedIndex = 1;
}
}
catch { MessageBox.Show("Set BATT_MONITOR Failed"); }
}
private void CHK_enablesonar_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["SONAR_ENABLE"] == null)
{
MessageBox.Show("Not Available");
}
else
{
MainV2.comPort.setParam("SONAR_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { MessageBox.Show("Set SONAR_ENABLE Failed"); }
}
private void CHK_enableairspeed_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["ARSPD_ENABLE"] == null)
{
MessageBox.Show("Not Available on "+ MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("ARSPD_ENABLE", ((CheckBox)sender).Checked == true ? 1 : 0);
}
}
catch { MessageBox.Show("Set ARSPD_ENABLE Failed"); }
}
private void BUT_reset_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.setParam("SYSID_SW_MREV", UInt16.MaxValue);
}
catch { MessageBox.Show("Set SYSID_SW_MREV Failed"); return; }
MainV2.givecomport = true;
ICommsSerial comPortT = MainV2.comPort.BaseStream;
comPortT.DtrEnable = false;
if (comPortT.IsOpen)
comPortT.Close();
System.Threading.Thread.Sleep(200);
try
{
comPortT.DtrEnable = true;
comPortT.Open();
}
catch (Exception ex) { MainV2.givecomport = false; MessageBox.Show("Invalid Comport Settings : " + ex.Message); return; }
BUT_reset.Text = "Rebooting (20 sec)";
BUT_reset.Refresh();
Application.DoEvents();
Sleep(20000, comPortT); // wait for boot/reset
comPortT.DtrEnable = false;
Sleep(200, comPortT);
comPortT.DtrEnable = true;
Sleep(200, comPortT);
comPortT.DtrEnable = false;
comPortT.Close();
MainV2.givecomport = false;
try
{
MainV2.comPort.Open(true);
}
catch
{
MessageBox.Show("Failed to re-connect : Please try again");
this.Close();
}
BUT_reset.Text = "Please goto next tab";
}
void Sleep(int ms, ICommsSerial comPortT)
{
DateTime start = DateTime.Now;
Console.WriteLine("sleep in");
while (start.AddMilliseconds(ms) > DateTime.Now)
{
while (comPortT.BytesToRead > 0)
{
Console.Write((char)comPortT.ReadByte());
}
System.Threading.Thread.Sleep(1);
}
Console.WriteLine("sleep out");
}
private void pictureBoxQuad_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.setParam("FRAME", 0f);
MessageBox.Show("Set to +");
}
catch { MessageBox.Show("Set frame failed"); }
}
private void pictureBoxQuadX_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.setParam("FRAME", 1f);
MessageBox.Show("Set to x");
}
catch { MessageBox.Show("Set frame failed"); }
}
private void Setup_Load(object sender, EventArgs e)
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
MessageBox.Show("Please Connect First");
this.Close();
}
}
private void TXT_srvpos1_Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
Gservoloc.Value0 = test;
try
{
MainV2.comPort.setParam(((TextBox)sender).Name, test);
}
catch { MessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
}
private void TXT_srvpos2_Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
Gservoloc.Value1 = test;
try
{
MainV2.comPort.setParam(((TextBox)sender).Name, test);
}
catch { MessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
}
private void TXT_srvpos3_Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
Gservoloc.Value2 = test;
try
{
MainV2.comPort.setParam(((TextBox)sender).Name, test);
}
catch { MessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
}
private void BUT_0collective_Click(object sender, EventArgs e)
{
MessageBox.Show("Make sure your blades are at 0 degrees");
try
{
MainV2.comPort.setParam("COL_MID_", MainV2.cs.ch3in);
COL_MID_.Text = MainV2.comPort.param["COL_MID_"].ToString();
}
catch { MessageBox.Show("Set COL_MID_ failed"); }
}
private void HS1_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : -1.0f);
}
private void HS2_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : -1.0f);
}
private void HS3_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : -1.0f);
}
private void HS4_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : -1.0f);
}
private void HS1_TRIM_Scroll(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((MyTrackBar)sender).Name, (float)((MyTrackBar)sender).Value);
}
private void HS2_TRIM_Scroll(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((MyTrackBar)sender).Name, (float)((MyTrackBar)sender).Value);
}
private void HS3_TRIM_Scroll(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((MyTrackBar)sender).Name, (float)((MyTrackBar)sender).Value);
}
private void HS4_TRIM_Scroll(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((MyTrackBar)sender).Name, (float)((MyTrackBar)sender).Value);
}
private void ROL_MAX__Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
MainV2.comPort.setParam(((TextBox)sender).Name, test);
}
private void PIT_MAX__Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
MainV2.comPort.setParam(((TextBox)sender).Name, test);
}
private void GYR_GAIN__Validating(object sender, CancelEventArgs e)
{
if (startup || this.Disposing || ((TextBox)sender).Enabled == false)
return;
int test = 0;
if (!int.TryParse(((TextBox)sender).Text, out test))
{
e.Cancel = true;
}
try
{
MainV2.comPort.setParam(((TextBox)sender).Name, test);
}
catch { MessageBox.Show("Failed to set Gyro Gain"); }
}
private void GYR_ENABLE__CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : 0.0f);
}
private void BUT_saveheliconfig_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.setParam("COL_MIN_", HS3.minline);
MainV2.comPort.setParam("COL_MAX_", HS3.maxline);
MainV2.comPort.setParam("HS4_MIN", HS4.minline);
MainV2.comPort.setParam("HS4_MAX", HS4.maxline);
}
catch { MessageBox.Show("Failed to set min/max"); }
}
private void BUT_levelac2_Click(object sender, EventArgs e)
{
try
{
MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
BUT_levelac2.Text = "Complete";
}
catch
{
MessageBox.Show("Failed to level : ac2 2.0.37+ is required");
}
}
private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
{
try
{
//System.Diagnostics.Process.Start("http://www.ngdc.noaa.gov/geomagmodels/Declination.jsp");
System.Diagnostics.Process.Start("http://www.magnetic-declination.com/");
}
catch { MessageBox.Show("Webpage open failed... do you have a virus?\nhttp://www.magnetic-declination.com/"); }
}
void reverseChannel(string name,bool normalreverse,Control progressbar)
{
if (startup)
return;
if (MainV2.comPort.param["SWITCH_ENABLE"] != null && (float)MainV2.comPort.param["SWITCH_ENABLE"] == 1)
{
try
{
MainV2.comPort.setParam("SWITCH_ENABLE", 0);
MessageBox.Show("Disabled Dip Switchs");
}
catch { MessageBox.Show("Error Disableing Dip Switch"); }
}
try
{
int i = normalreverse == false ? 1 : -1;
MainV2.comPort.setParam(name, i);
if (normalreverse == true)
{
((HorizontalProgressBar2)progressbar).BackgroundColor = Color.FromArgb(148, 193, 31);
((HorizontalProgressBar2)progressbar).ValueColor = Color.FromArgb(0x43, 0x44, 0x45);
}
else
{
((HorizontalProgressBar2)progressbar).BackgroundColor = Color.FromArgb(0x43, 0x44, 0x45);
((HorizontalProgressBar2)progressbar).ValueColor = Color.FromArgb(148, 193, 31);
}
}
catch { MessageBox.Show("Error Reversing"); }
}
private void CHK_revch1_CheckedChanged(object sender, EventArgs e)
{
reverseChannel("RC1_REV", ((CheckBox)sender).Checked,BARroll);
}
private void CHK_revch2_CheckedChanged(object sender, EventArgs e)
{
reverseChannel("RC2_REV", ((CheckBox)sender).Checked,BARpitch);
}
private void CHK_revch3_CheckedChanged(object sender, EventArgs e)
{
reverseChannel("RC3_REV", ((CheckBox)sender).Checked,BARthrottle);
}
private void CHK_revch4_CheckedChanged(object sender, EventArgs e)
{
reverseChannel("RC4_REV", ((CheckBox)sender).Checked,BARyaw);
}
}
}