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using System ;
using System.Collections.Generic ; // Lists
using System.Text ; // stringbuilder
using System.Drawing ; // pens etc
using System.IO ; // file io
using System.IO.Ports ; // serial
using System.Windows.Forms ; // Forms
using System.Collections ; // hashs
using System.Text.RegularExpressions ; // regex
using System.Xml ; // GE xml alt reader
using System.Net ; // dns, ip address
using System.Net.Sockets ; // tcplistner
using GMap.NET ;
using GMap.NET.WindowsForms ;
using System.Globalization ; // language
using GMap.NET.WindowsForms.Markers ;
using ZedGraph ; // Graphs
using System.Drawing.Drawing2D ;
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using ArdupilotMega.Controls ;
using ArdupilotMega.Utilities ;
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using ArdupilotMega.Controls.BackstageView ;
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//using Crom.Controls.Docking;
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using log4net ;
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using System.Reflection ;
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// written by michael oborne
namespace ArdupilotMega.GCSViews
{
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partial class FlightData : MyUserControl , IActivate , IDeactivate
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{
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private static readonly ILog log = LogManager . GetLogger ( MethodBase . GetCurrentMethod ( ) . DeclaringType ) ;
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public static int threadrun = 0 ;
StreamWriter swlog ;
int tickStart = 0 ;
RollingPointPairList list1 = new RollingPointPairList ( 1200 ) ;
RollingPointPairList list2 = new RollingPointPairList ( 1200 ) ;
RollingPointPairList list3 = new RollingPointPairList ( 1200 ) ;
RollingPointPairList list4 = new RollingPointPairList ( 1200 ) ;
RollingPointPairList list5 = new RollingPointPairList ( 1200 ) ;
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RollingPointPairList list6 = new RollingPointPairList ( 1200 ) ;
RollingPointPairList list7 = new RollingPointPairList ( 1200 ) ;
RollingPointPairList list8 = new RollingPointPairList ( 1200 ) ;
RollingPointPairList list9 = new RollingPointPairList ( 1200 ) ;
RollingPointPairList list10 = new RollingPointPairList ( 1200 ) ;
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System . Reflection . PropertyInfo list1item = null ;
System . Reflection . PropertyInfo list2item = null ;
System . Reflection . PropertyInfo list3item = null ;
System . Reflection . PropertyInfo list4item = null ;
System . Reflection . PropertyInfo list5item = null ;
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System . Reflection . PropertyInfo list6item = null ;
System . Reflection . PropertyInfo list7item = null ;
System . Reflection . PropertyInfo list8item = null ;
System . Reflection . PropertyInfo list9item = null ;
System . Reflection . PropertyInfo list10item = null ;
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CurveItem list1curve ;
CurveItem list2curve ;
CurveItem list3curve ;
CurveItem list4curve ;
CurveItem list5curve ;
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CurveItem list6curve ;
CurveItem list7curve ;
CurveItem list8curve ;
CurveItem list9curve ;
CurveItem list10curve ;
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internal static GMapOverlay kmlpolygons ;
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internal static GMapOverlay geofence ;
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Dictionary < Guid , Form > formguids = new Dictionary < Guid , Form > ( ) ;
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bool huddropout = false ;
bool huddropoutresize = false ;
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// private DockStateSerializer _serializer = null;
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List < PointLatLng > trackPoints = new List < PointLatLng > ( ) ;
const float rad2deg = ( float ) ( 180 / Math . PI ) ;
const float deg2rad = ( float ) ( 1.0 / rad2deg ) ;
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public static ArdupilotMega . Controls . HUD myhud = null ;
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public static GMapControl mymap = null ;
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bool playingLog = false ;
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double LogPlayBackSpeed = 1.0 ;
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GMapMarker marker ;
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AviWriter aviwriter ;
public SplitContainer MainHcopy = null ;
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public static FlightData instance ;
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protected override void Dispose ( bool disposing )
{
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threadrun = 0 ;
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MainV2 . comPort . logreadmode = false ;
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try
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{
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MainV2 . config [ "FlightSplitter" ] = hud1 . Width ;
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}
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catch { }
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System . Threading . Thread . Sleep ( 100 ) ;
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base . Dispose ( disposing ) ;
}
public FlightData ( )
{
InitializeComponent ( ) ;
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instance = this ;
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// _serializer = new DockStateSerializer(dockContainer1);
// _serializer.SavePath = Application.StartupPath + Path.DirectorySeparatorChar + "FDscreen.xml";
// dockContainer1.PreviewRenderer = new PreviewRenderer();
//
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mymap = gMapControl1 ;
myhud = hud1 ;
MainHcopy = MainH ;
// setup default tuning graph
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if ( MainV2 . config [ "Tuning_Graph_Selected" ] ! = null )
{
string line = MainV2 . config [ "Tuning_Graph_Selected" ] . ToString ( ) ;
string [ ] lines = line . Split ( new char [ ] { '|' } , StringSplitOptions . RemoveEmptyEntries ) ;
foreach ( string option in lines )
{
chk_box_CheckedChanged ( ( object ) ( new CheckBox ( ) { Name = option , Checked = true } ) , new EventArgs ( ) ) ;
}
}
else
{
chk_box_CheckedChanged ( ( object ) ( new CheckBox ( ) { Name = "roll" , Checked = true } ) , new EventArgs ( ) ) ;
chk_box_CheckedChanged ( ( object ) ( new CheckBox ( ) { Name = "pitch" , Checked = true } ) , new EventArgs ( ) ) ;
chk_box_CheckedChanged ( ( object ) ( new CheckBox ( ) { Name = "nav_roll" , Checked = true } ) , new EventArgs ( ) ) ;
chk_box_CheckedChanged ( ( object ) ( new CheckBox ( ) { Name = "nav_pitch" , Checked = true } ) , new EventArgs ( ) ) ;
}
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foreach ( string item in MainV2 . config . Keys )
{
if ( item . StartsWith ( "hud1_useritem_" ) )
{
string selection = item . Replace ( "hud1_useritem_" , "" ) ;
CheckBox chk = new CheckBox ( ) ;
chk . Name = selection ;
chk . Checked = true ;
HUD . Custom cust = new HUD . Custom ( ) ;
cust . Header = MainV2 . config [ item ] . ToString ( ) ;
addHudUserItem ( ref cust , chk ) ;
}
}
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List < string > list = new List < string > ( ) ;
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{
list . Add ( "LOITER_UNLIM" ) ;
list . Add ( "RETURN_TO_LAUNCH" ) ;
list . Add ( "PREFLIGHT_CALIBRATION" ) ;
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list . Add ( "MISSION_START" ) ;
list . Add ( "PREFLIGHT_REBOOT_SHUTDOWN" ) ;
//DO_SET_SERVO
//DO_REPEAT_SERVO
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}
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CMB_action . DataSource = list ;
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CMB_modes . DataSource = Common . getModesList ( ) ;
CMB_modes . ValueMember = "Key" ;
CMB_modes . DisplayMember = "Value" ;
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CMB_setwp . SelectedIndex = 0 ;
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zg1 . Visible = true ;
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CreateChart ( zg1 ) ;
// config map
gMapControl1 . MapType = MapType . GoogleSatellite ;
gMapControl1 . MinZoom = 1 ;
gMapControl1 . CacheLocation = Path . GetDirectoryName ( Application . ExecutablePath ) + "/gmapcache/" ;
gMapControl1 . OnMapZoomChanged + = new MapZoomChanged ( gMapControl1_OnMapZoomChanged ) ;
gMapControl1 . Zoom = 3 ;
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gMapControl1 . RoutesEnabled = true ;
gMapControl1 . PolygonsEnabled = true ;
kmlpolygons = new GMapOverlay ( gMapControl1 , "kmlpolygons" ) ;
gMapControl1 . Overlays . Add ( kmlpolygons ) ;
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geofence = new GMapOverlay ( gMapControl1 , "geofence" ) ;
gMapControl1 . Overlays . Add ( geofence ) ;
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polygons = new GMapOverlay ( gMapControl1 , "polygons" ) ;
gMapControl1 . Overlays . Add ( polygons ) ;
routes = new GMapOverlay ( gMapControl1 , "routes" ) ;
gMapControl1 . Overlays . Add ( routes ) ;
try
{
if ( MainV2 . getConfig ( "GspeedMAX" ) ! = "" )
{
Gspeed . MaxValue = float . Parse ( MainV2 . getConfig ( "GspeedMAX" ) ) ;
}
}
catch { }
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}
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void tabStatus_Resize ( object sender , EventArgs e )
{
// localise it
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//Control tabStatus = sender as Control;
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// tabStatus.SuspendLayout();
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//foreach (Control temp in tabStatus.Controls)
{
// temp.DataBindings.Clear();
//temp.Dispose();
}
//tabStatus.Controls.Clear();
int x = 10 ;
int y = 10 ;
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object thisBoxed = MainV2 . comPort . MAV . cs ;
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Type test = thisBoxed . GetType ( ) ;
foreach ( var field in test . GetProperties ( ) )
{
// field.Name has the field's name.
object fieldValue ;
try
{
fieldValue = field . GetValue ( thisBoxed , null ) ; // Get value
}
catch { continue ; }
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
TypeCode typeCode = Type . GetTypeCode ( fieldValue . GetType ( ) ) ;
bool add = true ;
MyLabel lbl1 = new MyLabel ( ) ;
MyLabel lbl2 = new MyLabel ( ) ;
try
{
lbl1 = ( MyLabel ) tabStatus . Controls . Find ( field . Name , false ) [ 0 ] ;
lbl2 = ( MyLabel ) tabStatus . Controls . Find ( field . Name + "value" , false ) [ 0 ] ;
add = false ;
}
catch { }
if ( add )
{
lbl1 . Location = new Point ( x , y ) ;
lbl1 . Size = new System . Drawing . Size ( 75 , 13 ) ;
lbl1 . Text = field . Name ;
lbl1 . Name = field . Name ;
lbl1 . Visible = true ;
lbl2 . AutoSize = false ;
lbl2 . Location = new Point ( lbl1 . Right + 5 , y ) ;
lbl2 . Size = new System . Drawing . Size ( 50 , 13 ) ;
//if (lbl2.Name == "")
lbl2 . DataBindings . Add ( new System . Windows . Forms . Binding ( "Text" , this . bindingSource1 , field . Name , false , System . Windows . Forms . DataSourceUpdateMode . OnValidation , "0" ) ) ;
lbl2 . Name = field . Name + "value" ;
lbl2 . Visible = true ;
//lbl2.Text = fieldValue.ToString();
tabStatus . Controls . Add ( lbl1 ) ;
tabStatus . Controls . Add ( lbl2 ) ;
}
else
{
lbl1 . Location = new Point ( x , y ) ;
lbl2 . Location = new Point ( lbl1 . Right + 5 , y ) ;
}
//Application.DoEvents();
x + = 0 ;
y + = 15 ;
if ( y > tabStatus . Height - 30 )
{
x + = 140 ;
y = 10 ;
}
}
tabStatus . Width = x ;
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ThemeManager . ApplyThemeTo ( tabStatus ) ;
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// tabStatus.ResumeLayout();
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}
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public void Activate ( )
{
if ( CB_tuning . Checked )
ZedGraphTimer . Start ( ) ;
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if ( MainV2 . MONO )
{
if ( ! hud1 . Visible )
hud1 . Visible = true ;
if ( ! hud1 . Enabled )
hud1 . Enabled = true ;
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hud1 . Dock = DockStyle . Fill ;
}
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for ( int f = 1 ; f < 10 ; f + + )
{
// load settings
if ( MainV2 . config [ "quickView" + f ] ! = null )
{
Control [ ] ctls = this . Controls . Find ( "quickView" + f , true ) ;
if ( ctls . Length > 0 )
{
// set description
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( ( QuickView ) ctls [ 0 ] ) . desc = MainV2 . comPort . MAV . cs . GetNameandUnit ( MainV2 . config [ "quickView" + f ] . ToString ( ) ) ;
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// set databinding for value
( ( QuickView ) ctls [ 0 ] ) . DataBindings . Clear ( ) ;
( ( QuickView ) ctls [ 0 ] ) . DataBindings . Add ( new System . Windows . Forms . Binding ( "number" , this . bindingSource1 , MainV2 . config [ "quickView" + f ] . ToString ( ) , true ) ) ;
}
}
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else
{
// if no config, update description on predefined
try
{
Control [ ] ctls = this . Controls . Find ( "quickView" + f , true ) ;
if ( ctls . Length > 0 )
{
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( ( QuickView ) ctls [ 0 ] ) . desc = MainV2 . comPort . MAV . cs . GetNameandUnit ( ( ( QuickView ) ctls [ 0 ] ) . desc ) ;
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}
}
catch { }
}
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}
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if ( MainV2 . comPort . MAV . param . ContainsKey ( "BATT_MONITOR" ) & & ( float ) MainV2 . comPort . MAV . param [ "BATT_MONITOR" ] ! = 0 )
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{
hud1 . batteryon = true ;
}
else
{
hud1 . batteryon = false ;
}
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foreach ( Control ctl in splitContainer1 . Panel2 . Controls )
{
ctl . Visible = true ;
}
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}
public void Deactivate ( )
{
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if ( MainV2 . MONO )
{
hud1 . Dock = DockStyle . None ;
hud1 . Size = new System . Drawing . Size ( 5 , 5 ) ;
hud1 . Enabled = false ;
hud1 . Visible = false ;
}
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// hud1.Location = new Point(-1000,-1000);
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ZedGraphTimer . Stop ( ) ;
}
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void tabControl1_DrawItem ( object sender , DrawItemEventArgs e )
{
// Draw the background of the ListBox control for each item.
//e.DrawBackground();
// Define the default color of the brush as black.
Brush myBrush = Brushes . Black ;
LinearGradientBrush linear = new LinearGradientBrush ( e . Bounds , Color . FromArgb ( 0x94 , 0xc1 , 0x1f ) , Color . FromArgb ( 0xcd , 0xe2 , 0x96 ) , LinearGradientMode . Vertical ) ;
e . Graphics . FillRectangle ( linear , e . Bounds ) ;
// Draw the current item text based on the current Font
// and the custom brush settings.
e . Graphics . DrawString ( ( ( TabControl ) sender ) . TabPages [ e . Index ] . Text . ToString ( ) ,
e . Font , myBrush , e . Bounds , StringFormat . GenericDefault ) ;
// If the ListBox has focus, draw a focus rectangle around the selected item.
e . DrawFocusRectangle ( ) ;
}
void gMapControl1_OnMapZoomChanged ( )
{
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TRK_zoom . Value = gMapControl1 . Zoom ;
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Zoomlevel . Value = Convert . ToDecimal ( gMapControl1 . Zoom ) ;
}
private void FlightData_Load ( object sender , EventArgs e )
{
System . Threading . Thread t11 = new System . Threading . Thread ( new System . Threading . ThreadStart ( mainloop ) )
{
IsBackground = true ,
Name = "FlightData updater"
} ;
t11 . Start ( ) ;
//MainH.threads.Add(t11);
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TRK_zoom . Minimum = gMapControl1 . MinZoom ;
TRK_zoom . Maximum = gMapControl1 . MaxZoom + 1 ;
TRK_zoom . Value = gMapControl1 . Zoom ;
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Zoomlevel . Minimum = gMapControl1 . MinZoom ;
Zoomlevel . Maximum = gMapControl1 . MaxZoom + 1 ;
Zoomlevel . Value = Convert . ToDecimal ( gMapControl1 . Zoom ) ;
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if ( MainV2 . config [ "CHK_autopan" ] ! = null )
CHK_autopan . Checked = bool . Parse ( MainV2 . config [ "CHK_autopan" ] . ToString ( ) ) ;
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if ( MainV2 . config . Contains ( "FlightSplitter" ) )
{
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// hud1.Width = int.Parse(MainV2.config["FlightSplitter"].ToString());
// MainH.PerformLayout();
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MainH . SplitterDistance = int . Parse ( MainV2 . config [ "FlightSplitter" ] . ToString ( ) ) ;
}
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}
private void mainloop ( )
{
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
threadrun = 1 ;
EndPoint Remote = ( EndPoint ) ( new IPEndPoint ( IPAddress . Any , 0 ) ) ;
DateTime lastdata = DateTime . MinValue ;
DateTime tracklast = DateTime . Now . AddSeconds ( 0 ) ;
DateTime tunning = DateTime . Now . AddSeconds ( 0 ) ;
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DateTime mapupdate = DateTime . Now . AddSeconds ( 0 ) ;
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DateTime vidrec = DateTime . Now . AddSeconds ( 0 ) ;
DateTime waypoints = DateTime . Now . AddSeconds ( 0 ) ;
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DateTime updatescreen = DateTime . Now ;
DateTime tsreal = DateTime . Now ;
double taketime = 0 ;
double timeerror = 0 ;
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//comPort.stopall(true);
while ( threadrun = = 1 )
{
if ( threadrun = = 0 ) { return ; }
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if ( MainV2 . giveComport = = true )
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{
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System . Threading . Thread . Sleep ( 50 ) ;
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continue ;
}
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if ( ! MainV2 . comPort . BaseStream . IsOpen )
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lastdata = DateTime . Now ;
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// re-request servo data
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if ( ! ( lastdata . AddSeconds ( 8 ) > DateTime . Now ) & & MainV2 . comPort . BaseStream . IsOpen )
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{
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//Console.WriteLine("REQ streams - flightdata");
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try
{
//System.Threading.Thread.Sleep(1000);
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//comPort.requestDatastream((byte)ArdupilotMega.MAVLink09.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
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MainV2 . comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . EXTENDED_STATUS , MainV2 . comPort . MAV . cs . ratestatus ) ; // mode
MainV2 . comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . POSITION , MainV2 . comPort . MAV . cs . rateposition ) ; // request gps
MainV2 . comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . EXTRA1 , MainV2 . comPort . MAV . cs . rateattitude ) ; // request attitude
MainV2 . comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . EXTRA2 , MainV2 . comPort . MAV . cs . rateattitude ) ; // request vfr
MainV2 . comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . EXTRA3 , MainV2 . comPort . MAV . cs . ratesensors ) ; // request extra stuff - tridge
MainV2 . comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . RAW_SENSORS , MainV2 . comPort . MAV . cs . ratesensors ) ; // request raw sensor
MainV2 . comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . RC_CHANNELS , MainV2 . comPort . MAV . cs . raterc ) ; // request rc info
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}
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catch { log . Error ( "Failed to request rates" ) ; }
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lastdata = DateTime . Now . AddSeconds ( 120 ) ; // prevent flooding
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}
if ( ! MainV2 . comPort . logreadmode )
System . Threading . Thread . Sleep ( 100 ) ; // max is only ever 10 hz
try
{
if ( aviwriter ! = null & & vidrec . AddMilliseconds ( 100 ) < = DateTime . Now )
{
vidrec = DateTime . Now ;
hud1 . streamjpgenable = true ;
//aviwriter.avi_start("test.avi");
// add a frame
aviwriter . avi_add ( hud1 . streamjpg . ToArray ( ) , ( uint ) hud1 . streamjpg . Length ) ;
// write header - so even partial files will play
aviwriter . avi_end ( hud1 . Width , hud1 . Height , 10 ) ;
}
}
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catch { log . Error ( "Failed to write avi" ) ; }
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if ( MainV2 . comPort . logreadmode & & MainV2 . comPort . logplaybackfile ! = null )
{
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if ( threadrun = = 0 ) { return ; }
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if ( MainV2 . comPort . BaseStream . IsOpen )
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{
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MainV2 . comPort . logreadmode = false ;
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try
{
MainV2 . comPort . logplaybackfile . Close ( ) ;
}
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catch { log . Error ( "Failed to close logfile" ) ; }
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MainV2 . comPort . logplaybackfile = null ;
}
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//Console.WriteLine(DateTime.Now.Millisecond);
if ( updatescreen . AddMilliseconds ( 300 ) < DateTime . Now )
{
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try
{
updatePlayPauseButton ( true ) ;
updateLogPlayPosition ( ) ;
}
catch { log . Error ( "Failed to update log playback pos" ) ; }
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updatescreen = DateTime . Now ;
}
//Console.WriteLine(DateTime.Now.Millisecond + " done ");
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DateTime logplayback = MainV2 . comPort . lastlogread ;
try
{
MainV2 . comPort . readPacket ( ) ;
}
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catch { log . Error ( "Failed to read log packet" ) ; }
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double act = ( MainV2 . comPort . lastlogread - logplayback ) . TotalMilliseconds ;
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if ( act > 9999 | | act < 0 )
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act = 0 ;
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double ts = 0 ;
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if ( LogPlayBackSpeed = = 0 )
LogPlayBackSpeed = 0.01 ;
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try
{
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ts = Math . Min ( ( act / LogPlayBackSpeed ) , 1000 ) ;
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}
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catch { }
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double timetook = ( DateTime . Now - tsreal ) . TotalMilliseconds ;
if ( timetook ! = 0 )
{
//Console.WriteLine("took: " + timetook + "=" + taketime + " " + (taketime - timetook) + " " + ts);
//Console.WriteLine(MainV2.comPort.lastlogread.Second + " " + DateTime.Now.Second + " " + (MainV2.comPort.lastlogread.Second - DateTime.Now.Second));
//if ((taketime - timetook) < 0)
{
timeerror + = ( taketime - timetook ) ;
if ( ts ! = 0 )
{
ts + = timeerror ;
timeerror = 0 ;
}
}
if ( ts > 1000 )
ts = 1000 ;
}
taketime = ts ;
tsreal = DateTime . Now ;
if ( ts > 0 & & ts < 1000 )
System . Threading . Thread . Sleep ( ( int ) ts ) ;
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if ( threadrun = = 0 ) { return ; }
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tracklast = tracklast . AddMilliseconds ( ts - act ) ;
tunning = tunning . AddMilliseconds ( ts - act ) ;
if ( tracklast . Month ! = DateTime . Now . Month )
{
tracklast = DateTime . Now ;
tunning = DateTime . Now ;
}
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try
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{
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if ( MainV2 . comPort . logplaybackfile ! = null & & MainV2 . comPort . logplaybackfile . BaseStream . Position = = MainV2 . comPort . logplaybackfile . BaseStream . Length )
{
MainV2 . comPort . logreadmode = false ;
}
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}
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catch { MainV2 . comPort . logreadmode = false ; }
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}
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else
{
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// ensure we know to stop
if ( MainV2 . comPort . logreadmode )
MainV2 . comPort . logreadmode = false ;
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updatePlayPauseButton ( false ) ;
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if ( ! playingLog & & MainV2 . comPort . logplaybackfile ! = null )
{
continue ;
}
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}
2011-09-08 22:31:32 -03:00
2012-09-30 20:53:54 -03:00
2012-02-20 07:30:47 -04:00
2011-09-08 22:31:32 -03:00
try
{
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//Console.WriteLine(DateTime.Now.Millisecond);
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updateBindingSource ( ) ;
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// Console.WriteLine(DateTime.Now.Millisecond + " done ");
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2012-05-13 07:56:42 -03:00
if ( ArdupilotMega . Controls . OpenGLtest . instance ! = null )
{
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ArdupilotMega . Controls . OpenGLtest . instance . rpy = new OpenTK . Vector3 ( MainV2 . comPort . MAV . cs . roll , MainV2 . comPort . MAV . cs . pitch , MainV2 . comPort . MAV . cs . yaw ) ;
ArdupilotMega . Controls . OpenGLtest . instance . LocationCenter = new PointLatLngAlt ( MainV2 . comPort . MAV . cs . lat , MainV2 . comPort . MAV . cs . lng , MainV2 . comPort . MAV . cs . alt , "here" ) ;
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}
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if ( tunning . AddMilliseconds ( 50 ) < DateTime . Now & & CB_tuning . Checked = = true )
{
double time = ( Environment . TickCount - tickStart ) / 1000.0 ;
if ( list1item ! = null )
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list1 . Add ( time , ( float ) list1item . GetValue ( ( object ) MainV2 . comPort . MAV . cs , null ) ) ;
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if ( list2item ! = null )
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list2 . Add ( time , ( float ) list2item . GetValue ( ( object ) MainV2 . comPort . MAV . cs , null ) ) ;
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if ( list3item ! = null )
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list3 . Add ( time , ( float ) list3item . GetValue ( ( object ) MainV2 . comPort . MAV . cs , null ) ) ;
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if ( list4item ! = null )
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list4 . Add ( time , ( float ) list4item . GetValue ( ( object ) MainV2 . comPort . MAV . cs , null ) ) ;
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if ( list5item ! = null )
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list5 . Add ( time , ( float ) list5item . GetValue ( ( object ) MainV2 . comPort . MAV . cs , null ) ) ;
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if ( list6item ! = null )
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list6 . Add ( time , ( float ) list6item . GetValue ( ( object ) MainV2 . comPort . MAV . cs , null ) ) ;
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if ( list7item ! = null )
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list7 . Add ( time , ( float ) list7item . GetValue ( ( object ) MainV2 . comPort . MAV . cs , null ) ) ;
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if ( list8item ! = null )
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list8 . Add ( time , ( float ) list8item . GetValue ( ( object ) MainV2 . comPort . MAV . cs , null ) ) ;
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if ( list9item ! = null )
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list9 . Add ( time , ( float ) list9item . GetValue ( ( object ) MainV2 . comPort . MAV . cs , null ) ) ;
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if ( list10item ! = null )
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list10 . Add ( time , ( float ) list10item . GetValue ( ( object ) MainV2 . comPort . MAV . cs , null ) ) ;
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}
if ( tracklast . AddSeconds ( 1 ) < DateTime . Now )
{
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if ( MainV2 . config [ "CHK_maprotation" ] ! = null & & MainV2 . config [ "CHK_maprotation" ] . ToString ( ) = = "True" )
{
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// dont holdinvalidation here
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setMapBearing ( ) ;
}
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if ( route = = null )
{
route = new GMapRoute ( trackPoints , "track" ) ;
routes . Routes . Add ( route ) ;
}
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PointLatLng currentloc = new PointLatLng ( MainV2 . comPort . MAV . cs . lat , MainV2 . comPort . MAV . cs . lng ) ;
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gMapControl1 . HoldInvalidation = true ;
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int cnt = 0 ;
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while ( gMapControl1 . inOnPaint = = true )
{
System . Threading . Thread . Sleep ( 1 ) ;
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cnt + + ;
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}
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if ( route . Points . Count > int . Parse ( MainV2 . config [ "NUM_tracklength" ] . ToString ( ) ) )
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{
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// trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
2012-07-22 04:51:05 -03:00
route . Points . RemoveRange ( 0 , route . Points . Count - int . Parse ( MainV2 . config [ "NUM_tracklength" ] . ToString ( ) ) ) ;
2011-09-08 22:31:32 -03:00
}
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if ( MainV2 . comPort . MAV . cs . lat ! = 0 )
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{
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// trackPoints.Add(currentloc);
2012-07-22 04:51:05 -03:00
route . Points . Add ( currentloc ) ;
}
2011-09-08 22:31:32 -03:00
2011-11-08 09:22:07 -04:00
// if (CB_tuning.Checked == false) // draw if in view
{
2011-09-08 22:31:32 -03:00
2012-02-20 07:30:47 -04:00
while ( gMapControl1 . inOnPaint = = true )
{
System . Threading . Thread . Sleep ( 1 ) ;
}
2012-07-22 04:51:05 -03:00
//route = new GMapRoute(route.Points, "track");
2011-09-08 22:31:32 -03:00
//track.Stroke = Pens.Red;
//route.Stroke = new Pen(Color.FromArgb(144, Color.Red));
//route.Stroke.Width = 5;
//route.Tag = "track";
2012-08-06 11:22:57 -03:00
//updateClearRoutes();
gMapControl1 . UpdateRouteLocalPosition ( route ) ;
2011-09-08 22:31:32 -03:00
if ( waypoints . AddSeconds ( 10 ) < DateTime . Now )
{
//Console.WriteLine("Doing FD WP's");
2012-08-06 11:22:57 -03:00
updateMissionRouteMarkers ( ) ;
2011-09-08 22:31:32 -03:00
2012-12-07 05:19:46 -04:00
foreach ( MAVLink . mavlink_mission_item_t plla in MainV2 . comPort . MAV . wps . Values )
2012-07-22 04:51:05 -03:00
{
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if ( plla . x = = 0 | | plla . y = = 0 )
continue ;
2012-07-22 04:51:05 -03:00
2012-09-30 20:53:54 -03:00
if ( plla . command = = ( byte ) MAVLink . MAV_CMD . ROI )
{
addpolygonmarkerred ( plla . seq . ToString ( ) , plla . y , plla . x , ( int ) plla . z , Color . Red , routes ) ;
2012-07-25 10:44:24 -03:00
continue ;
2012-09-30 20:53:54 -03:00
}
2012-07-25 10:44:24 -03:00
2012-09-30 20:53:54 -03:00
string tag = plla . seq . ToString ( ) ;
if ( plla . seq = = 0 & & plla . current ! = 2 )
{
tag = "Home" ;
}
if ( plla . current = = 2 )
2012-07-29 20:23:42 -03:00
{
continue ;
}
2012-09-30 20:53:54 -03:00
addpolygonmarker ( tag , plla . y , plla . x , ( int ) plla . z , Color . White , polygons ) ;
2011-09-08 22:31:32 -03:00
}
RegeneratePolygon ( ) ;
waypoints = DateTime . Now ;
}
//routes.Polygons.Add(poly);
2012-07-22 04:51:05 -03:00
if ( route . Points . Count > 0 )
2011-09-08 22:31:32 -03:00
{
2012-07-22 04:51:05 -03:00
// add primary route icon
if ( routes . Markers . Count ! = 1 )
{
routes . Markers . Clear ( ) ;
2012-09-30 20:53:54 -03:00
routes . Markers . Add ( new GMapMarkerCross ( currentloc ) ) ;
2012-07-22 04:51:05 -03:00
}
2011-09-08 22:31:32 -03:00
2012-12-07 05:19:46 -04:00
if ( MainV2 . comPort . MAV . cs . mode . ToLower ( ) = = "guided" & & MainV2 . comPort . MAV . GuidedMode . x ! = 0 )
2012-07-25 10:44:24 -03:00
{
2012-12-07 05:19:46 -04:00
addpolygonmarker ( "Guided Mode" , MainV2 . comPort . MAV . GuidedMode . y , MainV2 . comPort . MAV . GuidedMode . x , ( int ) MainV2 . comPort . MAV . GuidedMode . z , Color . Blue , routes ) ;
2012-07-25 10:44:24 -03:00
}
2012-12-07 05:19:46 -04:00
if ( MainV2 . comPort . MAV . cs . firmware = = MainV2 . Firmwares . ArduPlane )
2011-09-08 22:31:32 -03:00
{
2012-12-07 05:19:46 -04:00
routes . Markers [ 0 ] = ( new GMapMarkerPlane ( currentloc , MainV2 . comPort . MAV . cs . yaw , MainV2 . comPort . MAV . cs . groundcourse , MainV2 . comPort . MAV . cs . nav_bearing , MainV2 . comPort . MAV . cs . target_bearing , gMapControl1 ) { ToolTipText = MainV2 . comPort . MAV . cs . alt . ToString ( "0" ) , ToolTipMode = MarkerTooltipMode . Always } ) ;
2011-09-08 22:31:32 -03:00
}
2012-12-07 05:19:46 -04:00
else if ( MainV2 . comPort . MAV . cs . firmware = = MainV2 . Firmwares . ArduRover )
2012-05-16 09:21:27 -03:00
{
2012-12-07 05:19:46 -04:00
routes . Markers [ 0 ] = ( new GMapMarkerRover ( currentloc , MainV2 . comPort . MAV . cs . yaw , MainV2 . comPort . MAV . cs . groundcourse , MainV2 . comPort . MAV . cs . nav_bearing , MainV2 . comPort . MAV . cs . target_bearing , gMapControl1 ) ) ;
2012-05-16 09:21:27 -03:00
}
2011-09-08 22:31:32 -03:00
else
{
2012-12-07 05:19:46 -04:00
routes . Markers [ 0 ] = ( new GMapMarkerQuad ( currentloc , MainV2 . comPort . MAV . cs . yaw , MainV2 . comPort . MAV . cs . groundcourse , MainV2 . comPort . MAV . cs . nav_bearing ) ) ;
2011-09-08 22:31:32 -03:00
}
2012-07-22 04:51:05 -03:00
if ( route . Points [ route . Points . Count - 1 ] . Lat ! = 0 & & ( mapupdate . AddSeconds ( 3 ) < DateTime . Now ) & & CHK_autopan . Checked )
2011-09-08 22:31:32 -03:00
{
updateMapPosition ( currentloc ) ;
2012-07-22 04:51:05 -03:00
mapupdate = DateTime . Now ;
2011-09-08 22:31:32 -03:00
}
2012-07-22 04:51:05 -03:00
if ( route . Points . Count = = 1 & & gMapControl1 . Zoom = = 3 ) // 3 is the default load zoom
2011-09-08 22:31:32 -03:00
{
updateMapPosition ( currentloc ) ;
updateMapZoom ( 17 ) ;
//gMapControl1.ZoomAndCenterMarkers("routes");// ZoomAndCenterRoutes("routes");
}
}
gMapControl1 . HoldInvalidation = false ;
gMapControl1 . Invalidate ( ) ;
}
tracklast = DateTime . Now ;
}
}
2011-11-08 09:22:07 -04:00
catch ( Exception ex ) { Console . WriteLine ( "FD Main loop exception " + ex . ToString ( ) ) ; }
2011-09-08 22:31:32 -03:00
}
Console . WriteLine ( "FD Main loop exit" ) ;
}
2012-04-25 07:10:11 -03:00
private void setMapBearing ( )
{
2012-08-06 11:22:57 -03:00
this . Invoke ( ( System . Windows . Forms . MethodInvoker ) delegate ( )
2012-04-25 07:10:11 -03:00
{
2012-12-07 05:19:46 -04:00
gMapControl1 . Bearing = ( int ) MainV2 . comPort . MAV . cs . yaw ;
2012-04-25 07:10:11 -03:00
} ) ;
}
2012-07-29 20:23:42 -03:00
// to prevent cross thread calls while in a draw and exception
private void updateClearRoutes ( )
{
// not async
this . Invoke ( ( System . Windows . Forms . MethodInvoker ) delegate ( )
{
routes . Routes . Clear ( ) ;
routes . Routes . Add ( route ) ;
} ) ;
}
2012-08-02 07:04:54 -03:00
// to prevent cross thread calls while in a draw and exception
2012-08-06 11:22:57 -03:00
private void updateMissionRouteMarkers ( )
2012-08-02 07:04:54 -03:00
{
// not async
this . Invoke ( ( System . Windows . Forms . MethodInvoker ) delegate ( )
{
polygons . Markers . Clear ( ) ;
routes . Markers . Clear ( ) ;
} ) ;
}
2012-07-29 20:23:42 -03:00
2012-02-20 07:30:47 -04:00
private void updatePlayPauseButton ( bool playing )
{
if ( playing )
{
2012-09-30 20:53:54 -03:00
if ( BUT_playlog . Text = = "Pause" )
2012-07-22 04:51:05 -03:00
return ;
2012-02-20 07:30:47 -04:00
this . BeginInvoke ( ( System . Windows . Forms . MethodInvoker ) delegate ( )
{
try
{
BUT_playlog . Text = "Pause" ;
}
catch { }
} ) ;
}
else
{
2012-08-06 11:22:57 -03:00
if ( BUT_playlog . Text = = "Play" )
return ;
2012-02-20 07:30:47 -04:00
this . BeginInvoke ( ( System . Windows . Forms . MethodInvoker ) delegate ( )
{
try
{
BUT_playlog . Text = "Play" ;
}
catch { }
} ) ;
}
}
private void updateBindingSource ( )
{
this . BeginInvoke ( ( System . Windows . Forms . MethodInvoker ) delegate ( )
2012-02-17 05:09:27 -04:00
{
2012-02-20 23:55:36 -04:00
try
{
2012-12-07 05:19:46 -04:00
MainV2 . comPort . MAV . cs . UpdateCurrentSettings ( bindingSource1 ) ;
2012-02-20 23:55:36 -04:00
}
catch { }
2012-02-17 05:09:27 -04:00
} ) ;
}
2011-09-08 22:31:32 -03:00
private void updateMapPosition ( PointLatLng currentloc )
{
this . BeginInvoke ( ( MethodInvoker ) delegate ( )
{
try
{
gMapControl1 . Position = currentloc ;
2012-08-30 09:51:29 -03:00
//hud1.Refresh();
2011-09-08 22:31:32 -03:00
}
catch { }
} ) ;
}
private void updateMapZoom ( int zoom )
{
this . BeginInvoke ( ( MethodInvoker ) delegate ( )
{
try
{
gMapControl1 . Zoom = zoom ;
}
catch { }
} ) ;
}
private void updateLogPlayPosition ( )
{
this . BeginInvoke ( ( MethodInvoker ) delegate ( )
{
2011-09-17 10:22:07 -03:00
try
{
2012-07-22 04:51:05 -03:00
if ( tracklog . Visible )
tracklog . Value = ( int ) ( MainV2 . comPort . logplaybackfile . BaseStream . Position / ( double ) MainV2 . comPort . logplaybackfile . BaseStream . Length * 100 ) ;
if ( lbl_logpercent . Visible )
lbl_logpercent . Text = ( MainV2 . comPort . logplaybackfile . BaseStream . Position / ( double ) MainV2 . comPort . logplaybackfile . BaseStream . Length ) . ToString ( "0.00%" ) ;
2011-09-17 10:22:07 -03:00
}
catch { }
2011-09-08 22:31:32 -03:00
} ) ;
}
2012-02-14 10:13:11 -04:00
private void addpolygonmarker ( string tag , double lng , double lat , int alt , Color ? color , GMapOverlay overlay )
2011-09-08 22:31:32 -03:00
{
try
{
PointLatLng point = new PointLatLng ( lat , lng ) ;
GMapMarkerGoogleGreen m = new GMapMarkerGoogleGreen ( point ) ;
m . ToolTipMode = MarkerTooltipMode . Always ;
m . ToolTipText = tag ;
m . Tag = tag ;
GMapMarkerRect mBorders = new GMapMarkerRect ( point ) ;
{
2012-09-30 20:53:54 -03:00
mBorders . InnerMarker = m ;
try
{
2012-12-07 05:19:46 -04:00
mBorders . wprad = ( int ) ( float . Parse ( ArdupilotMega . MainV2 . config [ "TXT_WPRad" ] . ToString ( ) ) / MainV2 . comPort . MAV . cs . multiplierdist ) ;
2012-09-30 20:53:54 -03:00
}
catch { }
mBorders . MainMap = gMapControl1 ;
if ( color . HasValue )
{
mBorders . Color = color . Value ;
}
2011-09-08 22:31:32 -03:00
}
2012-02-14 10:13:11 -04:00
overlay . Markers . Add ( m ) ;
overlay . Markers . Add ( mBorders ) ;
2011-09-08 22:31:32 -03:00
}
catch ( Exception ) { }
}
2012-07-29 20:23:42 -03:00
private void addpolygonmarkerred ( string tag , double lng , double lat , int alt , Color ? color , GMapOverlay overlay )
{
try
{
PointLatLng point = new PointLatLng ( lat , lng ) ;
GMapMarkerGoogleRed m = new GMapMarkerGoogleRed ( point ) ;
m . ToolTipMode = MarkerTooltipMode . Always ;
m . ToolTipText = tag ;
m . Tag = tag ;
GMapMarkerRect mBorders = new GMapMarkerRect ( point ) ;
{
mBorders . InnerMarker = m ;
}
overlay . Markers . Add ( m ) ;
overlay . Markers . Add ( mBorders ) ;
}
catch ( Exception ) { }
}
2011-09-08 22:31:32 -03:00
/// <summary>
/// used to redraw the polygon
/// </summary>
void RegeneratePolygon ( )
{
List < PointLatLng > polygonPoints = new List < PointLatLng > ( ) ;
if ( routes = = null )
return ;
foreach ( GMapMarker m in polygons . Markers )
{
if ( m is GMapMarkerRect )
{
m . Tag = polygonPoints . Count ;
polygonPoints . Add ( m . Position ) ;
}
}
if ( polygon = = null )
{
polygon = new GMapPolygon ( polygonPoints , "polygon test" ) ;
polygons . Polygons . Add ( polygon ) ;
}
else
{
polygon . Points . Clear ( ) ;
polygon . Points . AddRange ( polygonPoints ) ;
polygon . Stroke = new Pen ( Color . Yellow , 4 ) ;
if ( polygons . Polygons . Count = = 0 )
{
polygons . Polygons . Add ( polygon ) ;
}
else
{
gMapControl1 . UpdatePolygonLocalPosition ( polygon ) ;
}
}
}
GMapPolygon polygon ;
GMapOverlay polygons ;
GMapOverlay routes ;
GMapRoute route ;
public void CreateChart ( ZedGraphControl zgc )
{
GraphPane myPane = zgc . GraphPane ;
// Set the titles and axis labels
myPane . Title . Text = "Tuning" ;
myPane . XAxis . Title . Text = "Time (s)" ;
myPane . YAxis . Title . Text = "Unit" ;
// Show the x axis grid
myPane . XAxis . MajorGrid . IsVisible = true ;
myPane . XAxis . Scale . Min = 0 ;
myPane . XAxis . Scale . Max = 5 ;
// Make the Y axis scale red
myPane . YAxis . Scale . FontSpec . FontColor = Color . White ;
myPane . YAxis . Title . FontSpec . FontColor = Color . White ;
// turn off the opposite tics so the Y tics don't show up on the Y2 axis
myPane . YAxis . MajorTic . IsOpposite = false ;
myPane . YAxis . MinorTic . IsOpposite = false ;
// Don't display the Y zero line
myPane . YAxis . MajorGrid . IsZeroLine = true ;
// Align the Y axis labels so they are flush to the axis
myPane . YAxis . Scale . Align = AlignP . Inside ;
// Manually set the axis range
//myPane.YAxis.Scale.Min = -1;
//myPane.YAxis.Scale.Max = 1;
// Fill the axis background with a gradient
//myPane.Chart.Fill = new Fill(Color.White, Color.LightGray, 45.0f);
// Sample at 50ms intervals
ZedGraphTimer . Interval = 100 ;
//timer1.Enabled = true;
//timer1.Start();
// Calculate the Axis Scale Ranges
zgc . AxisChange ( ) ;
tickStart = Environment . TickCount ;
}
private void timer1_Tick ( object sender , EventArgs e )
{
try
{
2012-02-07 19:55:46 -04:00
// Make sure that the curvelist has at least one curve
if ( zg1 . GraphPane . CurveList . Count < = 0 )
return ;
// Get the first CurveItem in the graph
LineItem curve = zg1 . GraphPane . CurveList [ 0 ] as LineItem ;
if ( curve = = null )
return ;
// Get the PointPairList
IPointListEdit list = curve . Points as IPointListEdit ;
// If this is null, it means the reference at curve.Points does not
// support IPointListEdit, so we won't be able to modify it
if ( list = = null )
return ;
// Time is measured in seconds
double time = ( Environment . TickCount - tickStart ) / 1000.0 ;
// Keep the X scale at a rolling 30 second interval, with one
// major step between the max X value and the end of the axis
Scale xScale = zg1 . GraphPane . XAxis . Scale ;
if ( time > xScale . Max - xScale . MajorStep )
{
xScale . Max = time + xScale . MajorStep ;
xScale . Min = xScale . Max - 10.0 ;
}
// Make sure the Y axis is rescaled to accommodate actual data
2011-09-08 22:31:32 -03:00
zg1 . AxisChange ( ) ;
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// Force a redraw
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zg1 . Invalidate ( ) ;
}
catch { }
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}
private void FlightData_FormClosing ( object sender , FormClosingEventArgs e )
{
ZedGraphTimer . Stop ( ) ;
threadrun = 0 ;
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try
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{
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if ( MainV2 . comPort . BaseStream . IsOpen )
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{
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MainV2 . comPort . Close ( ) ;
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}
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}
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catch { }
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}
private void BUT_clear_track_Click ( object sender , EventArgs e )
{
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if ( route ! = null )
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route . Points . Clear ( ) ;
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}
private void BUT_save_log_Click ( object sender , EventArgs e )
{
// close existing log first
if ( swlog ! = null )
swlog . Close ( ) ;
try
{
Directory . CreateDirectory ( Path . GetDirectoryName ( Application . ExecutablePath ) + Path . DirectorySeparatorChar + @"logs" ) ;
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swlog = new StreamWriter ( Path . GetDirectoryName ( Application . ExecutablePath ) + Path . DirectorySeparatorChar + @"logs" + Path . DirectorySeparatorChar + DateTime . Now . ToString ( "yyyy-MM-dd HH-mm" ) + " telem.log" ) ;
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}
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catch { CustomMessageBox . Show ( "Log creation error" ) ; }
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}
private void BUTactiondo_Click ( object sender , EventArgs e )
{
try
{
( ( Button ) sender ) . Enabled = false ;
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#if MAVLINK10
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MainV2 . comPort . doCommand ( ( MAVLink . MAV_CMD ) Enum . Parse ( typeof ( MAVLink . MAV_CMD ) , CMB_action . Text ) , 1 , 0 , 1 , 0 , 0 , 0 , 0 ) ;
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#else
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comPort . doAction ( ( MAVLink . MAV_ACTION ) Enum . Parse ( typeof ( MAVLink . MAV_ACTION ) , "MAV_ACTION_" + CMB_action . Text ) ) ;
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#endif
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}
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catch { CustomMessageBox . Show ( "The Command failed to execute" ) ; }
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( ( Button ) sender ) . Enabled = true ;
}
private void BUTrestartmission_Click ( object sender , EventArgs e )
{
try
{
( ( Button ) sender ) . Enabled = false ;
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//comPort.doAction(MAVLink09.MAV_ACTION.MAV_ACTION_RETURN); // set nav from
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//System.Threading.Thread.Sleep(100);
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MainV2 . comPort . setWPCurrent ( 1 ) ; // set nav to
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//System.Threading.Thread.Sleep(100);
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//comPort.doAction(MAVLink09.MAV_ACTION.MAV_ACTION_SET_AUTO); // set auto
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}
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catch { CustomMessageBox . Show ( "The command failed to execute" ) ; }
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( ( Button ) sender ) . Enabled = true ;
}
private void FlightData_Resize ( object sender , EventArgs e )
{
//Gspeed;
//Galt;
//Gheading;
//attitudeIndicatorInstrumentControl1;
}
private void CB_tuning_CheckedChanged ( object sender , EventArgs e )
{
if ( CB_tuning . Checked )
{
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splitContainer1 . Panel1Collapsed = false ;
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ZedGraphTimer . Enabled = true ;
ZedGraphTimer . Start ( ) ;
zg1 . Visible = true ;
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zg1 . Refresh ( ) ;
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}
else
{
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splitContainer1 . Panel1Collapsed = true ;
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ZedGraphTimer . Enabled = false ;
ZedGraphTimer . Stop ( ) ;
zg1 . Visible = false ;
}
}
private void BUT_RAWSensor_Click ( object sender , EventArgs e )
{
Form temp = new RAW_Sensor ( ) ;
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ThemeManager . ApplyThemeTo ( temp ) ;
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temp . Show ( ) ;
}
private void gMapControl1_Click ( object sender , EventArgs e )
{
}
PointLatLng gotolocation = new PointLatLng ( ) ;
private void gMapControl1_MouseDown ( object sender , MouseEventArgs e )
{
gotolocation = gMapControl1 . FromLocalToLatLng ( e . X , e . Y ) ;
}
private void goHereToolStripMenuItem_Click ( object sender , EventArgs e )
{
if ( ! MainV2 . comPort . BaseStream . IsOpen )
{
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CustomMessageBox . Show ( "Please Connect First" ) ;
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return ;
}
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if ( MainV2 . comPort . MAV . GuidedMode . z = = 0 )
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{
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flyToHereAltToolStripMenuItem_Click ( null , null ) ;
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if ( MainV2 . comPort . MAV . GuidedMode . z = = 0 )
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return ;
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}
if ( gotolocation . Lat = = 0 | | gotolocation . Lng = = 0 )
{
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CustomMessageBox . Show ( "Bad Lat/Long" ) ;
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return ;
}
Locationwp gotohere = new Locationwp ( ) ;
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gotohere . id = ( byte ) MAVLink . MAV_CMD . WAYPOINT ;
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gotohere . alt = ( float ) ( MainV2 . comPort . MAV . GuidedMode . z ) ; // back to m
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gotohere . lat = ( float ) ( gotolocation . Lat ) ;
gotohere . lng = ( float ) ( gotolocation . Lng ) ;
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try
{
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MainV2 . comPort . setGuidedModeWP ( gotohere ) ;
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}
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catch ( Exception ex ) { MainV2 . giveComport = false ; CustomMessageBox . Show ( "Error sending command : " + ex . Message ) ; }
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}
private void Zoomlevel_ValueChanged ( object sender , EventArgs e )
{
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try
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{
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if ( gMapControl1 . MaxZoom + 1 = = ( double ) Zoomlevel . Value )
{
gMapControl1 . Zoom = ( double ) Zoomlevel . Value - . 1 ;
}
else
{
gMapControl1 . Zoom = ( double ) Zoomlevel . Value ;
}
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}
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catch { }
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}
private void gMapControl1_MouseMove ( object sender , MouseEventArgs e )
{
PointLatLng point = gMapControl1 . FromLocalToLatLng ( e . X , e . Y ) ;
if ( e . Button = = MouseButtons . Left )
{
double latdif = gotolocation . Lat - point . Lat ;
double lngdif = gotolocation . Lng - point . Lng ;
try
{
gMapControl1 . Position = new PointLatLng ( gMapControl1 . Position . Lat + latdif , gMapControl1 . Position . Lng + lngdif ) ;
}
catch { }
}
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else
{
// setup a ballon with home distance
if ( marker ! = null )
{
if ( routes . Markers . Contains ( marker ) )
routes . Markers . Remove ( marker ) ;
}
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if ( MainV2 . getConfig ( "CHK_disttohomeflightdata" ) ! = false . ToString ( ) )
{
marker = new GMapMarkerRect ( point ) ;
marker . ToolTip = new GMapToolTip ( marker ) ;
marker . ToolTipMode = MarkerTooltipMode . Always ;
2012-12-07 05:19:46 -04:00
marker . ToolTipText = "Dist to Home: " + ( ( gMapControl1 . Manager . GetDistance ( point , MainV2 . comPort . MAV . cs . HomeLocation . Point ( ) ) * 1000 ) * MainV2 . comPort . MAV . cs . multiplierdist ) . ToString ( "0" ) ;
2012-10-30 20:02:29 -03:00
2012-11-01 07:15:01 -03:00
routes . Markers . Add ( marker ) ;
}
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}
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}
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private void FlightData_ParentChanged ( object sender , EventArgs e )
2011-09-08 22:31:32 -03:00
{
if ( MainV2 . cam ! = null )
{
MainV2 . cam . camimage + = new WebCamService . CamImage ( cam_camimage ) ;
}
2012-11-04 04:45:39 -04:00
// QUAD
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if ( MainV2 . comPort . MAV . param . ContainsKey ( "WP_SPEED_MAX" ) )
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{
2012-12-07 05:19:46 -04:00
modifyandSetSpeed . Value = ( decimal ) ( ( float ) MainV2 . comPort . MAV . param [ "WP_SPEED_MAX" ] / 100.0 ) ;
2012-11-04 04:45:39 -04:00
} // plane with airspeed
2012-12-07 05:19:46 -04:00
else if ( MainV2 . comPort . MAV . param . ContainsKey ( "TRIM_ARSPD_CM" ) & & MainV2 . comPort . MAV . param . ContainsKey ( "ARSPD_ENABLE" )
& & MainV2 . comPort . MAV . param . ContainsKey ( "ARSPD_USE" ) & & ( float ) MainV2 . comPort . MAV . param [ "ARSPD_ENABLE" ] = = 1
& & ( float ) MainV2 . comPort . MAV . param [ "ARSPD_USE" ] = = 1 )
2012-11-04 04:45:39 -04:00
{
2012-12-07 05:19:46 -04:00
modifyandSetSpeed . Value = ( decimal ) ( ( float ) MainV2 . comPort . MAV . param [ "TRIM_ARSPD_CM" ] / 100.0 ) ;
2012-11-04 04:45:39 -04:00
} // plane without airspeed
2012-12-07 05:19:46 -04:00
else if ( MainV2 . comPort . MAV . param . ContainsKey ( "TRIM_THROTTLE" ) & & MainV2 . comPort . MAV . param . ContainsKey ( "ARSPD_USE" )
& & ( float ) MainV2 . comPort . MAV . param [ "ARSPD_USE" ] = = 0 )
2012-11-04 04:45:39 -04:00
{
2012-12-07 05:19:46 -04:00
modifyandSetSpeed . Value = ( decimal ) ( float ) MainV2 . comPort . MAV . param [ "TRIM_THROTTLE" ] ; // percent
2012-11-04 04:45:39 -04:00
}
2012-11-15 07:18:53 -04:00
MainV2 . comPort . ParamListChanged + = FlightData_ParentChanged ;
2011-09-08 22:31:32 -03:00
}
void cam_camimage ( Image camimage )
{
hud1 . bgimage = camimage ;
}
private void BUT_Homealt_Click ( object sender , EventArgs e )
{
2012-12-07 05:19:46 -04:00
if ( MainV2 . comPort . MAV . cs . altoffsethome ! = 0 )
2011-09-08 22:31:32 -03:00
{
2012-12-07 05:19:46 -04:00
MainV2 . comPort . MAV . cs . altoffsethome = 0 ;
2011-09-08 22:31:32 -03:00
}
else
{
2012-12-07 05:19:46 -04:00
MainV2 . comPort . MAV . cs . altoffsethome = MainV2 . comPort . MAV . cs . alt / MainV2 . comPort . MAV . cs . multiplierdist ;
2011-09-08 22:31:32 -03:00
}
}
private void gMapControl1_Resize ( object sender , EventArgs e )
{
gMapControl1 . Zoom = gMapControl1 . Zoom + 0.01 ;
}
private void BUT_loadtelem_Click ( object sender , EventArgs e )
{
2012-04-11 20:52:57 -03:00
if ( MainV2 . comPort . logplaybackfile ! = null )
{
try
{
MainV2 . comPort . logplaybackfile . Close ( ) ;
MainV2 . comPort . logplaybackfile = null ;
}
catch { }
}
2011-09-08 22:31:32 -03:00
OpenFileDialog fd = new OpenFileDialog ( ) ;
fd . AddExtension = true ;
2011-11-02 21:13:27 -03:00
fd . Filter = "Ardupilot Telemtry log (*.tlog)|*.tlog|Mavlink Log (*.mavlog)|*.mavlog" ;
2011-09-08 22:31:32 -03:00
fd . InitialDirectory = Path . GetDirectoryName ( Application . ExecutablePath ) + Path . DirectorySeparatorChar + @"logs" ;
fd . DefaultExt = ".tlog" ;
DialogResult result = fd . ShowDialog ( ) ;
string file = fd . FileName ;
if ( file ! = "" )
{
try
{
BUT_clear_track_Click ( sender , e ) ;
MainV2 . comPort . logreadmode = false ;
MainV2 . comPort . logplaybackfile = new BinaryReader ( File . OpenRead ( file ) ) ;
MainV2 . comPort . lastlogread = DateTime . MinValue ;
tracklog . Value = 0 ;
tracklog . Minimum = 0 ;
tracklog . Maximum = 100 ;
}
2012-03-09 11:18:12 -04:00
catch { CustomMessageBox . Show ( "Error: Failed to write log file" ) ; }
2011-09-08 22:31:32 -03:00
}
}
private void BUT_playlog_Click ( object sender , EventArgs e )
{
if ( MainV2 . comPort . logreadmode )
{
MainV2 . comPort . logreadmode = false ;
2012-02-26 19:13:23 -04:00
ZedGraphTimer . Stop ( ) ;
2012-03-21 09:13:08 -03:00
playingLog = false ;
2011-09-08 22:31:32 -03:00
}
else
{
2012-09-30 20:53:54 -03:00
// BUT_clear_track_Click(sender, e);
2011-09-08 22:31:32 -03:00
MainV2 . comPort . logreadmode = true ;
2012-02-26 19:13:23 -04:00
list1 . Clear ( ) ;
list2 . Clear ( ) ;
list3 . Clear ( ) ;
list4 . Clear ( ) ;
list5 . Clear ( ) ;
list6 . Clear ( ) ;
list7 . Clear ( ) ;
list8 . Clear ( ) ;
list9 . Clear ( ) ;
list10 . Clear ( ) ;
tickStart = Environment . TickCount ;
zg1 . GraphPane . XAxis . Scale . Min = 0 ;
zg1 . GraphPane . XAxis . Scale . Max = 1 ;
ZedGraphTimer . Start ( ) ;
2012-03-21 09:13:08 -03:00
playingLog = true ;
2011-09-08 22:31:32 -03:00
}
}
private void tracklog_Scroll ( object sender , EventArgs e )
{
2012-06-27 09:46:17 -03:00
try
{
BUT_clear_track_Click ( sender , e ) ;
2011-09-08 22:31:32 -03:00
2012-06-27 09:46:17 -03:00
MainV2 . comPort . lastlogread = DateTime . MinValue ;
2011-09-08 22:31:32 -03:00
2012-06-27 09:46:17 -03:00
if ( MainV2 . comPort . logplaybackfile ! = null )
MainV2 . comPort . logplaybackfile . BaseStream . Position = ( long ) ( MainV2 . comPort . logplaybackfile . BaseStream . Length * ( tracklog . Value / 100.0 ) ) ;
2011-09-17 10:22:07 -03:00
2012-06-27 09:46:17 -03:00
updateLogPlayPosition ( ) ;
}
catch { } // ignore any invalid
2011-09-08 22:31:32 -03:00
}
private void tabPage1_Resize ( object sender , EventArgs e )
{
2012-05-20 02:54:35 -03:00
int mywidth , myheight ;
2012-09-19 20:37:36 -03:00
// localize it
Control tabGauges = sender as Control ;
2012-05-20 02:54:35 -03:00
float scale = tabGauges . Width / ( float ) tabGauges . Height ;
if ( scale > 0.5 & & scale < 1.9 )
{ // square
Gvspeed . Visible = true ;
if ( tabGauges . Height < tabGauges . Width )
myheight = tabGauges . Height / 2 ;
else
myheight = tabGauges . Width / 2 ;
Gvspeed . Height = myheight ;
Gspeed . Height = myheight ;
Galt . Height = myheight ;
Gheading . Height = myheight ;
Gvspeed . Location = new Point ( 0 , 0 ) ;
Gspeed . Location = new Point ( Gvspeed . Right , 0 ) ;
Galt . Location = new Point ( 0 , Gspeed . Bottom ) ;
Gheading . Location = new Point ( Galt . Right , Gspeed . Bottom ) ;
return ;
}
2011-09-08 22:31:32 -03:00
if ( tabGauges . Width < 500 )
{
Gvspeed . Visible = false ;
mywidth = tabGauges . Width / 3 ;
Gspeed . Height = mywidth ;
Galt . Height = mywidth ;
Gheading . Height = mywidth ;
Gspeed . Location = new Point ( 0 , 0 ) ;
}
else
{
Gvspeed . Visible = true ;
mywidth = tabGauges . Width / 4 ;
Gvspeed . Height = mywidth ;
Gspeed . Height = mywidth ;
Galt . Height = mywidth ;
Gheading . Height = mywidth ;
Gvspeed . Location = new Point ( 0 , 0 ) ;
Gspeed . Location = new Point ( Gvspeed . Right , 0 ) ;
}
Galt . Location = new Point ( Gspeed . Right , 0 ) ;
Gheading . Location = new Point ( Galt . Right , 0 ) ;
}
private void BUT_setmode_Click ( object sender , EventArgs e )
{
2011-11-08 09:22:07 -04:00
MainV2 . comPort . setMode ( CMB_modes . Text ) ;
2011-09-08 22:31:32 -03:00
}
private void BUT_setwp_Click ( object sender , EventArgs e )
{
try
{
( ( Button ) sender ) . Enabled = false ;
2012-11-15 07:18:53 -04:00
MainV2 . comPort . setWPCurrent ( ( ushort ) CMB_setwp . SelectedIndex ) ; // set nav to
2011-09-08 22:31:32 -03:00
}
2012-03-09 11:18:12 -04:00
catch { CustomMessageBox . Show ( "The command failed to execute" ) ; }
2011-09-08 22:31:32 -03:00
( ( Button ) sender ) . Enabled = true ;
}
private void CMB_setwp_Click ( object sender , EventArgs e )
{
CMB_setwp . Items . Clear ( ) ;
CMB_setwp . Items . Add ( "0 (Home)" ) ;
2012-12-07 05:19:46 -04:00
if ( MainV2 . comPort . MAV . param [ "CMD_TOTAL" ] ! = null )
2011-09-08 22:31:32 -03:00
{
2012-12-07 05:19:46 -04:00
int wps = int . Parse ( MainV2 . comPort . MAV . param [ "CMD_TOTAL" ] . ToString ( ) ) ;
2011-09-08 22:31:32 -03:00
for ( int z = 1 ; z < = wps ; z + + )
{
CMB_setwp . Items . Add ( z . ToString ( ) ) ;
}
}
}
private void BUT_quickauto_Click ( object sender , EventArgs e )
{
try
{
( ( Button ) sender ) . Enabled = false ;
2012-09-30 20:53:54 -03:00
MainV2 . comPort . setMode ( "Auto" ) ;
2011-09-08 22:31:32 -03:00
}
2012-03-09 11:18:12 -04:00
catch { CustomMessageBox . Show ( "The Command failed to execute" ) ; }
2011-09-08 22:31:32 -03:00
( ( Button ) sender ) . Enabled = true ;
}
private void BUT_quickrtl_Click ( object sender , EventArgs e )
{
try
{
( ( Button ) sender ) . Enabled = false ;
2012-09-30 20:53:54 -03:00
MainV2 . comPort . setMode ( "RTL" ) ;
2011-09-08 22:31:32 -03:00
}
2012-03-09 11:18:12 -04:00
catch { CustomMessageBox . Show ( "The Command failed to execute" ) ; }
2011-09-08 22:31:32 -03:00
( ( Button ) sender ) . Enabled = true ;
}
private void BUT_quickmanual_Click ( object sender , EventArgs e )
{
try
{
( ( Button ) sender ) . Enabled = false ;
2012-12-07 05:19:46 -04:00
if ( MainV2 . comPort . MAV . cs . firmware = = MainV2 . Firmwares . ArduPlane )
2012-09-30 20:53:54 -03:00
MainV2 . comPort . setMode ( "Manual" ) ;
2012-12-07 05:19:46 -04:00
if ( MainV2 . comPort . MAV . cs . firmware = = MainV2 . Firmwares . ArduCopter2 )
2012-06-04 06:56:46 -03:00
MainV2 . comPort . setMode ( "Stabilize" ) ;
2012-09-30 20:53:54 -03:00
2011-09-08 22:31:32 -03:00
}
2012-03-09 11:18:12 -04:00
catch { CustomMessageBox . Show ( "The Command failed to execute" ) ; }
2011-09-08 22:31:32 -03:00
( ( Button ) sender ) . Enabled = true ;
}
private void BUT_log2kml_Click ( object sender , EventArgs e )
{
Form frm = new MavlinkLog ( ) ;
2012-03-03 20:42:42 -04:00
ThemeManager . ApplyThemeTo ( frm ) ;
2011-09-08 22:31:32 -03:00
frm . ShowDialog ( ) ;
}
private void BUT_joystick_Click ( object sender , EventArgs e )
{
Form joy = new JoystickSetup ( ) ;
2012-03-03 20:42:42 -04:00
ThemeManager . ApplyThemeTo ( joy ) ;
2011-09-08 22:31:32 -03:00
joy . Show ( ) ;
}
private void CMB_modes_Click ( object sender , EventArgs e )
{
2012-04-24 10:49:27 -03:00
CMB_modes . DataSource = Common . getModesList ( ) ;
CMB_modes . ValueMember = "Key" ;
CMB_modes . DisplayMember = "Value" ;
2011-09-08 22:31:32 -03:00
}
private void hud1_DoubleClick ( object sender , EventArgs e )
{
if ( huddropout )
return ;
2012-11-01 07:15:01 -03:00
SubMainLeft . Panel1Collapsed = true ;
2011-09-08 22:31:32 -03:00
Form dropout = new Form ( ) ;
dropout . Size = new System . Drawing . Size ( hud1 . Width , hud1 . Height + 20 ) ;
2012-11-01 07:15:01 -03:00
SubMainLeft . Panel1 . Controls . Remove ( hud1 ) ;
2011-09-08 22:31:32 -03:00
dropout . Controls . Add ( hud1 ) ;
dropout . Resize + = new EventHandler ( dropout_Resize ) ;
dropout . FormClosed + = new FormClosedEventHandler ( dropout_FormClosed ) ;
dropout . Show ( ) ;
huddropout = true ;
}
void dropout_FormClosed ( object sender , FormClosedEventArgs e )
{
2012-11-01 07:15:01 -03:00
//GetFormFromGuid(GetOrCreateGuid("fd_hud_guid")).Controls.Add(hud1);
SubMainLeft . Panel1 . Controls . Add ( hud1 ) ;
SubMainLeft . Panel1Collapsed = false ;
2011-09-08 22:31:32 -03:00
huddropout = false ;
}
void dropout_Resize ( object sender , EventArgs e )
{
if ( huddropoutresize )
return ;
huddropoutresize = true ;
int hudw = hud1 . Width ;
int hudh = hud1 . Height ;
int formh = ( ( Form ) sender ) . Height - 30 ;
int formw = ( ( Form ) sender ) . Width ;
if ( ( ( Form ) sender ) . Height < hudh )
{
if ( ( ( Form ) sender ) . WindowState = = FormWindowState . Maximized )
{
Point tl = ( ( Form ) sender ) . DesktopLocation ;
( ( Form ) sender ) . WindowState = FormWindowState . Normal ;
( ( Form ) sender ) . Location = tl ;
}
( ( Form ) sender ) . Width = ( int ) ( formh * 1.333f ) ;
( ( Form ) sender ) . Height = ( int ) ( formh ) + 20 ;
}
hud1 . Refresh ( ) ;
huddropoutresize = false ;
}
private void tabControl1_SelectedIndexChanged ( object sender , EventArgs e )
{
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if ( tabControl1 . SelectedTab = = tabStatus )
{
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tabStatus_Resize ( sender , e ) ;
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}
else
{
foreach ( Control temp in tabStatus . Controls )
{
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// temp.DataBindings.Clear();
// temp.Dispose();
// tabStatus.Controls.Remove(temp);
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}
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if ( tabControl1 . SelectedTab = = tabQuick )
{
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}
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}
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}
private void Gspeed_DoubleClick ( object sender , EventArgs e )
{
string max = "60" ;
if ( DialogResult . OK = = Common . InputBox ( "Enter Max" , "Enter Max Speed" , ref max ) )
{
Gspeed . MaxValue = float . Parse ( max ) ;
MainV2 . config [ "GspeedMAX" ] = Gspeed . MaxValue . ToString ( ) ;
}
}
private void recordHudToAVIToolStripMenuItem_Click ( object sender , EventArgs e )
{
stopRecordToolStripMenuItem_Click ( sender , e ) ;
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CustomMessageBox . Show ( "Output avi will be saved to the log folder" ) ;
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aviwriter = new AviWriter ( ) ;
Directory . CreateDirectory ( Path . GetDirectoryName ( Application . ExecutablePath ) + Path . DirectorySeparatorChar + @"logs" ) ;
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aviwriter . avi_start ( Path . GetDirectoryName ( Application . ExecutablePath ) + Path . DirectorySeparatorChar + @"logs" + Path . DirectorySeparatorChar + DateTime . Now . ToString ( "yyyy-MM-dd HH-mm-ss" ) + ".avi" ) ;
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recordHudToAVIToolStripMenuItem . Text = "Recording" ;
}
private void stopRecordToolStripMenuItem_Click ( object sender , EventArgs e )
{
recordHudToAVIToolStripMenuItem . Text = "Start Recording" ;
if ( aviwriter ! = null )
aviwriter . avi_close ( ) ;
aviwriter = null ;
}
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bool setupPropertyInfo ( ref System . Reflection . PropertyInfo input , string name , object source )
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{
Type test = source . GetType ( ) ;
foreach ( var field in test . GetProperties ( ) )
{
if ( field . Name = = name )
{
input = field ;
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return true ;
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}
}
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return false ;
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}
private void zg1_DoubleClick ( object sender , EventArgs e )
{
Form selectform = new Form ( )
{
Name = "select" ,
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Width = 50 ,
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Height = 250 ,
Text = "Graph This"
} ;
int x = 10 ;
int y = 10 ;
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{
CheckBox chk_box = new CheckBox ( ) ;
chk_box . Text = "Logarithmic" ;
chk_box . Name = "Logarithmic" ;
chk_box . Location = new Point ( x , y ) ;
chk_box . Size = new System . Drawing . Size ( 100 , 20 ) ;
chk_box . CheckedChanged + = new EventHandler ( chk_log_CheckedChanged ) ;
selectform . Controls . Add ( chk_box ) ;
}
y + = 20 ;
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object thisBoxed = MainV2 . comPort . MAV . cs ;
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Type test = thisBoxed . GetType ( ) ;
foreach ( var field in test . GetProperties ( ) )
{
// field.Name has the field's name.
object fieldValue ;
try
{
fieldValue = field . GetValue ( thisBoxed , null ) ; // Get value
}
catch { continue ; }
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
TypeCode typeCode = Type . GetTypeCode ( fieldValue . GetType ( ) ) ;
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if ( ! ( typeCode = = TypeCode . Single ) )
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continue ;
CheckBox chk_box = new CheckBox ( ) ;
if ( list1item ! = null & & list1item . Name = = field . Name )
chk_box . Checked = true ;
if ( list2item ! = null & & list2item . Name = = field . Name )
chk_box . Checked = true ;
if ( list3item ! = null & & list3item . Name = = field . Name )
chk_box . Checked = true ;
if ( list4item ! = null & & list4item . Name = = field . Name )
chk_box . Checked = true ;
if ( list5item ! = null & & list5item . Name = = field . Name )
chk_box . Checked = true ;
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if ( list6item ! = null & & list6item . Name = = field . Name )
chk_box . Checked = true ;
if ( list7item ! = null & & list7item . Name = = field . Name )
chk_box . Checked = true ;
if ( list8item ! = null & & list8item . Name = = field . Name )
chk_box . Checked = true ;
if ( list9item ! = null & & list9item . Name = = field . Name )
chk_box . Checked = true ;
if ( list10item ! = null & & list10item . Name = = field . Name )
chk_box . Checked = true ;
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chk_box . Text = field . Name ;
chk_box . Name = field . Name ;
chk_box . Location = new Point ( x , y ) ;
chk_box . Size = new System . Drawing . Size ( 100 , 20 ) ;
chk_box . CheckedChanged + = new EventHandler ( chk_box_CheckedChanged ) ;
selectform . Controls . Add ( chk_box ) ;
Application . DoEvents ( ) ;
x + = 0 ;
y + = 20 ;
if ( y > selectform . Height - 50 )
{
x + = 100 ;
y = 10 ;
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selectform . Width = x + 100 ;
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}
}
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ThemeManager . ApplyThemeTo ( selectform ) ;
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selectform . Show ( ) ;
}
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private void hud_UserItem ( object sender , EventArgs e )
{
Form selectform = new Form ( )
{
Name = "select" ,
Width = 50 ,
Height = 250 ,
Text = "Display This"
} ;
int x = 10 ;
int y = 10 ;
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object thisBoxed = MainV2 . comPort . MAV . cs ;
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Type test = thisBoxed . GetType ( ) ;
foreach ( var field in test . GetProperties ( ) )
{
// field.Name has the field's name.
object fieldValue ;
try
{
fieldValue = field . GetValue ( thisBoxed , null ) ; // Get value
}
catch { continue ; }
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
TypeCode typeCode = Type . GetTypeCode ( fieldValue . GetType ( ) ) ;
if ( ! ( typeCode = = TypeCode . Single ) )
continue ;
CheckBox chk_box = new CheckBox ( ) ;
chk_box . Text = field . Name ;
chk_box . Name = field . Name ;
chk_box . Tag = ( sender ) ;
chk_box . Location = new Point ( x , y ) ;
chk_box . Size = new System . Drawing . Size ( 100 , 20 ) ;
if ( hud1 . CustomItems . ContainsKey ( field . Name ) )
{
chk_box . Checked = true ;
}
chk_box . CheckedChanged + = chk_box_hud_UserItem_CheckedChanged ;
selectform . Controls . Add ( chk_box ) ;
Application . DoEvents ( ) ;
x + = 0 ;
y + = 20 ;
if ( y > selectform . Height - 50 )
{
x + = 100 ;
y = 10 ;
selectform . Width = x + 100 ;
}
}
ThemeManager . ApplyThemeTo ( selectform ) ;
selectform . Show ( ) ;
}
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void addHudUserItem ( ref HUD . Custom cust , CheckBox sender )
{
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setupPropertyInfo ( ref cust . Item , ( sender ) . Name , MainV2 . comPort . MAV . cs ) ;
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hud1 . CustomItems . Add ( ( sender ) . Name , cust ) ;
hud1 . Invalidate ( ) ;
}
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void chk_box_hud_UserItem_CheckedChanged ( object sender , EventArgs e )
{
if ( ( ( CheckBox ) sender ) . Checked )
{
HUD . Custom cust = new HUD . Custom ( ) ;
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string prefix = ( ( CheckBox ) sender ) . Name + ": " ;
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if ( MainV2 . config [ "hud1_useritem_" + ( ( CheckBox ) sender ) . Name ] ! = null )
prefix = ( string ) MainV2 . config [ "hud1_useritem_" + ( ( CheckBox ) sender ) . Name ] ;
Common . InputBox ( "Header" , "Please enter your item prefix" , ref prefix ) ;
MainV2 . config [ "hud1_useritem_" + ( ( CheckBox ) sender ) . Name ] = prefix ;
cust . Header = prefix ;
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addHudUserItem ( ref cust , ( CheckBox ) sender ) ;
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}
else
{
if ( hud1 . CustomItems . ContainsKey ( ( ( CheckBox ) sender ) . Name ) )
{
hud1 . CustomItems . Remove ( ( ( CheckBox ) sender ) . Name ) ;
}
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MainV2 . config . Remove ( "hud1_useritem_" + ( ( CheckBox ) sender ) . Name ) ;
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hud1 . Invalidate ( ) ;
}
}
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void chk_log_CheckedChanged ( object sender , EventArgs e )
{
if ( ( ( CheckBox ) sender ) . Checked )
{
zg1 . GraphPane . YAxis . Type = AxisType . Log ;
}
else
{
zg1 . GraphPane . YAxis . Type = AxisType . Linear ;
}
}
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void chk_box_CheckedChanged ( object sender , EventArgs e )
{
if ( ( ( CheckBox ) sender ) . Checked )
{
if ( list1item = = null )
{
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if ( setupPropertyInfo ( ref list1item , ( ( CheckBox ) sender ) . Name , MainV2 . comPort . MAV . cs ) )
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{
list1 . Clear ( ) ;
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list1curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list1 , Color . Red , SymbolType . None ) ;
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}
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}
else if ( list2item = = null )
{
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if ( setupPropertyInfo ( ref list2item , ( ( CheckBox ) sender ) . Name , MainV2 . comPort . MAV . cs ) )
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{
list2 . Clear ( ) ;
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list2curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list2 , Color . Blue , SymbolType . None ) ;
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}
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}
else if ( list3item = = null )
{
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if ( setupPropertyInfo ( ref list3item , ( ( CheckBox ) sender ) . Name , MainV2 . comPort . MAV . cs ) )
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{
list3 . Clear ( ) ;
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list3curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list3 , Color . Green , SymbolType . None ) ;
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}
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}
else if ( list4item = = null )
{
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if ( setupPropertyInfo ( ref list4item , ( ( CheckBox ) sender ) . Name , MainV2 . comPort . MAV . cs ) )
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{
list4 . Clear ( ) ;
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list4curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list4 , Color . Orange , SymbolType . None ) ;
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}
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}
else if ( list5item = = null )
{
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if ( setupPropertyInfo ( ref list5item , ( ( CheckBox ) sender ) . Name , MainV2 . comPort . MAV . cs ) )
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{
list5 . Clear ( ) ;
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list5curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list5 , Color . Yellow , SymbolType . None ) ;
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}
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}
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else if ( list6item = = null )
{
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if ( setupPropertyInfo ( ref list6item , ( ( CheckBox ) sender ) . Name , MainV2 . comPort . MAV . cs ) )
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{
list6 . Clear ( ) ;
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list6curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list6 , Color . Magenta , SymbolType . None ) ;
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}
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}
else if ( list7item = = null )
{
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if ( setupPropertyInfo ( ref list7item , ( ( CheckBox ) sender ) . Name , MainV2 . comPort . MAV . cs ) )
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{
list7 . Clear ( ) ;
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list7curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list7 , Color . Purple , SymbolType . None ) ;
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}
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}
else if ( list8item = = null )
{
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if ( setupPropertyInfo ( ref list8item , ( ( CheckBox ) sender ) . Name , MainV2 . comPort . MAV . cs ) )
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{
list8 . Clear ( ) ;
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list8curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list8 , Color . LimeGreen , SymbolType . None ) ;
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}
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}
else if ( list9item = = null )
{
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if ( setupPropertyInfo ( ref list9item , ( ( CheckBox ) sender ) . Name , MainV2 . comPort . MAV . cs ) )
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{
list9 . Clear ( ) ;
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list9curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list9 , Color . Cyan , SymbolType . None ) ;
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}
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}
else if ( list10item = = null )
{
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if ( setupPropertyInfo ( ref list10item , ( ( CheckBox ) sender ) . Name , MainV2 . comPort . MAV . cs ) )
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{
list10 . Clear ( ) ;
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list10curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list10 , Color . Violet , SymbolType . None ) ;
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}
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}
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else
{
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CustomMessageBox . Show ( "Max 10 at a time." ) ;
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( ( CheckBox ) sender ) . Checked = false ;
}
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ThemeManager . ApplyThemeTo ( this ) ;
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string selected = "" ;
try
{
selected = selected + zg1 . GraphPane . CurveList [ 0 ] . Label . Text + "|" ;
selected = selected + zg1 . GraphPane . CurveList [ 1 ] . Label . Text + "|" ;
selected = selected + zg1 . GraphPane . CurveList [ 2 ] . Label . Text + "|" ;
selected = selected + zg1 . GraphPane . CurveList [ 3 ] . Label . Text + "|" ;
selected = selected + zg1 . GraphPane . CurveList [ 4 ] . Label . Text + "|" ;
selected = selected + zg1 . GraphPane . CurveList [ 5 ] . Label . Text + "|" ;
selected = selected + zg1 . GraphPane . CurveList [ 6 ] . Label . Text + "|" ;
selected = selected + zg1 . GraphPane . CurveList [ 7 ] . Label . Text + "|" ;
selected = selected + zg1 . GraphPane . CurveList [ 8 ] . Label . Text + "|" ;
selected = selected + zg1 . GraphPane . CurveList [ 9 ] . Label . Text + "|" ;
selected = selected + zg1 . GraphPane . CurveList [ 10 ] . Label . Text + "|" ;
}
catch { }
MainV2 . config [ "Tuning_Graph_Selected" ] = selected ;
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}
else
{
// reset old stuff
if ( list1item ! = null & & list1item . Name = = ( ( CheckBox ) sender ) . Name )
{
list1item = null ;
zg1 . GraphPane . CurveList . Remove ( list1curve ) ;
}
if ( list2item ! = null & & list2item . Name = = ( ( CheckBox ) sender ) . Name )
{
list2item = null ;
zg1 . GraphPane . CurveList . Remove ( list2curve ) ;
}
if ( list3item ! = null & & list3item . Name = = ( ( CheckBox ) sender ) . Name )
{
list3item = null ;
zg1 . GraphPane . CurveList . Remove ( list3curve ) ;
}
if ( list4item ! = null & & list4item . Name = = ( ( CheckBox ) sender ) . Name )
{
list4item = null ;
zg1 . GraphPane . CurveList . Remove ( list4curve ) ;
}
if ( list5item ! = null & & list5item . Name = = ( ( CheckBox ) sender ) . Name )
{
list5item = null ;
zg1 . GraphPane . CurveList . Remove ( list5curve ) ;
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}
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if ( list6item ! = null & & list6item . Name = = ( ( CheckBox ) sender ) . Name )
{
list6item = null ;
zg1 . GraphPane . CurveList . Remove ( list6curve ) ;
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}
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if ( list7item ! = null & & list7item . Name = = ( ( CheckBox ) sender ) . Name )
{
list7item = null ;
zg1 . GraphPane . CurveList . Remove ( list7curve ) ;
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}
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if ( list8item ! = null & & list8item . Name = = ( ( CheckBox ) sender ) . Name )
{
list8item = null ;
zg1 . GraphPane . CurveList . Remove ( list8curve ) ;
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}
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if ( list9item ! = null & & list9item . Name = = ( ( CheckBox ) sender ) . Name )
{
list9item = null ;
zg1 . GraphPane . CurveList . Remove ( list9curve ) ;
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}
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if ( list10item ! = null & & list10item . Name = = ( ( CheckBox ) sender ) . Name )
{
list10item = null ;
zg1 . GraphPane . CurveList . Remove ( list10curve ) ;
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}
}
}
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private void pointCameraHereToolStripMenuItem_Click ( object sender , EventArgs e )
{
if ( ! MainV2 . comPort . BaseStream . IsOpen )
{
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CustomMessageBox . Show ( "Please Connect First" ) ;
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return ;
}
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string alt = ( 100 * MainV2 . comPort . MAV . cs . multiplierdist ) . ToString ( "0" ) ;
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Common . InputBox ( "Enter Alt" , "Enter Target Alt (absolute)" , ref alt ) ;
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int intalt = ( int ) ( 100 * MainV2 . comPort . MAV . cs . multiplierdist ) ;
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if ( ! int . TryParse ( alt , out intalt ) )
{
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CustomMessageBox . Show ( "Bad Alt" ) ;
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return ;
}
if ( gotolocation . Lat = = 0 | | gotolocation . Lng = = 0 )
{
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CustomMessageBox . Show ( "Bad Lat/Long" ) ;
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return ;
}
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MainV2 . comPort . setMountConfigure ( MAVLink . MAV_MOUNT_MODE . GPS_POINT , true , true , true ) ;
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MainV2 . comPort . setMountControl ( gotolocation . Lat , gotolocation . Lng , ( int ) ( intalt / MainV2 . comPort . MAV . cs . multiplierdist ) , true ) ;
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}
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private void BUT_script_Click ( object sender , EventArgs e )
{
System . Threading . Thread t11 = new System . Threading . Thread ( new System . Threading . ThreadStart ( ScriptStart ) )
{
IsBackground = true ,
Name = "Script Thread"
} ;
t11 . Start ( ) ;
}
void ScriptStart ( )
{
string myscript = @ "
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# cs . ? ? ? ? = currentstate , any variable on the status tab in the planner can be used .
# Script = options are
# Script . Sleep ( ms )
# Script . ChangeParam ( name , value )
# Script . GetParam ( name )
# Script . ChangeMode ( mode ) - same as displayed in mode setup screen ' AUTO '
# Script . WaitFor ( string , timeout )
# Script . SendRC ( channel , pwm , sendnow )
#
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print ' Start Script '
for chan in range ( 1 , 9 ) :
Script . SendRC ( chan , 1500 , False )
Script . SendRC ( 3 , Script . GetParam ( ' RC3_MIN ' ) , True )
Script . Sleep ( 5000 )
while cs . lat = = 0 :
print ' Waiting for GPS '
Script . Sleep ( 1000 )
print ' Got GPS '
jo = 10 * 13
print jo
Script . SendRC ( 3 , 1000 , False )
Script . SendRC ( 4 , 2000 , True )
cs . messages . Clear ( )
Script . WaitFor ( ' ARMING MOTORS ' , 30000 )
Script . SendRC ( 4 , 1500 , True )
print ' Motors Armed ! '
Script . SendRC ( 3 , 1700 , True )
while cs . alt < 50 :
Script . Sleep ( 50 )
Script . SendRC ( 5 , 2000 , True ) # acro
Script . SendRC ( 1 , 2000 , False ) # roll
Script . SendRC ( 3 , 1370 , True ) # throttle
while cs . roll > - 45 : # top hald 0 - 180
Script . Sleep ( 5 )
while cs . roll < - 45 : # - 180 - - 45
Script . Sleep ( 5 )
Script . SendRC ( 5 , 1500 , False ) # stabalise
Script . SendRC ( 1 , 1500 , True ) # level roll
Script . Sleep ( 2000 ) # 2 sec to stabalise
Script . SendRC ( 3 , 1300 , True ) # throttle back to land
thro = 1350 # will decend
while cs . alt > 0.1 :
Script . Sleep ( 300 )
Script . SendRC ( 3 , 1000 , False )
Script . SendRC ( 4 , 1000 , True )
Script . WaitFor ( ' DISARMING MOTORS ' , 30000 )
Script . SendRC ( 4 , 1500 , True )
print ' Roll complete '
";
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// CustomMessageBox.Show("This is Very ALPHA");
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Form scriptedit = new Form ( ) ;
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scriptedit . Size = new System . Drawing . Size ( 500 , 500 ) ;
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TextBox tb = new TextBox ( ) ;
tb . Dock = DockStyle . Fill ;
tb . ScrollBars = ScrollBars . Both ;
tb . Multiline = true ;
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tb . Location = new Point ( 0 , 0 ) ;
tb . Size = new System . Drawing . Size ( scriptedit . Size . Width - 30 , scriptedit . Size . Height - 30 ) ;
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scriptedit . Controls . Add ( tb ) ;
tb . Text = myscript ;
scriptedit . ShowDialog ( ) ;
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if ( DialogResult . Yes = = CustomMessageBox . Show ( "Run Script" , "Run this script?" , MessageBoxButtons . YesNo ) )
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{
Script scr = new Script ( ) ;
scr . runScript ( tb . Text ) ;
}
}
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private void CHK_autopan_CheckedChanged ( object sender , EventArgs e )
{
MainV2 . config [ "CHK_autopan" ] = CHK_autopan . Checked . ToString ( ) ;
}
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private void NUM_playbackspeed_Scroll ( object sender , EventArgs e )
{
LogPlayBackSpeed = NUM_playbackspeed . Value ;
lbl_playbackspeed . Text = "x " + LogPlayBackSpeed ;
}
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private void setMJPEGSourceToolStripMenuItem_Click ( object sender , EventArgs e )
{
string url = MainV2 . config [ "mjpeg_url" ] ! = null ? MainV2 . config [ "mjpeg_url" ] . ToString ( ) : @"http://127.0.0.1:56781/map.jpg" ;
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if ( DialogResult . OK = = Common . InputBox ( "Mjpeg url" , "Enter the url to the mjpeg source url" , ref url ) )
{
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MainV2 . config [ "mjpeg_url" ] = url ;
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Utilities . CaptureMJPEG . Stop ( ) ;
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Utilities . CaptureMJPEG . URL = url ;
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Utilities . CaptureMJPEG . OnNewImage + = new EventHandler ( CaptureMJPEG_OnNewImage ) ;
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Utilities . CaptureMJPEG . runAsync ( ) ;
}
else
{
Utilities . CaptureMJPEG . Stop ( ) ;
}
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}
void CaptureMJPEG_OnNewImage ( object sender , EventArgs e )
{
GCSViews . FlightData . myhud . bgimage = ( Image ) sender ;
}
private void setAspectRatioToolStripMenuItem_Click ( object sender , EventArgs e )
{
hud1 . SixteenXNine = ! hud1 . SixteenXNine ;
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hud1 . doResize ( ) ;
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}
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private void quickView_DoubleClick ( object sender , EventArgs e )
{
Form selectform = new Form ( )
{
Name = "select" ,
Width = 50 ,
Height = 250 ,
Text = "Display This"
} ;
int x = 10 ;
int y = 10 ;
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object thisBoxed = MainV2 . comPort . MAV . cs ;
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Type test = thisBoxed . GetType ( ) ;
foreach ( var field in test . GetProperties ( ) )
{
// field.Name has the field's name.
object fieldValue ;
try
{
fieldValue = field . GetValue ( thisBoxed , null ) ; // Get value
}
catch { continue ; }
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
TypeCode typeCode = Type . GetTypeCode ( fieldValue . GetType ( ) ) ;
if ( ! ( typeCode = = TypeCode . Single ) )
continue ;
CheckBox chk_box = new CheckBox ( ) ;
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// dont change to ToString() = null exception
if ( ( ( QuickView ) sender ) . Tag = = field . Name )
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chk_box . Checked = true ;
chk_box . Text = field . Name ;
chk_box . Name = field . Name ;
chk_box . Tag = ( ( QuickView ) sender ) ;
chk_box . Location = new Point ( x , y ) ;
chk_box . Size = new System . Drawing . Size ( 100 , 20 ) ;
chk_box . CheckedChanged + = new EventHandler ( chk_box_quickview_CheckedChanged ) ;
selectform . Controls . Add ( chk_box ) ;
Application . DoEvents ( ) ;
x + = 0 ;
y + = 20 ;
if ( y > selectform . Height - 50 )
{
x + = 100 ;
y = 10 ;
selectform . Width = x + 100 ;
}
}
ThemeManager . ApplyThemeTo ( selectform ) ;
selectform . Show ( ) ;
}
void chk_box_quickview_CheckedChanged ( object sender , EventArgs e )
{
if ( ( ( CheckBox ) sender ) . Checked )
{
// save settings
MainV2 . config [ ( ( QuickView ) ( ( CheckBox ) sender ) . Tag ) . Name ] = ( ( CheckBox ) sender ) . Name ;
// set description
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string desc = ( ( CheckBox ) sender ) . Name ;
( ( QuickView ) ( ( CheckBox ) sender ) . Tag ) . Tag = desc ;
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desc = MainV2 . comPort . MAV . cs . GetNameandUnit ( desc ) ;
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( ( QuickView ) ( ( CheckBox ) sender ) . Tag ) . desc = desc ;
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// set databinding for value
( ( QuickView ) ( ( CheckBox ) sender ) . Tag ) . DataBindings . Clear ( ) ;
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( ( QuickView ) ( ( CheckBox ) sender ) . Tag ) . DataBindings . Add ( new System . Windows . Forms . Binding ( "number" , this . bindingSource1 , ( ( CheckBox ) sender ) . Name , true ) ) ;
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// close selection form
( ( Form ) ( ( CheckBox ) sender ) . Parent ) . Close ( ) ;
}
}
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private void flyToHereAltToolStripMenuItem_Click ( object sender , EventArgs e )
{
string alt = "100" ;
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if ( MainV2 . comPort . MAV . cs . firmware = = MainV2 . Firmwares . ArduCopter2 )
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{
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alt = ( 10 * MainV2 . comPort . MAV . cs . multiplierdist ) . ToString ( "0" ) ;
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}
else
{
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alt = ( 100 * MainV2 . comPort . MAV . cs . multiplierdist ) . ToString ( "0" ) ;
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}
if ( MainV2 . config . ContainsKey ( "guided_alt" ) )
alt = MainV2 . config [ "guided_alt" ] . ToString ( ) ;
if ( DialogResult . Cancel = = Common . InputBox ( "Enter Alt" , "Enter Guided Mode Alt" , ref alt ) )
return ;
MainV2 . config [ "guided_alt" ] = alt ;
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int intalt = ( int ) ( 100 * MainV2 . comPort . MAV . cs . multiplierdist ) ;
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if ( ! int . TryParse ( alt , out intalt ) )
{
CustomMessageBox . Show ( "Bad Alt" ) ;
return ;
}
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MainV2 . comPort . MAV . GuidedMode . z = intalt ;
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if ( MainV2 . comPort . MAV . cs . mode = = "Guided" )
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{
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MainV2 . comPort . setGuidedModeWP ( new Locationwp ( ) { alt = ( float ) MainV2 . comPort . MAV . GuidedMode . z , lat = ( float ) MainV2 . comPort . MAV . GuidedMode . x , lng = ( float ) MainV2 . comPort . MAV . GuidedMode . y } ) ;
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}
}
private void flightPlannerToolStripMenuItem_Click ( object sender , EventArgs e )
{
foreach ( Control ctl in splitContainer1 . Panel2 . Controls )
{
ctl . Visible = false ;
}
foreach ( MainSwitcher . Screen sc in MainV2 . View . screens )
{
if ( sc . Name = = "FlightPlanner" )
{
MyButton but = new MyButton ( ) { Location = new Point ( splitContainer1 . Panel2 . Width / 2 , 0 ) , Text = "Close" } ;
but . Click + = new EventHandler ( but_Click ) ;
splitContainer1 . Panel2 . Controls . Add ( but ) ;
splitContainer1 . Panel2 . Controls . Add ( sc . Control ) ;
ThemeManager . ApplyThemeTo ( sc . Control ) ;
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sc . Control . Dock = DockStyle . Fill ;
sc . Control . Visible = true ;
if ( sc . Control is IActivate )
{
( ( IActivate ) ( sc . Control ) ) . Activate ( ) ;
}
but . BringToFront ( ) ;
break ;
}
}
}
void but_Click ( object sender , EventArgs e )
{
foreach ( MainSwitcher . Screen sc in MainV2 . View . screens )
{
if ( sc . Name = = "FlightPlanner" )
{
splitContainer1 . Panel2 . Controls . Remove ( sc . Control ) ;
splitContainer1 . Panel2 . Controls . Remove ( ( Control ) sender ) ;
sc . Control . Visible = false ;
if ( sc . Control is IDeactivate )
{
( ( IDeactivate ) ( sc . Control ) ) . Deactivate ( ) ;
}
break ;
}
}
foreach ( Control ctl in splitContainer1 . Panel2 . Controls )
{
ctl . Visible = true ;
}
}
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private void tabQuick_Resize ( object sender , EventArgs e )
{
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int height = ( ( Control ) sender ) . Height / 6 ;
quickView1 . Size = new System . Drawing . Size ( tabQuick . Width , height ) ;
quickView2 . Size = new System . Drawing . Size ( tabQuick . Width , height ) ;
quickView3 . Size = new System . Drawing . Size ( tabQuick . Width , height ) ;
quickView4 . Size = new System . Drawing . Size ( tabQuick . Width , height ) ;
quickView5 . Size = new System . Drawing . Size ( tabQuick . Width , height ) ;
quickView6 . Size = new System . Drawing . Size ( tabQuick . Width , height ) ;
}
private void hud1_Resize ( object sender , EventArgs e )
{
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Console . WriteLine ( "HUD resize " + hud1 . Width + " " + hud1 . Height ) ;
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SubMainLeft . SplitterDistance = hud1 . Height ;
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try
{
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// dockContainer1.SetHeight(dockhud, hud1.Height);
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}
catch { }
}
private void resetToolStripMenuItem_Click ( object sender , EventArgs e )
{
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//dockContainer1.Clear();
//SetupDocking();
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this . Refresh ( ) ;
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}
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private void BUT_ARM_Click ( object sender , EventArgs e )
{
if ( ! MainV2 . comPort . BaseStream . IsOpen )
return ;
// arm the MAV
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try
{
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bool ans = MainV2 . comPort . doARM ( MainV2 . comPort . MAV . cs . armed ) ;
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if ( ans = = false )
CustomMessageBox . Show ( "Error: Arm message rejected by MAV" ) ;
}
catch { CustomMessageBox . Show ( "Error: No responce from MAV" ) ; }
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}
private void modifyandSetAlt_Click ( object sender , EventArgs e )
{
int newalt = ( int ) modifyandSetAlt . Value ;
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try
{
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MainV2 . comPort . setNewWPAlt ( new Locationwp ( ) { alt = newalt / MainV2 . comPort . MAV . cs . multiplierdist } ) ;
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}
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catch { CustomMessageBox . Show ( "Error sending new Alt" ) ; }
//MainV2.comPort.setNextWPTargetAlt((ushort)MainV2.comPort.MAV.cs.wpno, newalt);
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}
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private void gMapControl1_MouseLeave ( object sender , EventArgs e )
{
if ( marker ! = null )
{
if ( routes . Markers . Contains ( marker ) )
routes . Markers . Remove ( marker ) ;
}
}
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private void modifyandSetSpeed_Click ( object sender , EventArgs e )
{
// QUAD
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if ( MainV2 . comPort . MAV . param . ContainsKey ( "WP_SPEED_MAX" ) )
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{
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try
{
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MainV2 . comPort . setParam ( "WP_SPEED_MAX" , ( ( float ) modifyandSetSpeed . Value * 100.0f ) ) ;
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}
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catch { CustomMessageBox . Show ( "Error sending WP_SPEED_MAX command" ) ; }
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} // plane with airspeed
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else if ( MainV2 . comPort . MAV . param . ContainsKey ( "TRIM_ARSPD_CM" ) & & MainV2 . comPort . MAV . param . ContainsKey ( "ARSPD_ENABLE" )
& & MainV2 . comPort . MAV . param . ContainsKey ( "ARSPD_USE" ) & & ( float ) MainV2 . comPort . MAV . param [ "ARSPD_ENABLE" ] = = 1
& & ( float ) MainV2 . comPort . MAV . param [ "ARSPD_USE" ] = = 1 )
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{
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try
{
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MainV2 . comPort . setParam ( "TRIM_ARSPD_CM" , ( ( float ) modifyandSetSpeed . Value * 100.0f ) ) ;
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}
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catch { CustomMessageBox . Show ( "Error sending TRIM_ARSPD_CM command" ) ; }
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} // plane without airspeed
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else if ( MainV2 . comPort . MAV . param . ContainsKey ( "TRIM_THROTTLE" ) & & MainV2 . comPort . MAV . param . ContainsKey ( "ARSPD_USE" )
& & ( float ) MainV2 . comPort . MAV . param [ "ARSPD_USE" ] = = 0 )
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{
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try
{
MainV2 . comPort . setParam ( "TRIM_THROTTLE" , ( float ) modifyandSetSpeed . Value ) ;
}
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catch { CustomMessageBox . Show ( "Error sending TRIM_THROTTLE command" ) ; }
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}
}
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private void modifyandSetSpeed_ParentChanged ( object sender , EventArgs e )
{
}
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private void triggerCameraToolStripMenuItem_Click ( object sender , EventArgs e )
{
try
{
MainV2 . comPort . setDigicamControl ( true ) ;
}
catch { CustomMessageBox . Show ( "Error sending command" ) ; }
}
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private void TRK_zoom_Scroll ( object sender , EventArgs e )
{
try
{
if ( gMapControl1 . MaxZoom + 1 = = ( double ) TRK_zoom . Value )
{
gMapControl1 . Zoom = ( double ) TRK_zoom . Value - . 1 ;
}
else
{
gMapControl1 . Zoom = ( double ) TRK_zoom . Value ;
}
}
catch { }
}
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}
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}