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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 ;
// written by michael oborne
namespace ArdupilotMega.GCSViews
{
partial class FlightData : MyUserControl
{
ArdupilotMega . MAVLink comPort = MainV2 . comPort ;
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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bool huddropout = false ;
bool huddropoutresize = false ;
List < PointLatLng > trackPoints = new List < PointLatLng > ( ) ;
const float rad2deg = ( float ) ( 180 / Math . PI ) ;
const float deg2rad = ( float ) ( 1.0 / rad2deg ) ;
public static hud . HUD myhud = null ;
public static GMapControl mymap = null ;
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bool playingLog = false ;
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public static PointLatLngAlt GuidedModeWP = new PointLatLngAlt ( ) ;
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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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MainV2 . config [ "FlightSplitter" ] = MainH . SplitterDistance . ToString ( ) ;
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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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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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List < string > list = new List < string > ( ) ;
//foreach (object obj in Enum.GetValues(typeof(MAVLink.MAV_ACTION)))
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#if MAVLINK10
{
list . Add ( "LOITER_UNLIM" ) ;
list . Add ( "RETURN_TO_LAUNCH" ) ;
list . Add ( "PREFLIGHT_CALIBRATION" ) ;
}
#else
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{
list . Add ( "RETURN" ) ;
list . Add ( "HALT" ) ;
list . Add ( "CONTINUE" ) ;
list . Add ( "SET_MANUAL" ) ;
list . Add ( "SET_AUTO" ) ;
list . Add ( "STORAGE_READ" ) ;
list . Add ( "STORAGE_WRITE" ) ;
list . Add ( "CALIBRATE_RC" ) ;
list . Add ( "NAVIGATE" ) ;
list . Add ( "LOITER" ) ;
list . Add ( "TAKEOFF" ) ;
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list . Add ( "CALIBRATE_GYRO" ) ;
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}
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#endif
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CMB_action . DataSource = list ;
CMB_modes . DataSource = Enum . GetNames ( typeof ( Common . apmmodes ) ) ;
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 { }
}
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 ( )
{
Zoomlevel . Value = Convert . ToDecimal ( gMapControl1 . Zoom ) ;
}
private void FlightData_Load ( object sender , EventArgs e )
{
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MainV2 . bs = bindingSource1 ;
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System . Threading . Thread t11 = new System . Threading . Thread ( new System . Threading . ThreadStart ( mainloop ) )
{
IsBackground = true ,
Name = "FlightData updater"
} ;
t11 . Start ( ) ;
//MainH.threads.Add(t11);
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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}
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 ) ;
DateTime vidrec = DateTime . Now . AddSeconds ( 0 ) ;
DateTime waypoints = DateTime . Now . AddSeconds ( 0 ) ;
//comPort.stopall(true);
while ( threadrun = = 1 )
{
if ( threadrun = = 0 ) { return ; }
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if ( MainV2 . giveComport = = true )
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{
System . Threading . Thread . Sleep ( 20 ) ;
continue ;
}
if ( ! comPort . BaseStream . IsOpen )
lastdata = DateTime . MinValue ;
// re-request servo data
if ( ! ( lastdata . AddSeconds ( 8 ) > DateTime . Now ) & & comPort . BaseStream . IsOpen )
{
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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.MAVLink.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . EXTENDED_STATUS , MainV2 . cs . ratestatus ) ; // mode
comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . POSITION , MainV2 . cs . rateposition ) ; // request gps
comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . EXTRA1 , MainV2 . cs . rateattitude ) ; // request attitude
comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . EXTRA2 , MainV2 . cs . rateattitude ) ; // request vfr
comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . EXTRA3 , MainV2 . cs . ratesensors ) ; // request extra stuff - tridge
comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . RAW_SENSORS , MainV2 . cs . ratesensors ) ; // request raw sensor
comPort . requestDatastream ( ( byte ) ArdupilotMega . MAVLink . MAV_DATA_STREAM . RC_CHANNELS , MainV2 . cs . raterc ) ; // request rc info
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}
catch { }
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lastdata = DateTime . Now . AddSeconds ( 12 ) ; // 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 ) ;
}
}
catch { }
if ( MainV2 . comPort . logreadmode & & MainV2 . comPort . logplaybackfile ! = null )
{
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if ( threadrun = = 0 ) { return ; }
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updatePlayPauseButton ( true ) ;
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if ( comPort . BaseStream . IsOpen )
MainV2 . comPort . logreadmode = false ;
DateTime logplayback = MainV2 . comPort . lastlogread ;
try
{
MainV2 . comPort . readPacket ( ) ;
}
catch { }
updateLogPlayPosition ( ) ;
int act = ( int ) ( MainV2 . comPort . lastlogread - logplayback ) . TotalMilliseconds ;
if ( act > 9999 | | act < 0 )
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act = 0 ;
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int ts = 0 ;
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try
{
ts = ( int ) ( act / ( double ) NUM_playbackspeed . Value ) ;
}
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catch { }
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if ( ts > 0 )
System . Threading . Thread . Sleep ( 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 ;
}
if ( MainV2 . comPort . logplaybackfile . BaseStream . Position = = MainV2 . comPort . logplaybackfile . BaseStream . Length )
{
MainV2 . comPort . logreadmode = false ;
}
}
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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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}
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try
{
//Console.WriteLine(DateTime.Now.Millisecond);
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updateBindingSource ( ) ;
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//Console.WriteLine(DateTime.Now.Millisecond + " done ");
if ( tunning . AddMilliseconds ( 50 ) < DateTime . Now & & CB_tuning . Checked = = true )
{
double time = ( Environment . TickCount - tickStart ) / 1000.0 ;
if ( list1item ! = null )
list1 . Add ( time , ( float ) list1item . GetValue ( ( object ) MainV2 . cs , null ) ) ;
if ( list2item ! = null )
list2 . Add ( time , ( float ) list2item . GetValue ( ( object ) MainV2 . cs , null ) ) ;
if ( list3item ! = null )
list3 . Add ( time , ( float ) list3item . GetValue ( ( object ) MainV2 . cs , null ) ) ;
if ( list4item ! = null )
list4 . Add ( time , ( float ) list4item . GetValue ( ( object ) MainV2 . cs , null ) ) ;
if ( list5item ! = null )
list5 . Add ( time , ( float ) list5item . GetValue ( ( object ) MainV2 . cs , null ) ) ;
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if ( list6item ! = null )
list6 . Add ( time , ( float ) list6item . GetValue ( ( object ) MainV2 . cs , null ) ) ;
if ( list7item ! = null )
list7 . Add ( time , ( float ) list7item . GetValue ( ( object ) MainV2 . cs , null ) ) ;
if ( list8item ! = null )
list8 . Add ( time , ( float ) list8item . GetValue ( ( object ) MainV2 . cs , null ) ) ;
if ( list9item ! = null )
list9 . Add ( time , ( float ) list9item . GetValue ( ( object ) MainV2 . cs , null ) ) ;
if ( list10item ! = null )
list10 . Add ( time , ( float ) list10item . GetValue ( ( object ) MainV2 . cs , null ) ) ;
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}
if ( tracklast . AddSeconds ( 1 ) < DateTime . Now )
{
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gMapControl1 . HoldInvalidation = true ;
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while ( gMapControl1 . inOnPaint = = true )
{
System . Threading . Thread . Sleep ( 1 ) ;
}
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if ( trackPoints . Count > int . Parse ( MainV2 . config [ "NUM_tracklength" ] . ToString ( ) ) )
{
trackPoints . RemoveRange ( 0 , trackPoints . Count - int . Parse ( MainV2 . config [ "NUM_tracklength" ] . ToString ( ) ) ) ;
}
if ( MainV2 . cs . lat ! = 0 )
trackPoints . Add ( new PointLatLng ( MainV2 . cs . lat , MainV2 . cs . lng ) ) ;
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// if (CB_tuning.Checked == false) // draw if in view
{
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if ( MainV2 . comPort . logreadmode & & MainV2 . comPort . logplaybackfile ! = null )
{
// this is for the pulled wp list from a mavlink logfile
FlightPlanner . pointlist . Clear ( ) ;
FlightPlanner . pointlist . AddRange ( MainV2 . comPort . wps ) ;
}
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while ( gMapControl1 . inOnPaint = = true )
{
System . Threading . Thread . Sleep ( 1 ) ;
}
updateClearRoutes ( ) ;
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route = new GMapRoute ( trackPoints , "track" ) ;
//track.Stroke = Pens.Red;
//route.Stroke = new Pen(Color.FromArgb(144, Color.Red));
//route.Stroke.Width = 5;
//route.Tag = "track";
routes . Routes . Add ( route ) ;
if ( waypoints . AddSeconds ( 10 ) < DateTime . Now )
{
//Console.WriteLine("Doing FD WP's");
polygons . Markers . Clear ( ) ;
foreach ( PointLatLngAlt plla in FlightPlanner . pointlist )
{
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if ( plla = = null | | plla . Lng = = 0 | | plla . Lat = = 0 )
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break ;
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addpolygonmarker ( plla . Tag , plla . Lng , plla . Lat , ( int ) plla . Alt , plla . color , polygons ) ;
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}
RegeneratePolygon ( ) ;
waypoints = DateTime . Now ;
}
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if ( MainV2 . cs . mode . ToLower ( ) = = "guided" & & GuidedModeWP ! = null & & GuidedModeWP . Lat ! = 0 )
{
addpolygonmarker ( "Guided Mode" , GuidedModeWP . Lng , GuidedModeWP . Lat , ( int ) GuidedModeWP . Alt , Color . Blue , routes ) ;
}
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//routes.Polygons.Add(poly);
if ( trackPoints . Count > 0 )
{
PointLatLng currentloc = new PointLatLng ( MainV2 . cs . lat , MainV2 . cs . lng ) ;
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if ( MainV2 . cs . firmware = = MainV2 . Firmwares . ArduPlane )
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{
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routes . Markers . Add ( new GMapMarkerPlane ( currentloc , MainV2 . cs . yaw , MainV2 . cs . groundcourse , MainV2 . cs . nav_bearing , MainV2 . cs . target_bearing ) ) ;
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}
else
{
routes . Markers . Add ( new GMapMarkerQuad ( currentloc , MainV2 . cs . yaw , MainV2 . cs . groundcourse , MainV2 . cs . nav_bearing ) ) ;
}
if ( trackPoints [ trackPoints . Count - 1 ] . Lat ! = 0 & & ( DateTime . Now . Second % 4 = = 0 ) & & CHK_autopan . Checked )
{
updateMapPosition ( currentloc ) ;
}
if ( trackPoints . Count = = 1 & & gMapControl1 . Zoom = = 3 ) // 3 is the default load zoom
{
updateMapPosition ( currentloc ) ;
updateMapZoom ( 17 ) ;
//gMapControl1.ZoomAndCenterMarkers("routes");// ZoomAndCenterRoutes("routes");
}
}
gMapControl1 . HoldInvalidation = false ;
gMapControl1 . Invalidate ( ) ;
}
tracklast = DateTime . Now ;
}
}
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catch ( Exception ex ) { Console . WriteLine ( "FD Main loop exception " + ex . ToString ( ) ) ; }
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}
Console . WriteLine ( "FD Main loop exit" ) ;
}
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// to prevent cross thread calls while in a draw and exception
private void updateClearRoutes ( )
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{
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// not async
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this . Invoke ( ( System . Windows . Forms . MethodInvoker ) delegate ( )
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{
routes . Markers . Clear ( ) ;
routes . Routes . Clear ( ) ;
} ) ;
}
private void updatePlayPauseButton ( bool playing )
{
if ( playing )
{
this . BeginInvoke ( ( System . Windows . Forms . MethodInvoker ) delegate ( )
{
try
{
BUT_playlog . Text = "Pause" ;
}
catch { }
} ) ;
}
else
{
this . BeginInvoke ( ( System . Windows . Forms . MethodInvoker ) delegate ( )
{
try
{
BUT_playlog . Text = "Play" ;
}
catch { }
} ) ;
}
}
private void updateBindingSource ( )
{
this . BeginInvoke ( ( System . Windows . Forms . MethodInvoker ) delegate ( )
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{
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try
{
MainV2 . cs . UpdateCurrentSettings ( bindingSource1 ) ;
}
catch { }
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} ) ;
}
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private void updateMapPosition ( PointLatLng currentloc )
{
this . BeginInvoke ( ( MethodInvoker ) delegate ( )
{
try
{
gMapControl1 . Position = currentloc ;
hud1 . Refresh ( ) ;
}
catch { }
} ) ;
}
private void updateMapZoom ( int zoom )
{
this . BeginInvoke ( ( MethodInvoker ) delegate ( )
{
try
{
gMapControl1 . Zoom = zoom ;
}
catch { }
} ) ;
}
private void updateLogPlayPosition ( )
{
this . BeginInvoke ( ( MethodInvoker ) delegate ( )
{
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try
{
tracklog . Value = ( int ) ( MainV2 . comPort . logplaybackfile . BaseStream . Position / ( double ) MainV2 . comPort . logplaybackfile . BaseStream . Length * 100 ) ;
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lbl_logpercent . Text = ( MainV2 . comPort . logplaybackfile . BaseStream . Position / ( double ) MainV2 . comPort . logplaybackfile . BaseStream . Length ) . ToString ( "0.00%" ) ;
}
catch { }
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} ) ;
}
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private void addpolygonmarker ( string tag , double lng , double lat , int alt , Color ? color , GMapOverlay overlay )
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{
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 ) ;
{
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mBorders . InnerMarker = m ;
try
{
mBorders . wprad = ( int ) float . Parse ( ArdupilotMega . MainV2 . config [ "TXT_WPRad" ] . ToString ( ) ) ;
}
catch { }
mBorders . MainMap = gMapControl1 ;
if ( color . HasValue )
{
mBorders . Color = color . Value ;
}
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}
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overlay . Markers . Add ( m ) ;
overlay . Markers . Add ( mBorders ) ;
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}
catch ( Exception ) { }
}
/// <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
{
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// 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
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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 ;
if ( comPort . BaseStream . IsOpen )
{
comPort . Close ( ) ;
}
}
private void BUT_clear_track_Click ( object sender , EventArgs e )
{
trackPoints . Clear ( ) ;
}
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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comPort . doCommand ( ( MAVLink . MAV_CMD ) Enum . Parse ( typeof ( MAVLink . MAV_CMD ) , CMB_action . Text ) , 0 , 0 , 0 , 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 ;
//comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_RETURN); // set nav from
//System.Threading.Thread.Sleep(100);
comPort . setWPCurrent ( 1 ) ; // set nav to
//System.Threading.Thread.Sleep(100);
//comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_AUTO); // set auto
}
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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 SubMainHT_Panel1_Resize ( object sender , EventArgs e )
{
hud1 . Width = MainH . SplitterDistance ;
SubMainLeft . SplitterDistance = hud1 . Height + 2 ;
}
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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string alt = "100" ;
if ( MainV2 . cs . firmware = = MainV2 . Firmwares . ArduCopter2 )
{
alt = ( 10 * MainV2 . cs . multiplierdist ) . ToString ( "0" ) ;
}
else
{
alt = ( 100 * MainV2 . cs . multiplierdist ) . ToString ( "0" ) ;
}
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if ( DialogResult . Cancel = = Common . InputBox ( "Enter Alt" , "Enter Guided Mode Alt" , ref alt ) )
return ;
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int intalt = ( int ) ( 100 * MainV2 . cs . multiplierdist ) ;
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 ;
}
Locationwp gotohere = new Locationwp ( ) ;
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gotohere . id = ( byte ) MAVLink . MAV_CMD . WAYPOINT ;
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gotohere . alt = ( float ) ( intalt / MainV2 . cs . multiplierdist ) ; // back to m
gotohere . lat = ( float ) ( gotolocation . Lat ) ;
gotohere . lng = ( float ) ( gotolocation . Lng ) ;
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try
{
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MainV2 . giveComport = true ;
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MainV2 . comPort . setWP ( gotohere , 0 , MAVLink . MAV_FRAME . GLOBAL_RELATIVE_ALT , ( byte ) 2 ) ;
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GuidedModeWP = new PointLatLngAlt ( gotohere . lat , gotohere . lng , gotohere . alt , "Guided Mode" ) ;
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MainV2 . giveComport = false ;
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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 { }
}
}
private void FlightData_ParentChanged ( object sender , EventArgs e )
{
if ( MainV2 . cam ! = null )
{
MainV2 . cam . camimage + = new WebCamService . CamImage ( cam_camimage ) ;
}
}
void cam_camimage ( Image camimage )
{
hud1 . bgimage = camimage ;
}
private void BUT_Homealt_Click ( object sender , EventArgs e )
{
if ( MainV2 . cs . altoffsethome ! = 0 )
{
MainV2 . cs . altoffsethome = 0 ;
}
else
{
MainV2 . cs . altoffsethome = MainV2 . cs . alt / MainV2 . cs . multiplierdist ;
}
}
private void gMapControl1_Resize ( object sender , EventArgs e )
{
gMapControl1 . Zoom = gMapControl1 . Zoom + 0.01 ;
}
private void BUT_loadtelem_Click ( object sender , EventArgs e )
{
OpenFileDialog fd = new OpenFileDialog ( ) ;
fd . AddExtension = true ;
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fd . Filter = "Ardupilot Telemtry log (*.tlog)|*.tlog|Mavlink Log (*.mavlog)|*.mavlog" ;
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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 ;
}
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catch { CustomMessageBox . Show ( "Error: Failed to write log file" ) ; }
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}
}
private void BUT_playlog_Click ( object sender , EventArgs e )
{
if ( MainV2 . comPort . logreadmode )
{
MainV2 . comPort . logreadmode = false ;
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ZedGraphTimer . Stop ( ) ;
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playingLog = false ;
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}
else
{
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// BUT_clear_track_Click(sender, e);
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MainV2 . comPort . logreadmode = true ;
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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 ( ) ;
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playingLog = true ;
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}
}
private void tracklog_Scroll ( object sender , EventArgs e )
{
BUT_clear_track_Click ( sender , e ) ;
MainV2 . comPort . lastlogread = DateTime . MinValue ;
if ( MainV2 . comPort . logplaybackfile ! = null )
MainV2 . comPort . logplaybackfile . BaseStream . Position = ( long ) ( MainV2 . comPort . logplaybackfile . BaseStream . Length * ( tracklog . Value / 100.0 ) ) ;
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updateLogPlayPosition ( ) ;
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}
bool loaded = false ;
private void MainH_SplitterMoved ( object sender , SplitterEventArgs e )
{
if ( loaded = = true )
{ // startup check
MainV2 . config [ "FlightSplitter" ] = MainH . SplitterDistance . ToString ( ) ;
}
loaded = true ;
hud1 . Width = MainH . Panel1 . Width ;
}
private void tabPage1_Resize ( object sender , EventArgs e )
{
int mywidth ;
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 )
{
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MainV2 . comPort . setMode ( CMB_modes . Text ) ;
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}
private void BUT_setwp_Click ( object sender , EventArgs e )
{
try
{
( ( Button ) sender ) . Enabled = false ;
comPort . setWPCurrent ( ( ushort ) CMB_setwp . SelectedIndex ) ; // set nav to
}
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catch { CustomMessageBox . Show ( "The command failed to execute" ) ; }
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( ( Button ) sender ) . Enabled = true ;
}
private void CMB_setwp_Click ( object sender , EventArgs e )
{
CMB_setwp . Items . Clear ( ) ;
CMB_setwp . Items . Add ( "0 (Home)" ) ;
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if ( MainV2 . comPort . param [ "CMD_TOTAL" ] ! = null )
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{
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int wps = int . Parse ( MainV2 . comPort . param [ "CMD_TOTAL" ] . ToString ( ) ) ;
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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 ;
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#if MAVLINK10
MainV2 . comPort . setMode ( "AUTO" ) ;
#else
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comPort . doAction ( MAVLink . MAV_ACTION . MAV_ACTION_SET_AUTO ) ;
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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 BUT_quickrtl_Click ( object sender , EventArgs e )
{
try
{
( ( Button ) sender ) . Enabled = false ;
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#if MAVLINK10
MainV2 . comPort . setMode ( "RTL" ) ;
#else
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comPort . doAction ( MAVLink . MAV_ACTION . MAV_ACTION_RETURN ) ;
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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 BUT_quickmanual_Click ( object sender , EventArgs e )
{
try
{
( ( Button ) sender ) . Enabled = false ;
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#if MAVLINK10
MainV2 . comPort . setMode ( "MANUAL" ) ;
#else
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comPort . doAction ( MAVLink . MAV_ACTION . MAV_ACTION_SET_MANUAL ) ;
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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 BUT_log2kml_Click ( object sender , EventArgs e )
{
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if ( DialogResult . Cancel = = Common . MessageShowAgain ( "Tlog to KML Firmware Version" , "When converting logs, ensure your Firmware version is set correctly.\n(Near your com port selection.)" ) )
{
return ;
}
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Form frm = new MavlinkLog ( ) ;
2012-03-03 20:42:42 -04:00
ThemeManager . ApplyThemeTo ( frm ) ;
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frm . ShowDialog ( ) ;
}
private void BUT_joystick_Click ( object sender , EventArgs e )
{
Form joy = new JoystickSetup ( ) ;
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ThemeManager . ApplyThemeTo ( joy ) ;
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joy . Show ( ) ;
}
private void CMB_modes_Click ( object sender , EventArgs e )
{
CMB_modes . DataSource = Enum . GetNames ( Common . getModes ( ) ) ;
}
private void hud1_DoubleClick ( object sender , EventArgs e )
{
if ( huddropout )
return ;
SubMainLeft . Panel1Collapsed = true ;
Form dropout = new Form ( ) ;
dropout . Size = new System . Drawing . Size ( hud1 . Width , hud1 . Height + 20 ) ;
SubMainLeft . Panel1 . Controls . Remove ( hud1 ) ;
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 )
{
SubMainLeft . Panel1 . Controls . Add ( hud1 ) ;
SubMainLeft . Panel1Collapsed = false ;
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 )
{
if ( tabControl1 . SelectedTab = = tabStatus )
{
tabControl1 . SuspendLayout ( ) ;
foreach ( Control temp in tabStatus . Controls )
{
temp . DataBindings . Clear ( ) ;
//temp.Dispose();
}
//tabStatus.Controls.Clear();
int x = 10 ;
int y = 10 ;
object thisBoxed = MainV2 . cs ;
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 { }
lbl1 . Location = new Point ( x , y ) ;
lbl1 . Size = new System . Drawing . Size ( 75 , 13 ) ;
lbl1 . Text = field . Name ;
lbl1 . Name = field . Name ;
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 , true , System . Windows . Forms . DataSourceUpdateMode . OnValidation , "" ) ) ;
lbl2 . Name = field . Name + "value" ;
//lbl2.Text = fieldValue.ToString();
if ( add )
{
tabStatus . Controls . Add ( lbl1 ) ;
tabStatus . Controls . Add ( lbl2 ) ;
}
//Application.DoEvents();
x + = 0 ;
y + = 15 ;
if ( y > tabStatus . Height - 30 )
{
x + = 140 ;
y = 10 ;
}
}
tabStatus . Width = x ;
tabControl1 . ResumeLayout ( ) ;
}
else
{
foreach ( Control temp in tabStatus . Controls )
{
temp . DataBindings . Clear ( ) ;
}
}
}
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 ;
}
void setupPropertyInfo ( ref System . Reflection . PropertyInfo input , string name , object source )
{
Type test = source . GetType ( ) ;
foreach ( var field in test . GetProperties ( ) )
{
if ( field . Name = = name )
{
input = field ;
return ;
}
}
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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 . cs ;
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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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 )
{
setupPropertyInfo ( ref list1item , ( ( CheckBox ) sender ) . Name , MainV2 . cs ) ;
list1curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list1 , Color . Red , SymbolType . None ) ;
}
else if ( list2item = = null )
{
setupPropertyInfo ( ref list2item , ( ( CheckBox ) sender ) . Name , MainV2 . cs ) ;
list2curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list2 , Color . Blue , SymbolType . None ) ;
}
else if ( list3item = = null )
{
setupPropertyInfo ( ref list3item , ( ( CheckBox ) sender ) . Name , MainV2 . cs ) ;
list3curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list3 , Color . Green , SymbolType . None ) ;
}
else if ( list4item = = null )
{
setupPropertyInfo ( ref list4item , ( ( CheckBox ) sender ) . Name , MainV2 . cs ) ;
list4curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list4 , Color . Orange , SymbolType . None ) ;
}
else if ( list5item = = null )
{
setupPropertyInfo ( ref list5item , ( ( CheckBox ) sender ) . Name , MainV2 . cs ) ;
list5curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list5 , Color . Yellow , SymbolType . None ) ;
}
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else if ( list6item = = null )
{
setupPropertyInfo ( ref list6item , ( ( CheckBox ) sender ) . Name , MainV2 . cs ) ;
list6curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list6 , Color . Magenta , SymbolType . None ) ;
}
else if ( list7item = = null )
{
setupPropertyInfo ( ref list7item , ( ( CheckBox ) sender ) . Name , MainV2 . cs ) ;
list7curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list7 , Color . Purple , SymbolType . None ) ;
}
else if ( list8item = = null )
{
setupPropertyInfo ( ref list8item , ( ( CheckBox ) sender ) . Name , MainV2 . cs ) ;
list8curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list8 , Color . LimeGreen , SymbolType . None ) ;
}
else if ( list9item = = null )
{
setupPropertyInfo ( ref list9item , ( ( CheckBox ) sender ) . Name , MainV2 . cs ) ;
list9curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list9 , Color . Cyan , SymbolType . None ) ;
}
else if ( list10item = = null )
{
setupPropertyInfo ( ref list10item , ( ( CheckBox ) sender ) . Name , MainV2 . cs ) ;
list10curve = zg1 . GraphPane . AddCurve ( ( ( CheckBox ) sender ) . Name , list10 , Color . Violet , SymbolType . None ) ;
}
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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 ;
}
string alt = ( 100 * MainV2 . cs . multiplierdist ) . ToString ( "0" ) ;
Common . InputBox ( "Enter Alt" , "Enter Target Alt (absolute)" , ref alt ) ;
int intalt = ( int ) ( 100 * MainV2 . cs . multiplierdist ) ;
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 . 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 ( ) ;
scriptedit . Size = new System . Drawing . Size ( 500 , 500 ) ;
TextBox tb = new TextBox ( ) ;
tb . Dock = DockStyle . Fill ;
tb . ScrollBars = ScrollBars . Both ;
tb . Multiline = true ;
tb . Location = new Point ( 0 , 0 ) ;
tb . Size = new System . Drawing . Size ( scriptedit . Size . Width - 30 , scriptedit . Size . Height - 30 ) ;
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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}
}