ardupilot/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

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C#
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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);
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;
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;
CurveItem list6curve;
CurveItem list7curve;
CurveItem list8curve;
CurveItem list9curve;
CurveItem list10curve;
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internal static GMapOverlay kmlpolygons;
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;
PointLatLngAlt GuidedModeWP = new PointLatLngAlt();
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AviWriter aviwriter;
public SplitContainer MainHcopy = null;
protected override void Dispose(bool disposing)
{
threadrun = 0;
MainV2.comPort.logreadmode = false;
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MainV2.config["FlightSplitter"] = MainH.SplitterDistance.ToString();
System.Threading.Thread.Sleep(100);
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base.Dispose(disposing);
}
public FlightData()
{
InitializeComponent();
mymap = gMapControl1;
myhud = hud1;
MainHcopy = MainH;
// setup default tuning graph
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)))
#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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}
#endif
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CMB_action.DataSource = list;
CMB_modes.DataSource = Enum.GetNames(typeof(Common.apmmodes));
CMB_setwp.SelectedIndex = 0;
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;
gMapControl1.RoutesEnabled = true;
gMapControl1.PolygonsEnabled = true;
kmlpolygons = new GMapOverlay(gMapControl1, "kmlpolygons");
gMapControl1.Overlays.Add(kmlpolygons);
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)
{
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);
}
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; }
if (MainV2.givecomport == true)
{
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);
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER, 0); // request servoout
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTENDED_STATUS, MainV2.cs.ratestatus); // mode
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION, MainV2.cs.rateposition); // request gps
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA1, MainV2.cs.rateattitude); // request attitude
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA2, MainV2.cs.rateattitude); // request vfr
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, MainV2.cs.raterc); // request rc info
}
catch { }
lastdata = DateTime.Now; // prevent flooding
}
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)
{
if (threadrun == 0) { return; }
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)
act = 0;
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int ts = 0;
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try
{
ts = (int)(act / (double)NUM_playbackspeed.Value);
}
catch { }
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if (ts > 0)
System.Threading.Thread.Sleep(ts);
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
{
updatePlayPauseButton(false);
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}
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try
{
//Console.WriteLine(DateTime.Now.Millisecond);
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));
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)
{
gMapControl1.HoldInvalidation = true;
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));
// 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);
}
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)
{
if (plla == null || plla.Lng == 0 || plla.Lat == 0)
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break;
addpolygonmarker(plla.Tag, plla.Lng, plla.Lat, (int)plla.Alt,plla.color,polygons);
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}
RegeneratePolygon();
waypoints = DateTime.Now;
}
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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{
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;
}
}
catch (Exception ex) { Console.WriteLine("FD Main loop exception " + ex.ToString()); }
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}
Console.WriteLine("FD Main loop exit");
}
// to prevent cross thread calls while in a draw and exception
private void updateClearRoutes()
{
// not async
this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
{
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()
{
MainV2.cs.UpdateCurrentSettings(bindingSource1);
});
}
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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()
{
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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});
}
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);
{
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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}
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
{
// 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();
// Force a redraw
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");
swlog = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm") + " telem.log");
}
catch { MessageBox.Show("Log creation error"); }
}
private void BUTactiondo_Click(object sender, EventArgs e)
{
try
{
((Button)sender).Enabled = false;
#if MAVLINK10
comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), CMB_action.Text),0,0,0,0,0,0,0);
#else
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comPort.doAction((MAVLink.MAV_ACTION)Enum.Parse(typeof(MAVLink.MAV_ACTION), "MAV_ACTION_" + CMB_action.Text));
#endif
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}
catch { MessageBox.Show("The Command failed to execute"); }
((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
}
catch { MessageBox.Show("The command failed to execute"); }
((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)
{
splitContainer1.Panel1Collapsed = false;
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ZedGraphTimer.Enabled = true;
ZedGraphTimer.Start();
zg1.Visible = true;
zg1.Refresh();
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}
else
{
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();
MainV2.fixtheme(temp);
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)
{
MessageBox.Show("Please Connect First");
return;
}
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");
}
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))
{
MessageBox.Show("Bad Alt");
return;
}
if (gotolocation.Lat == 0 || gotolocation.Lng == 0)
{
MessageBox.Show("Bad Lat/Long");
return;
}
Locationwp gotohere = new Locationwp();
gotohere.id = (byte)MAVLink.MAV_CMD.WAYPOINT;
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
{
MainV2.givecomport = true;
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt,"Guided Mode");
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MainV2.givecomport = false;
}
catch (Exception ex) { MainV2.givecomport = false; MessageBox.Show("Error sending command : " + ex.Message); }
}
private void Zoomlevel_ValueChanged(object sender, EventArgs e)
{
try
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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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}
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;
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;
}
catch { MessageBox.Show("Error: Failed to write log file"); }
}
}
private void BUT_playlog_Click(object sender, EventArgs e)
{
if (MainV2.comPort.logreadmode)
{
MainV2.comPort.logreadmode = false;
}
else
{
BUT_clear_track_Click(sender, e);
MainV2.comPort.logreadmode = true;
}
}
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));
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)
{
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
}
catch { MessageBox.Show("The command failed to execute"); }
((Button)sender).Enabled = true;
}
private void CMB_setwp_Click(object sender, EventArgs e)
{
CMB_setwp.Items.Clear();
CMB_setwp.Items.Add("0 (Home)");
if (MainV2.comPort.param["CMD_TOTAL"] != null)
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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;
#if MAVLINK10
MainV2.comPort.setMode("AUTO");
#else
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comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_AUTO);
#endif
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}
catch { MessageBox.Show("The Command failed to execute"); }
((Button)sender).Enabled = true;
}
private void BUT_quickrtl_Click(object sender, EventArgs e)
{
try
{
((Button)sender).Enabled = false;
#if MAVLINK10
MainV2.comPort.setMode("RTL");
#else
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comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_RETURN);
#endif
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}
catch { MessageBox.Show("The Command failed to execute"); }
((Button)sender).Enabled = true;
}
private void BUT_quickmanual_Click(object sender, EventArgs e)
{
try
{
((Button)sender).Enabled = false;
#if MAVLINK10
MainV2.comPort.setMode("MANUAL");
#else
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comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_MANUAL);
#endif
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}
catch { MessageBox.Show("The Command failed to execute"); }
((Button)sender).Enabled = true;
}
private void BUT_log2kml_Click(object sender, EventArgs e)
{
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();
MainV2.fixtheme(frm);
frm.ShowDialog();
}
private void BUT_joystick_Click(object sender, EventArgs e)
{
Form joy = new JoystickSetup();
MainV2.fixtheme(joy);
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);
MessageBox.Show("Output avi will be saved to the log folder");
aviwriter = new AviWriter();
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
aviwriter.avi_start(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm-ss") + ".avi");
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",
Width = 50,
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Height = 250,
Text = "Graph This"
};
int x = 10;
int y = 10;
{
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());
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;
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;
selectform.Width = x + 100;
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}
}
MainV2.fixtheme(selectform);
selectform.Show();
}
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);
}
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
{
MessageBox.Show("Max 10 at a time.");
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((CheckBox)sender).Checked = false;
}
MainV2.fixtheme(this);
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);
}
if (list6item != null && list6item.Name == ((CheckBox)sender).Name)
{
list6item = null;
zg1.GraphPane.CurveList.Remove(list6curve);
}
if (list7item != null && list7item.Name == ((CheckBox)sender).Name)
{
list7item = null;
zg1.GraphPane.CurveList.Remove(list7curve);
}
if (list8item != null && list8item.Name == ((CheckBox)sender).Name)
{
list8item = null;
zg1.GraphPane.CurveList.Remove(list8curve);
}
if (list9item != null && list9item.Name == ((CheckBox)sender).Name)
{
list9item = null;
zg1.GraphPane.CurveList.Remove(list9curve);
}
if (list10item != null && list10item.Name == ((CheckBox)sender).Name)
{
list10item = null;
zg1.GraphPane.CurveList.Remove(list10curve);
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}
}
}
private void pointCameraHereToolStripMenuItem_Click(object sender, EventArgs e)
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
MessageBox.Show("Please Connect First");
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))
{
MessageBox.Show("Bad Alt");
return;
}
if (gotolocation.Lat == 0 || gotolocation.Lng == 0)
{
MessageBox.Show("Bad Lat/Long");
return;
}
MainV2.comPort.setMountConfigure(MAVLink.MAV_MOUNT_MODE.MAV_MOUNT_MODE_GPS_POINT, true, true, true);
MainV2.comPort.setMountControl(gotolocation.Lat, gotolocation.Lng, (int)(intalt / MainV2.cs.multiplierdist), true);
}
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 = @"
# 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)
#
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'
";
MessageBox.Show("This is Very ALPHA");
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();
if (DialogResult.Yes == MessageBox.Show("Run Script", "Run this script?", MessageBoxButtons.YesNo))
{
Script scr = new Script();
scr.runScript(tb.Text);
}
}
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}
}