APM Planner 1.1.47

fix Updater

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -86,7 +86,7 @@
     <SignManifests>false</SignManifests>
   </PropertyGroup>
   <PropertyGroup>
-    <SignAssembly>true</SignAssembly>
+    <SignAssembly>false</SignAssembly>
   </PropertyGroup>
   <PropertyGroup />
   <PropertyGroup>
@@ -118,6 +118,10 @@
     <ApplicationManifest>Properties\app.manifest</ApplicationManifest>
   </PropertyGroup>
   <ItemGroup>
+    <Reference Include="alglibnet2, Version=0.0.0.0, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>Lib\alglibnet2.dll</HintPath>
+    </Reference>
     <Reference Include="BSE.Windows.Forms">
       <HintPath>..\..\..\..\..\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\BSE.Windows.Forms.dll</HintPath>
     </Reference>

Tools/ArdupilotMegaPlanner/MagCalib.cs

@@ -4,6 +4,7 @@ using System.Linq;
 using System.Text;
 using System.Windows.Forms;
 using System.IO;
+using System.Collections;
 
 namespace ArdupilotMega
 {
@@ -14,34 +15,12 @@ namespace ArdupilotMega
 
         public static void doWork()
         {
-            /*
-            double[,] x = new double[,] { { -1 }, { -0.8 }, { -0.6 }, { -0.4 }, { -0.2 }, { 0 }, { 0.2 }, { 0.4 }, { 0.6 }, { 0.8 }, { 1.0 } };
-            double[] y = new double[] { 0.223130, 0.382893, 0.582748, 0.786628, 0.941765, 1.000000, 0.941765, 0.786628, 0.582748, 0.382893, 0.223130 };
-            double[] c = new double[] { 0.3 };
-            double epsf = 0;
-            double epsx = 0.000001;
-            int maxits = 0;
-            int info;
-            alglib.lsfitstate state;
-            alglib.lsfitreport rep;
-            double diffstep = 0.0001;
-
-            //
-            // Fitting without weights
-            //
-            alglib.lsfitcreatef(x, y, c, diffstep, out state);
-            alglib.lsfitsetcond(state, epsf, epsx, maxits);
-            alglib.lsfitfit(state, function_cx_1_func, null, null);
-            alglib.lsfitresults(state, out info, out c, out rep);
-            System.Console.WriteLine("{0}", info); // EXPECTED: 2
-            System.Console.WriteLine("{0}", alglib.ap.format(c, 1)); // EXPECTED: [1.5]
-            */
-
             // based of tridge's work
 
             Tuple<float, float, float> offset = new Tuple<float, float, float>(0, 0, 0);
             List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
 
+            Hashtable filter = new Hashtable();
 
             OpenFileDialog openFileDialog1 = new OpenFileDialog();
             openFileDialog1.Filter = "*.tlog|*.tlog";
@@ -54,6 +33,8 @@ namespace ArdupilotMega
             }
             catch { } // incase dir doesnt exist
 
+            openFileDialog1.FileName = @"C:\Users\hog\Downloads\2012-02-05.log";
+
             if (openFileDialog1.ShowDialog() == DialogResult.OK)
             {
                 foreach (string logfile in openFileDialog1.FileNames)
@@ -74,65 +55,97 @@ namespace ArdupilotMega
                         //progressBar1.Refresh();
                         //Application.DoEvents();
 
-                        byte[] packet = mine.readPacket();
+                        byte[] packetraw = mine.readPacket();
 
-                        var pack = mine.DebugPacket(packet);
+                        var packet = mine.DebugPacket(packetraw);
 
-                        if (pack.GetType() == typeof(MAVLink.__mavlink_sensor_offsets_t))
+                        if (packet == null)
+                            continue;
+
+                        if (packet.GetType() == typeof(MAVLink.__mavlink_sensor_offsets_t))
                         {
                             offset = new Tuple<float,float,float>(
-                                ((MAVLink.__mavlink_sensor_offsets_t)pack).mag_ofs_x,
+                                ((MAVLink.__mavlink_sensor_offsets_t)packet).mag_ofs_x,
-                                ((MAVLink.__mavlink_sensor_offsets_t)pack).mag_ofs_y,
+                                ((MAVLink.__mavlink_sensor_offsets_t)packet).mag_ofs_y,
-                                ((MAVLink.__mavlink_sensor_offsets_t)pack).mag_ofs_z);
+                                ((MAVLink.__mavlink_sensor_offsets_t)packet).mag_ofs_z);
                         }
-                        else if (pack.GetType() == typeof(MAVLink.__mavlink_raw_imu_t))
+                        else if (packet.GetType() == typeof(MAVLink.__mavlink_raw_imu_t))
                         {
+                            int div = 20;
+
+                            string item = (int)(((MAVLink.__mavlink_raw_imu_t)packet).xmag / div) + "," +
+                                (int)(((MAVLink.__mavlink_raw_imu_t)packet).ymag / div) + "," +
+                                (int)(((MAVLink.__mavlink_raw_imu_t)packet).zmag / div);
+
+                            if (filter.ContainsKey(item))
+                            {
+                                filter[item] = (int)filter[item] + 1;
+
+                                if ((int)filter[item] > 3)
+                                    continue;
+                            }
+                            else
+                            {
+                                filter[item] = 1;
+                            }
+                            
+
                             data.Add(new Tuple<float, float, float>(
-                                ((MAVLink.__mavlink_raw_imu_t)pack).xmag - offset.Item1,
+                                ((MAVLink.__mavlink_raw_imu_t)packet).xmag - offset.Item1,
-                                ((MAVLink.__mavlink_raw_imu_t)pack).ymag - offset.Item2,
+                                ((MAVLink.__mavlink_raw_imu_t)packet).ymag - offset.Item2,
-                                ((MAVLink.__mavlink_raw_imu_t)pack).zmag - offset.Item3));
+                                ((MAVLink.__mavlink_raw_imu_t)packet).zmag - offset.Item3));
                         }
 
                     }
 
-
+                    Console.WriteLine("Extracted " + data.Count + " data points");
-    
+                    Console.WriteLine("Current offset: " + offset);
-
-
-
-                    //progressBar1.Value = 100;
 
                     mine.logreadmode = false;
                     mine.logplaybackfile.Close();
                     mine.logplaybackfile = null;
 
+                    double[] x = new double[] { 0, 0, 0, 0 };
+                    double epsg = 0.0000000001;
+                    double epsf = 0;
+                    double epsx = 0;
+                    int maxits = 0;
+                    alglib.minlmstate state;
+                    alglib.minlmreport rep;
+
+                    alglib.minlmcreatev(data.Count, x, 100, out state);
+                    alglib.minlmsetcond(state, epsg, epsf, epsx, maxits);
+                    alglib.minlmoptimize(state, sphere_error, null, data);
+                    alglib.minlmresults(state, out x, out rep);
+
+                    System.Console.WriteLine("{0}", rep.terminationtype); // EXPECTED: 4
+                    System.Console.WriteLine("{0}", alglib.ap.format(x, 2)); // EXPECTED: [-3,+3]
+                    //System.Console.ReadLine();
+
+
+                  //  return;
+
+
                 }
             }
         }
 
-        public static List<double> sphere_error(double[,] p, double[] data)
+        public static void sphere_error(double[] xi, double[] fi, object obj)
         {
-            double xofs = p[0, 0];
+            double xofs = xi[0];
-            double yofs = p[0, 1];
+            double yofs = xi[1];
-            double zofs = p[0, 2];
+            double zofs = xi[2];
-            double r = p[0, 3];
+            double r = xi[3];
-            List<double> ret = new List<double>();
+            int a = 0;
-            foreach (var d in data)
+            foreach (var d in (List<Tuple<float, float, float>>)obj)
             {
-                //double x, y, z = d;
+                double x = d.Item1;
-                //double err = r - Math.Sqrt(Math.Pow((x + xofs), 2) + Math.Pow((y + yofs), 2) + Math.Pow((z + zofs), 2));
+                double y = d.Item2;
-                //ret.Add(err);
+                double z = d.Item3;
+                double err = r - Math.Sqrt(Math.Pow((x + xofs), 2) + Math.Pow((y + yofs), 2) + Math.Pow((z + zofs), 2));
+                fi[a] = err;
+                a++;
             }
-            return ret;
         }
-
-        public static void function_cx_1_func(double[] c, double[] x, ref double func, object obj)
-        {
-            // this callback calculates f(c,x)=exp(-c0*sqr(x0))
-            // where x is a position on X-axis and c is adjustable parameter
-            func = System.Math.Exp(-c[0] * x[0] * x[0]);
-        }
-
-
     }
 }

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -22,6 +22,7 @@ using System.Threading;
 using System.Net.Sockets;
 using IronPython.Hosting;
 using log4net;
+using ArdupilotMega.Controls;
 
 namespace ArdupilotMega
 {
@@ -1629,12 +1630,12 @@ namespace ArdupilotMega
         }
 
 
-        public static void updatecheck(Label loadinglabel)
+        public static void updatecheck(ProgressReporterDialogue frmProgressReporter)
         {
             var baseurl = ConfigurationManager.AppSettings["UpdateLocation"];
             try
             {
-                bool update = updatecheck(loadinglabel, baseurl, "");
+                bool update = updatecheck(frmProgressReporter, baseurl, "");
                 var process = new Process();
                 string exePath = Path.GetDirectoryName(Application.ExecutablePath);
                 if (MONO)
@@ -1659,17 +1660,20 @@ namespace ArdupilotMega
                         log.Error("Exception during update", ex);
                     }
                 }
-                if (loadinglabel != null)
+                if (frmProgressReporter != null)
-                    UpdateLabel(loadinglabel, "Starting Updater");
+                    frmProgressReporter.UpdateProgressAndStatus(-1, "Starting Updater");
                 log.Info("Starting new process: " + process.StartInfo.FileName + " with " + process.StartInfo.Arguments);
                 process.Start();
                 log.Info("Quitting existing process");
                 try
                 {
-                    Application.Exit();
+                    MainV2.instance.BeginInvoke((MethodInvoker)delegate() {
+                        Application.Exit();
+                    });
                 }
                 catch
                 {
+                    Application.Exit();
                 }
             }
             catch (Exception ex)
@@ -1719,10 +1723,25 @@ namespace ArdupilotMega
             {
                 var fi = new FileInfo(path);
 
-                log.Info(response.Headers[HttpResponseHeader.ETag]);
+                string CurrentEtag = "";
 
-                if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0")
+                if (File.Exists(path + ".etag"))
                 {
+                    using (Stream fs = File.OpenRead(path + ".etag"))
+                    {
+                        using (StreamReader sr = new StreamReader(fs))
+                        {
+                            CurrentEtag = sr.ReadLine();
+                            sr.Close();
+                        }
+                        fs.Close();
+                    }
+                }
+
+                if (fi.Length != response.ContentLength && response.Headers[HttpResponseHeader.ETag] != CurrentEtag)
+                {
+                    log.Debug("New file Check: " + fi.Length + " vs " + response.ContentLength + " " + response.Headers[HttpResponseHeader.ETag] + " vs " + CurrentEtag);
+
                     using (var sw = new StreamWriter(path + ".etag"))
                     {
                         sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
@@ -1757,46 +1776,28 @@ namespace ArdupilotMega
 
         public static void DoUpdate()
         {
-            var loading = new Form
+            ProgressReporterDialogue frmProgressReporter = new ProgressReporterDialogue()
             {
-
+                Text = "Check for Updates",
-                Width = 400,
+                StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen
-                Height = 150,
-                StartPosition = FormStartPosition.CenterScreen,
-                TopMost = true,
-                MinimizeBox = false,
-                MaximizeBox = false
             };
-            var resources = new ComponentResourceManager(typeof(MainV2));
-            loading.Icon = ((Icon)(resources.GetObject("$this.Icon")));
 
-            var loadinglabel = new Label
+            MainV2.fixtheme(frmProgressReporter);
-                                     {
-                                         Location = new System.Drawing.Point(50, 40),
-                                         Name = "load",
-                                         AutoSize = true,
-                                         Text = "Checking...",
-                                         Size = new System.Drawing.Size(100, 20)
-                                     };
 
-            loading.Controls.Add(loadinglabel);
+            frmProgressReporter.DoWork += new Controls.ProgressReporterDialogue.DoWorkEventHandler(frmProgressReporter_DoWork);
-            loading.Show();
 
-            try
+            frmProgressReporter.UpdateProgressAndStatus(-1, "Checking for Updates");
-            {
+
-                MainV2.updatecheck(loadinglabel);
+            frmProgressReporter.RunBackgroundOperationAsync();
-            }
-            catch (Exception ex)
-            {
-                log.Error("Error in updatecheck", ex);
-            }
-            //); 
-            //t12.Name = "Update check thread";
-            //t12.Start();
-            //MainV2.threads.Add(t12);
         }
 
-        private static bool updatecheck(Label loadinglabel, string baseurl, string subdir)
+        static void frmProgressReporter_DoWork(object sender, Controls.ProgressWorkerEventArgs e)
+        {
+            ((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Getting Base URL");
+            MainV2.updatecheck((ProgressReporterDialogue)sender);
+        }
+
+        private static bool updatecheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir)
         {
             bool update = false;
             List<string> files = new List<string>();
@@ -1845,17 +1846,23 @@ namespace ArdupilotMega
                 Directory.CreateDirectory(dir);
             foreach (string file in files)
             {
+                if (frmProgressReporter.doWorkArgs.CancelRequested)
+                {
+                    frmProgressReporter.doWorkArgs.CancelAcknowledged = true;
+                    throw new Exception("Cancel");
+                }
+
                 if (file.Equals("/"))
                 {
                     continue;
                 }
                 if (file.EndsWith("/"))
                 {
-                    update = updatecheck(loadinglabel, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update;
+                    update = updatecheck(frmProgressReporter, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update;
                     continue;
                 }
-                if (loadinglabel != null)
+                if (frmProgressReporter != null)
-                    UpdateLabel(loadinglabel, "Checking " + file);
+                    frmProgressReporter.UpdateProgressAndStatus(-1, "Checking " + file);
 
                 string path = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + subdir + file;
 
@@ -1876,26 +1883,44 @@ namespace ArdupilotMega
                 //dataStream = response.GetResponseStream();
                 // Open the stream using a StreamReader for easy access.
 
-                bool getfile = false;
+                bool updateThisFile = false;
 
                 if (File.Exists(path))
                 {
                     FileInfo fi = new FileInfo(path);
 
-                    log.Info(response.Headers[HttpResponseHeader.ETag]);
+                    //log.Info(response.Headers[HttpResponseHeader.ETag]);
+                    string CurrentEtag = "";
 
-                    if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0")
+                    if (File.Exists(path + ".etag"))
                     {
-                        StreamWriter sw = new StreamWriter(path + ".etag");
+                        using (Stream fs = File.OpenRead(path + ".etag"))
-                        sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
+                        {
-                        sw.Close();
+                            using (StreamReader sr = new StreamReader(fs))
-                        getfile = true;
+                            {
+                                CurrentEtag = sr.ReadLine();
+                                sr.Close();
+                            }
+                            fs.Close();
+                        }
+                    }
+
+                    if (fi.Length != response.ContentLength && response.Headers[HttpResponseHeader.ETag] != CurrentEtag)
+                    {
+                        log.Debug("New file Check: " + fi.Length + " vs " + response.ContentLength + " " + response.Headers[HttpResponseHeader.ETag] + " vs " + CurrentEtag);
+
+                        using (StreamWriter sw = new StreamWriter(path + ".etag"))
+                        {
+                            sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
+                            sw.Close();
+                        }
+                        updateThisFile = true;
                         log.Info("NEW FILE " + file);
                     }
                 }
                 else
                 {
-                    getfile = true;
+                    updateThisFile = true;
                     log.Info("NEW FILE " + file);
                     // get it
                 }
@@ -1904,7 +1929,7 @@ namespace ArdupilotMega
                 //dataStream.Close();
                 response.Close();
 
-                if (getfile)
+                if (updateThisFile)
                 {
                     if (!update)
                     {
@@ -1918,16 +1943,21 @@ namespace ArdupilotMega
                             //    return;
                         }
                     }
-                    if (loadinglabel != null)
+                    if (frmProgressReporter != null)
-                        UpdateLabel(loadinglabel, "Getting " + file);
+                        frmProgressReporter.UpdateProgressAndStatus(-1, "Getting " + file);
 
                     // from head
                     long bytes = response.ContentLength;
 
                     // Create a request using a URL that can receive a post. 
-                    request = WebRequest.Create(baseurl + file);
+                    request = HttpWebRequest.Create(baseurl + file);
                     // Set the Method property of the request to POST.
                     request.Method = "GET";
+
+                    ((HttpWebRequest)request).AutomaticDecompression = DecompressionMethods.GZip | DecompressionMethods.Deflate;
+
+                    request.Headers.Add("Accept-Encoding", "gzip,deflate"); 
+
                     // Get the response.
                     response = request.GetResponse();
                     // Display the status.
@@ -1951,8 +1981,8 @@ namespace ArdupilotMega
                         {
                             if (dt.Second != DateTime.Now.Second)
                             {
-                                if (loadinglabel != null)
+                                if (frmProgressReporter != null)
-                                    UpdateLabel(loadinglabel, "Getting " + file + ": " + (((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"); //+ Math.Abs(bytes) + " bytes");
+                                    frmProgressReporter.UpdateProgressAndStatus((int)(((double)(contlen - bytes) / (double)contlen) * 100), "Getting " + file + ": " + (((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"); //+ Math.Abs(bytes) + " bytes");
                                 dt = DateTime.Now;
                             }
                         }
@@ -1978,11 +2008,6 @@ namespace ArdupilotMega
             return update;
 
 
-        }
-
-        private void toolStripMenuItem3_Click(object sender, EventArgs e)
-        {
-
         }
 
         protected override bool ProcessCmdKey(ref Message msg, Keys keyData)

Tools/ArdupilotMegaPlanner/MavlinkLog.Designer.cs

@@ -32,6 +32,7 @@
             this.BUT_redokml = new ArdupilotMega.MyButton();
             this.progressBar1 = new System.Windows.Forms.ProgressBar();
             this.BUT_humanreadable = new ArdupilotMega.MyButton();
+            this.BUT_graphmavlog = new ArdupilotMega.MyButton();
             this.SuspendLayout();
             // 
             // BUT_redokml
@@ -53,10 +54,18 @@
             this.BUT_humanreadable.UseVisualStyleBackColor = true;
             this.BUT_humanreadable.Click += new System.EventHandler(this.BUT_humanreadable_Click);
             // 
+            // BUT_graphmavlog
+            // 
+            resources.ApplyResources(this.BUT_graphmavlog, "BUT_graphmavlog");
+            this.BUT_graphmavlog.Name = "BUT_graphmavlog";
+            this.BUT_graphmavlog.UseVisualStyleBackColor = true;
+            this.BUT_graphmavlog.Click += new System.EventHandler(this.BUT_graphmavlog_Click);
+            // 
             // MavlinkLog
             // 
             resources.ApplyResources(this, "$this");
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.BUT_graphmavlog);
             this.Controls.Add(this.BUT_humanreadable);
             this.Controls.Add(this.progressBar1);
             this.Controls.Add(this.BUT_redokml);
@@ -71,5 +80,6 @@
         private MyButton BUT_redokml;
         private System.Windows.Forms.ProgressBar progressBar1;
         private MyButton BUT_humanreadable;
+        private MyButton BUT_graphmavlog;
     }
 }

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -512,5 +512,88 @@ namespace ArdupilotMega
             }
         }
 
+        private void BUT_graphmavlog_Click(object sender, EventArgs e)
+        {
+            OpenFileDialog openFileDialog1 = new OpenFileDialog();
+            openFileDialog1.Filter = "*.tlog|*.tlog";
+            openFileDialog1.FilterIndex = 2;
+            openFileDialog1.RestoreDirectory = true;
+            openFileDialog1.Multiselect = true;
+            try
+            {
+                openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
+            }
+            catch { } // incase dir doesnt exist
+
+            if (openFileDialog1.ShowDialog() == DialogResult.OK)
+            {
+                foreach (string logfile in openFileDialog1.FileNames)
+                {
+
+                    MAVLink mine = new MAVLink();
+                    mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
+                    mine.logreadmode = true;
+
+                    mine.packets.Initialize(); // clear
+
+                    CurrentState cs = new CurrentState();
+
+                    float oldlatlngalt = 0;
+
+                    DateTime appui = DateTime.Now;
+
+                    while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
+                    {
+                        // bar moves to 50 % in this step
+                        progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 2.0f);
+                        progressBar1.Invalidate();
+                        progressBar1.Refresh();
+
+                        byte[] packet = mine.readPacket();
+
+                        cs.datetime = mine.lastlogread;
+
+                        cs.UpdateCurrentSettings(null, true, mine);
+
+                        if (appui != DateTime.Now)
+                        {
+                            // cant do entire app as mixes with flightdata timer
+                            this.Refresh();
+                            appui = DateTime.Now;
+                        }
+
+                        try
+                        {
+                            if (MainV2.talk != null)
+                                MainV2.talk.SpeakAsyncCancelAll();
+                        }
+                        catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting.
+
+                        if ((float)(cs.lat + cs.lng) != oldlatlngalt
+                            && cs.lat != 0 && cs.lng != 0)
+                        {
+                            Console.WriteLine(cs.lat + " " + cs.lng + " " + cs.alt + "   lah " + (float)(cs.lat + cs.lng) + "!=" + oldlatlngalt);
+                            CurrentState cs2 = (CurrentState)cs.Clone();
+
+                            flightdata.Add(cs2);
+
+                            oldlatlngalt = (cs.lat + cs.lng);
+                        }
+                    }
+
+                    mine.logreadmode = false;
+                    mine.logplaybackfile.Close();
+                    mine.logplaybackfile = null;
+
+                    Application.DoEvents();
+
+                    //writeKML(logfile + ".kml");
+
+                    progressBar1.Value = 100;
+
+                }
+            }
+        }
+
     }
 }

Tools/ArdupilotMegaPlanner/MavlinkLog.resx

@@ -135,19 +135,19 @@
     <value>BUT_redokml</value>
   </data>
   <data name="&gt;&gt;BUT_redokml.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_redokml.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_redokml.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="progressBar1.Location" type="System.Drawing.Point, System.Drawing">
     <value>10, 42</value>
   </data>
   <data name="progressBar1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>313, 26</value>
+    <value>432, 26</value>
   </data>
   <data name="progressBar1.TabIndex" type="System.Int32, mscorlib">
     <value>9</value>
@@ -162,7 +162,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;progressBar1.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="BUT_humanreadable.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
@@ -184,12 +184,39 @@
     <value>BUT_humanreadable</value>
   </data>
   <data name="&gt;&gt;BUT_humanreadable.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_humanreadable.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_humanreadable.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="BUT_graphmavlog.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_graphmavlog.Location" type="System.Drawing.Point, System.Drawing">
+    <value>289, 13</value>
+  </data>
+  <data name="BUT_graphmavlog.Size" type="System.Drawing.Size, System.Drawing">
+    <value>116, 23</value>
+  </data>
+  <data name="BUT_graphmavlog.TabIndex" type="System.Int32, mscorlib">
+    <value>11</value>
+  </data>
+  <data name="BUT_graphmavlog.Text" xml:space="preserve">
+    <value>Graph Log</value>
+  </data>
+  <data name="&gt;&gt;BUT_graphmavlog.Name" xml:space="preserve">
+    <value>BUT_graphmavlog</value>
+  </data>
+  <data name="&gt;&gt;BUT_graphmavlog.Type" xml:space="preserve">
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;BUT_graphmavlog.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;BUT_graphmavlog.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
   <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
@@ -199,7 +226,7 @@
     <value>6, 13</value>
   </data>
   <data name="$this.ClientSize" type="System.Drawing.Size, System.Drawing">
-    <value>335, 82</value>
+    <value>456, 82</value>
   </data>
   <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>

Tools/ArdupilotMegaPlanner/Program.cs

@@ -21,8 +21,11 @@ namespace ArdupilotMega
         [STAThread]
         static void Main()
         {
-            //System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
+
-            //System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
+            Application.EnableVisualStyles();
+            XmlConfigurator.Configure();
+            log.Info("******************* Logging Configured *******************");
+            Application.SetCompatibleTextRenderingDefault(false);
 
             Application.ThreadException += Application_ThreadException;
 
@@ -36,10 +39,6 @@ namespace ArdupilotMega
 
             //Common.linearRegression();
 
-            Application.EnableVisualStyles();
-            XmlConfigurator.Configure();
-            log.Info("******************* Logging Configured *******************");
-            Application.SetCompatibleTextRenderingDefault(false);
             try
             {
                 Thread.CurrentThread.Name = "Base Thread";

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.1.46")]
+[assembly: AssemblyFileVersion("1.1.47")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Script.cs

@@ -29,6 +29,7 @@ namespace ArdupilotMega
 
             scope.SetVariable("cs", MainV2.cs);
             scope.SetVariable("Script", this);
+            scope.SetVariable("mavutil", this);
 
             engine.CreateScriptSourceFromString("print 'hello world from python'").Execute(scope);
             engine.CreateScriptSourceFromString("print cs.roll").Execute(scope);
@@ -54,8 +55,22 @@ namespace ArdupilotMega
             }
         }
 
+        public object mavlink_connection(string device, int baud = 115200, int source_system = 255,
+                       bool write = false, bool append = false,
+                       bool robust_parsing = true, bool notimestamps = false, bool input = true)
+        {
 
-        public void Sleep(int ms) {
+            return null;
+        }
+
+        public object recv_match(string condition = null, string type = null, bool blocking = false)
+        {
+
+            return null;
+        }
+
+        public void Sleep(int ms)
+        {
             System.Threading.Thread.Sleep(ms);
         }
 
@@ -104,7 +119,8 @@ namespace ArdupilotMega
         public bool WaitFor(string message, int timeout)
         {
             int timein = 0;
-            while (!MainV2.cs.message.Contains(message)) {
+            while (!MainV2.cs.message.Contains(message))
+            {
                 System.Threading.Thread.Sleep(5);
                 timein += 5;
                 if (timein > timeout)
@@ -114,7 +130,7 @@ namespace ArdupilotMega
             return true;
         }
 
-        public bool SendRC(int channel, ushort pwm,bool sendnow)
+        public bool SendRC(int channel, ushort pwm, bool sendnow)
         {
             switch (channel)
             {

Tools/ArdupilotMegaPlanner/Updater/Program.cs

@@ -26,16 +26,18 @@ namespace Updater
 
             string path = Path.GetDirectoryName(Application.ExecutablePath);
 
-            UpdateFiles(path);
+            // give 4 seconds grace
+            System.Threading.Thread.Sleep(5000);
 
-            //if (!UpdateFiles(path))
+            //UpdateFiles(path);
+
+            if (!UpdateFiles(path))
             {
-                // this fails on mac
+                Console.WriteLine("Update failed, please try it later.");
-                //Console.WriteLine("Update failed, please try it later.");
+                Console.WriteLine("Press any key to continue.");
-                //Console.WriteLine("Press any key to continue.");
+                Console.ReadKey();
-                //Console.ReadKey();
             }
-            //else
+            else
             {
                 try
                 {

Tools/ArdupilotMegaPlanner/app.config

@@ -19,7 +19,7 @@
     <appender name="RollingFile" type="log4net.Appender.RollingFileAppender">
       <file value="ArdupilotPlanner.log" />
       <appendToFile value="true" />
-      <maximumFileSize value="100KB" />
+      <maximumFileSize value="500KB" />
       <maxSizeRollBackups value="2" />
       <layout type="log4net.Layout.PatternLayout">
         <conversionPattern value="%date %5level %logger - %message (%file:%line) [%thread]%newline" />

Tools/ArdupilotMegaPlanner/bin/Release/.gitignore

@@ -1 +1,2 @@
 *.pdb
+*.etag

Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.exe.config

@@ -19,7 +19,7 @@
     <appender name="RollingFile" type="log4net.Appender.RollingFileAppender">
       <file value="ArdupilotPlanner.log" />
       <appendToFile value="true" />
-      <maximumFileSize value="100KB" />
+      <maximumFileSize value="500KB" />
       <maxSizeRollBackups value="2" />
       <layout type="log4net.Layout.PatternLayout">
         <conversionPattern value="%date %5level %logger - %message (%file:%line) [%thread]%newline" />