APM Planner 1.0.82

TCP connection
joystick tweaks
SIL Prep

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -188,6 +188,7 @@
     <Compile Include="CommsSerialPort.cs">
       <SubType>Component</SubType>
     </Compile>
+    <Compile Include="CommsTCPSerial.cs" />
     <Compile Include="CommsUdpSerial.cs" />
     <Compile Include="georefimage.cs" />
     <Compile Include="HIL\Aircraft.cs" />

Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs

@@ -0,0 +1,222 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Text;
+using System.IO.Ports;
+using System.Threading;
+using System.Net; // dns, ip address
+using System.Net.Sockets; // tcplistner
+
+namespace System.IO.Ports
+{
+    public class TcpSerial : ArdupilotMega.ICommsSerial
+    {
+        TcpClient client = new TcpClient();
+        IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
+        byte[] rbuffer = new byte[0];
+        int rbufferread = 0;
+
+        public int WriteBufferSize { get; set; }
+        public int WriteTimeout { get; set; }
+        public int ReceivedBytesThreshold { get; set; }
+        public bool RtsEnable { get; set; }
+
+        ~TcpSerial()
+        {
+            this.Close();
+            client = null;
+        }
+
+        public TcpSerial()
+        {
+            //System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
+            //System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
+
+            Port = "5760";
+        }
+
+        public string Port { get; set; }
+
+        public int ReadTimeout
+        {
+            get;// { return client.ReceiveTimeout; }
+            set;// { client.ReceiveTimeout = value; }
+        }
+
+        public int ReadBufferSize {get;set;}
+
+        public int BaudRate { get; set; }
+        public StopBits StopBits { get; set; }
+        public  Parity Parity { get; set; }
+        public  int DataBits { get; set; }
+
+        public string PortName { get; set; }
+
+        public  int BytesToRead
+        {
+            get { return client.Available + rbuffer.Length - rbufferread; }
+        }
+
+        public bool IsOpen { get { return client.Client.Connected; } }
+
+        public bool DtrEnable
+        {
+            get;
+            set;
+        }
+
+        public  void Open()
+        {
+            if (client.Client.Connected)
+            {
+                Console.WriteLine("tcpserial socket already open");
+                return;
+            }
+
+            string dest = Port;
+            string host = "127.0.0.1";
+            ArdupilotMega.Common.InputBox("remote host", "Enter host name/ip (ensure remote end is already started)", ref host);
+            ArdupilotMega.Common.InputBox("remote Port", "Enter remote port", ref dest);
+            Port = dest;
+
+            client = new TcpClient(host, int.Parse(Port));
+
+            client.NoDelay = true;
+            client.Client.NoDelay = true;
+
+            return;
+        }
+
+        void VerifyConnected()
+        {
+            if (client == null || !IsOpen)
+            {
+                throw new Exception("The socket/serialproxy is closed");
+            }
+        }
+
+        public  int Read(byte[] readto,int offset,int length)
+        {
+            VerifyConnected();
+            try
+            {
+                if (length < 1) { return 0; }
+
+                return client.Client.Receive(readto, offset, length, SocketFlags.None);
+            }
+            catch { throw new Exception("Socket Closed"); }
+        }
+
+        public  int ReadByte()
+        {
+            VerifyConnected();
+            int count = 0;
+            while (this.BytesToRead == 0)
+            {
+                System.Threading.Thread.Sleep(1);
+                if (count > ReadTimeout)
+                    throw new Exception("NetSerial Timeout on read");
+                count++;
+            }
+            byte[] buffer = new byte[1];
+            Read(buffer, 0, 1);
+            return buffer[0];
+        }
+
+        public  int ReadChar()
+        {
+            return ReadByte();
+        }
+
+        public  string ReadExisting() 
+        {
+            VerifyConnected();
+            byte[] data = new byte[client.Available];
+            if (data.Length > 0)
+                Read(data, 0, data.Length);
+
+            string line = Encoding.ASCII.GetString(data, 0, data.Length);
+
+            return line;
+        }
+
+        public  void WriteLine(string line)
+        {
+            VerifyConnected();
+            line = line + "\n";
+            Write(line);
+        }
+
+        public  void Write(string line)
+        {
+            VerifyConnected();
+            byte[] data = new System.Text.ASCIIEncoding().GetBytes(line);
+            Write(data, 0, data.Length);
+        }
+
+        public  void Write(byte[] write, int offset, int length)
+        {
+            VerifyConnected();
+            try
+            {
+                client.Client.Send(write, length,SocketFlags.None);
+            }
+            catch { }//throw new Exception("Comport / Socket Closed"); }
+        }
+
+        public  void DiscardInBuffer()
+        {
+            VerifyConnected();
+            int size = client.Available;
+            byte[] crap = new byte[size];
+            Console.WriteLine("UdpSerial DiscardInBuffer {0}",size);
+            Read(crap, 0, size);
+        }
+
+        public  string ReadLine() {
+            byte[] temp = new byte[4000];
+            int count = 0;
+            int timeout = 0;
+
+            while (timeout <= 100)
+            {
+                if (!this.IsOpen) { break; }
+                if (this.BytesToRead > 0)
+                {
+                    byte letter = (byte)this.ReadByte();
+
+                    temp[count] = letter;
+
+                    if (letter == '\n') // normal line
+                    {
+                        break;
+                    }
+
+
+                    count++;
+                    if (count == temp.Length)
+                        break;
+                    timeout = 0;
+                } else {
+                    timeout++;
+                    System.Threading.Thread.Sleep(5);
+                }
+            }
+
+            Array.Resize<byte>(ref temp, count + 1);
+
+            return Encoding.ASCII.GetString(temp, 0, temp.Length);
+        }
+
+        public void Close()
+        {
+            if (client.Client.Connected)
+            {
+                client.Client.Close();
+                client.Close();
+            }
+
+            client = new TcpClient();
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -874,6 +874,11 @@ namespace ArdupilotMega.GCSViews
                 gps.usec = ((ulong)DateTime.Now.Ticks);
                 gps.v = ((float)Math.Sqrt((aeroin.Model_fVelY * aeroin.Model_fVelY) + (aeroin.Model_fVelX * aeroin.Model_fVelX)));
 
+                float xvec = aeroin.Model_fVelY - aeroin.Model_fWindVelY;
+                float yvec = aeroin.Model_fVelX - aeroin.Model_fWindVelX;
+
+                asp.airspeed = ((float)Math.Sqrt((yvec * yvec) + (xvec * xvec)));
+
             }
             else if (receviedbytes > 0x100)
             {
@@ -1251,7 +1256,7 @@ namespace ArdupilotMega.GCSViews
                 Array.Copy(BitConverter.GetBytes((double)(roll_out * REV_roll)), 0, AeroSimRC, 0, 8);
                 Array.Copy(BitConverter.GetBytes((double)(pitch_out * REV_pitch * -1)), 0, AeroSimRC, 8, 8);
                 Array.Copy(BitConverter.GetBytes((double)(rudder_out * REV_rudder)), 0, AeroSimRC, 16, 8);
-                Array.Copy(BitConverter.GetBytes((double)(throttle_out)), 0, AeroSimRC, 24, 8);
+                Array.Copy(BitConverter.GetBytes((double)((throttle_out *2) -1)), 0, AeroSimRC, 24, 8);
 
                 if (heli)
                 {

Tools/ArdupilotMegaPlanner/JoystickSetup.cs

@@ -413,7 +413,7 @@ namespace ArdupilotMega
         {
             try
             {
-                if (MainV2.joystick != null)
+                if (MainV2.joystick != null && MainV2.joystick.enabled == false)
                     MainV2.joystick.UnAcquireJoyStick();
             }
             catch { }

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -120,6 +120,7 @@ namespace ArdupilotMega
             comPort.BaseStream.BaudRate = 115200;
 
             CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
+            CMB_serialport.Items.Add("TCP");
             CMB_serialport.Items.Add("UDP");
             if (CMB_serialport.Items.Count > 0)
             {
@@ -225,6 +226,7 @@ namespace ArdupilotMega
             string oldport = CMB_serialport.Text;
             CMB_serialport.Items.Clear();
             CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
+            CMB_serialport.Items.Add("TCP");
             CMB_serialport.Items.Add("UDP");
             if (CMB_serialport.Items.Contains(oldport))
                 CMB_serialport.Text = oldport;
@@ -564,6 +566,11 @@ namespace ArdupilotMega
             }
             else
             {
+                if (CMB_serialport.Text == "TCP")
+                {
+                    comPort.BaseStream = new TcpSerial();
+                }
+                else
                 if (CMB_serialport.Text == "UDP")
                 {
                     comPort.BaseStream = new UdpSerial();

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("1.0.81")]
+[assembly: AssemblyFileVersion("1.0.82")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/bin/Release/.gitignore

@@ -1,4 +1,3 @@
 
 *.pdb
-*.xml
+*.xml
-*.etag

Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application

@@ -11,7 +11,7 @@
           <dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
         </dsig:Transforms>
         <dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
-        <dsig:DigestValue>8RpxcyWYSVdJiQ8oEr1RbFKdPB8=</dsig:DigestValue>
+        <dsig:DigestValue>DxfINYOSh55dWio5h4coAIWRotU=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>