Mission Planner 1.2.13

remove some mavlink 0.9 code
add arm/disarm button. Not yet implemented AC and AP Side.
modify heli setup screen
modify failsafe screen
fix old firmware under mono
workaround mono crash.
modify planner wp storage
tweak log dl screen
add change alt button
modify tlog wp extractor, multiple extractions
speed up srtm reading
fix lang edit.

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -376,6 +376,12 @@
     <Compile Include="Controls\ToolStripConnectionControl.cs">
       <SubType>Component</SubType>
     </Compile>
+    <Compile Include="Controls\ModifyandSet.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="Controls\ModifyandSet.Designer.cs">
+      <DependentUpon>ModifyandSet.cs</DependentUpon>
+    </Compile>
     <Compile Include="Controls\ValuesControl.cs">
       <SubType>UserControl</SubType>
     </Compile>
@@ -635,7 +641,6 @@
       <DependentUpon>Simulation.cs</DependentUpon>
     </Compile>
     <Compile Include="CurrentState.cs" />
-    <Compile Include="Mavlink\MAVLinkTypes0.9.cs" />
     <Compile Include="ElevationProfile.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -728,6 +733,9 @@
     <EmbeddedResource Include="Controls\RangeControl.resx">
       <DependentUpon>RangeControl.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="Controls\ModifyandSet.resx">
+      <DependentUpon>ModifyandSet.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="Controls\ValuesControl.resx">
       <DependentUpon>ValuesControl.cs</DependentUpon>
     </EmbeddedResource>

Tools/ArdupilotMegaPlanner/ChangeLog.txt

@@ -1,9 +1,51 @@
-* Mission Planner 1.2.8
+* Mission Planner 1.2.12
+add arduino chip detect
+fix apm2,2.5 dialog test
+add write timeout. this will stop planner hangs on bad serial devices.
+change quickview decimal places to 0.00
+fix map clicking issue.
+fix wind direction wrapping
+add airspeed use
+modify firmware screen from Marooned
+major flightdata tab change.
+add save/load polygon from file
+add some error handling dialogs
+
+
+* Mission Planner 1.2.11
+Fix ac crosstrack display
+tweak ap_mount
+speed up Terminal
+
+
+* Mission Planner 1.2.10
+add useritems to HUD
+change hdop scale
+fix posible follow me bug (, vs .)
+fix posible friendly params bug (, vs .)
+tweak flightdata log playback timming
+fix gridv2 bug. if no waypoint had been done, the grid wold fail
+tweak some mission upload potential issues
+add ability to get param list from a log (from startup)
+add ability to get the first wp list in a log, if wps where received in that log.
+tweak video capture library timing
+
+
+* Mission Planner 1.2.9
+add est distance traveled
+add est flight time
+AP_Mount now updated
+add expermental firmware options.
+fix hud avi record framerate
+add 2 direction wp circle
+tweak gridv2
+
+
+* Mission Planner 1.2.8
 fix mjpeg stream from VLC.
 add grid mode V2
 fix hdop scaling
 
-
 * Mission Planner 1.2.7
 add wind from ap
 add wp every x m in grid mode
@@ -11,6 +53,7 @@ fix hil problem
 fix control-s
 update mavlink format
 
+
 * Mission Planner 1.2.6
 add tracker location option.
 fix current sensor screen
@@ -18,6 +61,7 @@ add more right click flight planner options.
 make some connecting error messages more detailed.
 add partial microdrones protocol output
 
+
 * Mission Planner 1.2.5
 add experimental antenna tracker find
 add new apparam eeprom reader
@@ -29,6 +73,7 @@ move some functions to the right click menu
 add xplanes data in/out setup to be automatic.
 add better mission upload handeling.
 
+
 * Mission Planner 1.2.4
 remove geofence tab
 add guided alt remeber

Tools/ArdupilotMegaPlanner/Controls/HUD.cs

@@ -159,7 +159,9 @@ namespace ArdupilotMega.Controls
         public float groundalt { get; set; }
 
         [System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
-        public int status { get; set; }
+        public bool status { get; set; }
+        bool statuslast = false;
+        DateTime armedtimer = DateTime.MinValue;
 
         public struct Custom
         {
@@ -172,8 +174,7 @@ namespace ArdupilotMega.Controls
 
         public Hashtable CustomItems = new Hashtable();
         
-        int statuslast = 0;
+
-        DateTime armedtimer = DateTime.MinValue;
 
         public bool bgon = true;
         public bool hudon = true;
@@ -852,7 +853,7 @@ namespace ArdupilotMega.Controls
                     armedtimer = DateTime.Now;
                 }
 
-                if (status == 3) // not armed
+                if (status == false) // not armed
                 {
                     //if ((armedtimer.AddSeconds(8) > DateTime.Now))
                     {
@@ -860,7 +861,7 @@ namespace ArdupilotMega.Controls
                         statuslast = status;
                     }
                 }
-                else if (status == 4) // armed
+                else if (status == true) // armed
                 {
                     if ((armedtimer.AddSeconds(8) > DateTime.Now))
                     {

Tools/ArdupilotMegaPlanner/Controls/ModifyandSet.Designer.cs

@@ -0,0 +1,95 @@
+namespace ArdupilotMega.Controls
+{
+    partial class ModifyandSet
+    {
+        /// <summary> 
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary> 
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Component Designer generated code
+
+        /// <summary> 
+        /// Required method for Designer support - do not modify 
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.numericUpDown1 = new System.Windows.Forms.NumericUpDown();
+            this.myButton1 = new ArdupilotMega.Controls.MyButton();
+            this.flowLayoutPanel1 = new System.Windows.Forms.FlowLayoutPanel();
+            ((System.ComponentModel.ISupportInitialize)(this.numericUpDown1)).BeginInit();
+            this.flowLayoutPanel1.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // numericUpDown1
+            // 
+            this.numericUpDown1.Location = new System.Drawing.Point(3, 3);
+            this.numericUpDown1.Maximum = new decimal(new int[] {
+            1000,
+            0,
+            0,
+            0});
+            this.numericUpDown1.Name = "numericUpDown1";
+            this.numericUpDown1.Size = new System.Drawing.Size(47, 20);
+            this.numericUpDown1.TabIndex = 0;
+            this.numericUpDown1.Value = new decimal(new int[] {
+            1000,
+            0,
+            0,
+            0});
+            this.numericUpDown1.ValueChanged += new System.EventHandler(this.numericUpDown1_ValueChanged);
+            // 
+            // myButton1
+            // 
+            this.myButton1.Location = new System.Drawing.Point(56, 3);
+            this.myButton1.Name = "myButton1";
+            this.myButton1.Size = new System.Drawing.Size(52, 23);
+            this.myButton1.TabIndex = 1;
+            this.myButton1.Text = "Set to This";
+            this.myButton1.UseVisualStyleBackColor = true;
+            this.myButton1.Click += new System.EventHandler(this.myButton1_Click);
+            // 
+            // flowLayoutPanel1
+            // 
+            this.flowLayoutPanel1.Controls.Add(this.numericUpDown1);
+            this.flowLayoutPanel1.Controls.Add(this.myButton1);
+            this.flowLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.flowLayoutPanel1.Location = new System.Drawing.Point(0, 0);
+            this.flowLayoutPanel1.Name = "flowLayoutPanel1";
+            this.flowLayoutPanel1.Size = new System.Drawing.Size(114, 29);
+            this.flowLayoutPanel1.TabIndex = 2;
+            // 
+            // ModifyandSet
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.flowLayoutPanel1);
+            this.Name = "ModifyandSet";
+            this.Size = new System.Drawing.Size(114, 29);
+            ((System.ComponentModel.ISupportInitialize)(this.numericUpDown1)).EndInit();
+            this.flowLayoutPanel1.ResumeLayout(false);
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.NumericUpDown numericUpDown1;
+        private MyButton myButton1;
+        private System.Windows.Forms.FlowLayoutPanel flowLayoutPanel1;
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/ModifyandSet.cs

@@ -0,0 +1,47 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Data;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+
+namespace ArdupilotMega.Controls
+{
+    public partial class ModifyandSet : UserControl
+    {
+        [System.ComponentModel.Browsable(true)]
+        public NumericUpDown NumericUpDown { get; set; }
+        [System.ComponentModel.Browsable(true)]
+        public MyButton Button { get; set; }
+
+        [System.ComponentModel.Browsable(true)]
+        public String ButtonText { get { return Button.Text; } set { Button.Text = value; } }
+        [System.ComponentModel.Browsable(true)]
+        public Decimal Value { get { return NumericUpDown.Value; } set { NumericUpDown.Value = value; } }
+
+        public new event EventHandler Click;
+        public event EventHandler ValueChanged;
+
+        public ModifyandSet()
+        {
+            InitializeComponent();
+
+            NumericUpDown = numericUpDown1;
+            Button = myButton1;
+        }
+
+        private void myButton1_Click(object sender, EventArgs e)
+        {
+            if (Click != null)
+                Click(sender, e);
+        }
+
+        private void numericUpDown1_ValueChanged(object sender, EventArgs e)
+        {
+            if (ValueChanged != null)
+                ValueChanged(sender, e);
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/ModifyandSet.resx

@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>

Tools/ArdupilotMegaPlanner/Controls/MyButton.cs

@@ -12,7 +12,7 @@ using System.Drawing.Drawing2D;
 
 namespace ArdupilotMega.Controls
 {
-    class MyButton : Button
+    public class MyButton : Button
     {
         bool mouseover = false;
         bool mousedown = false;

Tools/ArdupilotMegaPlanner/CurrentState.cs

@@ -217,8 +217,6 @@ namespace ArdupilotMega
         PointLatLngAlt _trackerloc = new PointLatLngAlt();
         internal PointLatLngAlt TrackerLocation { get { if (_trackerloc.Lng != 0) return _trackerloc; return HomeLocation; } set { _trackerloc = value; } }
 
-        internal PointLatLngAlt GuidedModeWP = new PointLatLngAlt();
-
         public float DistToMAV
         {
             get
@@ -279,7 +277,7 @@ namespace ArdupilotMega
         public MainV2.Firmwares firmware = MainV2.Firmwares.ArduPlane;
         public float freemem { get; set; }
         public float brklevel { get; set; }
-        public int armed { get; set; }
+        public bool armed { get; set; }
 
         // 3dr radio
         public float rssi { get; set; }
@@ -494,7 +492,7 @@ namespace ArdupilotMega
                     {
                         var hb = bytearray.ByteArrayToStructure<MAVLink.mavlink_heartbeat_t>(6);
 
-                        armed = (hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED) == (byte)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED ? 4 : 3;
+                        armed = (hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED) == (byte)MAVLink.MAV_MODE_FLAG.SAFETY_ARMED;
 
                         string oldmode = mode;
 
@@ -764,7 +762,6 @@ namespace ArdupilotMega
 
                         //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] = null;
                     }
-#if MAVLINK10
                     bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT];
                     if (bytearray != null)
                     {
@@ -789,28 +786,6 @@ namespace ArdupilotMega
 
                         //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] = null;
                     }
-#else
-
-                bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW];
-                if (bytearray != null)
-                {
-                    var gps = bytearray.ByteArrayToStructure<MAVLink.mavlink_gps_raw_t>(6);
-
-                    lat = gps.lat;
-                    lng = gps.lon;
-                    //                alt = gps.alt; // using vfr as includes baro calc
-
-                    gpsstatus = gps.fix_type;
-                    //                    Console.WriteLine("gpsfix {0}",gpsstatus);
-
-                    gpshdop = gps.eph;
-
-                    groundspeed = gps.v;
-                    groundcourse = gps.hdg;
-
-                    //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] = null;
-                }
-#endif
 
                     bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS];
                     if (bytearray != null)
@@ -845,7 +820,7 @@ namespace ArdupilotMega
                         lat = loc.lat / 10000000.0f;
                         lng = loc.lon / 10000000.0f;
                     }
-#if MAVLINK10
+
                     bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_MISSION_CURRENT];
                     if (bytearray != null)
                     {
@@ -862,36 +837,6 @@ namespace ArdupilotMega
 
                         //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
                     }
-#else
-
-                bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION];
-                if (bytearray != null)
-                {
-                    var loc = bytearray.ByteArrayToStructure<MAVLink.mavlink_global_position_t>(6);
-                    alt = loc.alt;
-                    lat = loc.lat;
-                    lng = loc.lon;
-                }
-
-                bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT];
-                if (bytearray != null)
-                {
-                    var wpcur = bytearray.ByteArrayToStructure<MAVLink.mavlink_waypoint_current_t>(6);
-
-                    int oldwp = (int)wpno;
-
-                    wpno = wpcur.seq;
-
-                    if (oldwp != wpno && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechwaypointenabled") == "True")
-                    {
-                        MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
-                    }
-
-                    //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
-                }
-
-#endif
-
 
                     bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT];
 

Tools/ArdupilotMegaPlanner/FollowMe.cs

@@ -162,8 +162,6 @@ namespace ArdupilotMega
 
                                 MainV2.comPort.setGuidedModeWP(gotohere);
 
-                                MainV2.cs.GuidedModeWP = new PointLatLngAlt(gotohere);
-
                                 MainV2.giveComport = false;
                             }
                             catch { MainV2.giveComport = false; }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigBatteryMonitoring.Designer.cs

@@ -137,7 +137,8 @@
             resources.GetString("CMB_batmonsensortype.Items"),
             resources.GetString("CMB_batmonsensortype.Items1"),
             resources.GetString("CMB_batmonsensortype.Items2"),
-            resources.GetString("CMB_batmonsensortype.Items3")});
+            resources.GetString("CMB_batmonsensortype.Items3"),
+            resources.GetString("CMB_batmonsensortype.Items4")});
             resources.ApplyResources(this.CMB_batmonsensortype, "CMB_batmonsensortype");
             this.CMB_batmonsensortype.Name = "CMB_batmonsensortype";
             this.CMB_batmonsensortype.SelectedIndexChanged += new System.EventHandler(this.CMB_batmonsensortype_SelectedIndexChanged);

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigBatteryMonitoring.resx

@@ -468,6 +468,9 @@
   <data name="CMB_batmonsensortype.Items3" xml:space="preserve">
     <value>3: AttoPilot 180A</value>
   </data>
+  <data name="CMB_batmonsensortype.Items4" xml:space="preserve">
+    <value>4: 3DR IV Sensor</value>
+  </data>
   <data name="CMB_batmonsensortype.Location" type="System.Drawing.Point, System.Drawing">
     <value>160, 68</value>
   </data>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFailSafe.Designer.cs

@@ -50,10 +50,19 @@
             this.horizontalProgressBar2 = new ArdupilotMega.HorizontalProgressBar();
             this.horizontalProgressBar1 = new ArdupilotMega.HorizontalProgressBar();
             this.lbl_currentmode = new System.Windows.Forms.Label();
-            this.mavlinkCheckBox1 = new ArdupilotMega.Controls.MavlinkCheckBox();
+            this.mavlinkCheckBoxthr_fs = new ArdupilotMega.Controls.MavlinkCheckBox();
-            this.mavlinkNumericUpDown1 = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.mavlinkNumericUpDownthr_fs_value = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.LNK_wiki = new System.Windows.Forms.LinkLabel();
+            this.mavlinkCheckBoxgcs_fs = new ArdupilotMega.Controls.MavlinkCheckBox();
+            this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
+            this.mavlinkCheckBoxshort_fs = new ArdupilotMega.Controls.MavlinkCheckBox();
+            this.mavlinkCheckBoxlong_fs = new ArdupilotMega.Controls.MavlinkCheckBox();
+            this.mavlinkCheckBoxthr_fs_action = new ArdupilotMega.Controls.MavlinkCheckBox();
+            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.label3 = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown1)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownthr_fs_value)).BeginInit();
+            this.groupBox1.SuspendLayout();
             this.SuspendLayout();
             // 
             // currentStateBindingSource
@@ -300,31 +309,110 @@
             resources.ApplyResources(this.lbl_currentmode, "lbl_currentmode");
             this.lbl_currentmode.Name = "lbl_currentmode";
             // 
-            // mavlinkCheckBox1
+            // mavlinkCheckBoxthr_fs
             // 
-            resources.ApplyResources(this.mavlinkCheckBox1, "mavlinkCheckBox1");
+            resources.ApplyResources(this.mavlinkCheckBoxthr_fs, "mavlinkCheckBoxthr_fs");
-            this.mavlinkCheckBox1.Name = "mavlinkCheckBox1";
+            this.mavlinkCheckBoxthr_fs.Name = "mavlinkCheckBoxthr_fs";
-            this.mavlinkCheckBox1.OffValue = 0F;
+            this.mavlinkCheckBoxthr_fs.OffValue = 0F;
-            this.mavlinkCheckBox1.OnValue = 1F;
+            this.mavlinkCheckBoxthr_fs.OnValue = 1F;
-            this.mavlinkCheckBox1.param = null;
+            this.mavlinkCheckBoxthr_fs.param = null;
-            this.mavlinkCheckBox1.ParamName = null;
+            this.mavlinkCheckBoxthr_fs.ParamName = null;
-            this.mavlinkCheckBox1.UseVisualStyleBackColor = true;
+            this.toolTip1.SetToolTip(this.mavlinkCheckBoxthr_fs, resources.GetString("mavlinkCheckBoxthr_fs.ToolTip"));
+            this.mavlinkCheckBoxthr_fs.UseVisualStyleBackColor = true;
             // 
-            // mavlinkNumericUpDown1
+            // mavlinkNumericUpDownthr_fs_value
             // 
-            resources.ApplyResources(this.mavlinkNumericUpDown1, "mavlinkNumericUpDown1");
+            resources.ApplyResources(this.mavlinkNumericUpDownthr_fs_value, "mavlinkNumericUpDownthr_fs_value");
-            this.mavlinkNumericUpDown1.Max = 1F;
+            this.mavlinkNumericUpDownthr_fs_value.Max = 1F;
-            this.mavlinkNumericUpDown1.Min = 0F;
+            this.mavlinkNumericUpDownthr_fs_value.Min = 0F;
-            this.mavlinkNumericUpDown1.Name = "mavlinkNumericUpDown1";
+            this.mavlinkNumericUpDownthr_fs_value.Name = "mavlinkNumericUpDownthr_fs_value";
-            this.mavlinkNumericUpDown1.param = null;
+            this.mavlinkNumericUpDownthr_fs_value.param = null;
-            this.mavlinkNumericUpDown1.ParamName = null;
+            this.mavlinkNumericUpDownthr_fs_value.ParamName = null;
+            this.toolTip1.SetToolTip(this.mavlinkNumericUpDownthr_fs_value, resources.GetString("mavlinkNumericUpDownthr_fs_value.ToolTip"));
+            // 
+            // LNK_wiki
+            // 
+            resources.ApplyResources(this.LNK_wiki, "LNK_wiki");
+            this.LNK_wiki.LinkBehavior = System.Windows.Forms.LinkBehavior.HoverUnderline;
+            this.LNK_wiki.LinkColor = System.Drawing.Color.CornflowerBlue;
+            this.LNK_wiki.Name = "LNK_wiki";
+            this.LNK_wiki.TabStop = true;
+            this.LNK_wiki.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.LNK_wiki_LinkClicked);
+            // 
+            // mavlinkCheckBoxgcs_fs
+            // 
+            resources.ApplyResources(this.mavlinkCheckBoxgcs_fs, "mavlinkCheckBoxgcs_fs");
+            this.mavlinkCheckBoxgcs_fs.Name = "mavlinkCheckBoxgcs_fs";
+            this.mavlinkCheckBoxgcs_fs.OffValue = 0F;
+            this.mavlinkCheckBoxgcs_fs.OnValue = 1F;
+            this.mavlinkCheckBoxgcs_fs.param = null;
+            this.mavlinkCheckBoxgcs_fs.ParamName = null;
+            this.toolTip1.SetToolTip(this.mavlinkCheckBoxgcs_fs, resources.GetString("mavlinkCheckBoxgcs_fs.ToolTip"));
+            this.mavlinkCheckBoxgcs_fs.UseVisualStyleBackColor = true;
+            // 
+            // toolTip1
+            // 
+            this.toolTip1.AutoPopDelay = 20000;
+            this.toolTip1.InitialDelay = 500;
+            this.toolTip1.ReshowDelay = 100;
+            // 
+            // mavlinkCheckBoxshort_fs
+            // 
+            resources.ApplyResources(this.mavlinkCheckBoxshort_fs, "mavlinkCheckBoxshort_fs");
+            this.mavlinkCheckBoxshort_fs.Name = "mavlinkCheckBoxshort_fs";
+            this.mavlinkCheckBoxshort_fs.OffValue = 0F;
+            this.mavlinkCheckBoxshort_fs.OnValue = 1F;
+            this.mavlinkCheckBoxshort_fs.param = null;
+            this.mavlinkCheckBoxshort_fs.ParamName = null;
+            this.toolTip1.SetToolTip(this.mavlinkCheckBoxshort_fs, resources.GetString("mavlinkCheckBoxshort_fs.ToolTip"));
+            this.mavlinkCheckBoxshort_fs.UseVisualStyleBackColor = true;
+            // 
+            // mavlinkCheckBoxlong_fs
+            // 
+            resources.ApplyResources(this.mavlinkCheckBoxlong_fs, "mavlinkCheckBoxlong_fs");
+            this.mavlinkCheckBoxlong_fs.Name = "mavlinkCheckBoxlong_fs";
+            this.mavlinkCheckBoxlong_fs.OffValue = 0F;
+            this.mavlinkCheckBoxlong_fs.OnValue = 1F;
+            this.mavlinkCheckBoxlong_fs.param = null;
+            this.mavlinkCheckBoxlong_fs.ParamName = null;
+            this.toolTip1.SetToolTip(this.mavlinkCheckBoxlong_fs, resources.GetString("mavlinkCheckBoxlong_fs.ToolTip"));
+            this.mavlinkCheckBoxlong_fs.UseVisualStyleBackColor = true;
+            // 
+            // mavlinkCheckBoxthr_fs_action
+            // 
+            resources.ApplyResources(this.mavlinkCheckBoxthr_fs_action, "mavlinkCheckBoxthr_fs_action");
+            this.mavlinkCheckBoxthr_fs_action.Name = "mavlinkCheckBoxthr_fs_action";
+            this.mavlinkCheckBoxthr_fs_action.OffValue = 0F;
+            this.mavlinkCheckBoxthr_fs_action.OnValue = 1F;
+            this.mavlinkCheckBoxthr_fs_action.param = null;
+            this.mavlinkCheckBoxthr_fs_action.ParamName = null;
+            this.toolTip1.SetToolTip(this.mavlinkCheckBoxthr_fs_action, resources.GetString("mavlinkCheckBoxthr_fs_action.ToolTip"));
+            this.mavlinkCheckBoxthr_fs_action.UseVisualStyleBackColor = true;
+            // 
+            // groupBox1
+            // 
+            this.groupBox1.Controls.Add(this.label3);
+            this.groupBox1.Controls.Add(this.mavlinkCheckBoxthr_fs);
+            this.groupBox1.Controls.Add(this.mavlinkCheckBoxthr_fs_action);
+            this.groupBox1.Controls.Add(this.mavlinkNumericUpDownthr_fs_value);
+            this.groupBox1.Controls.Add(this.mavlinkCheckBoxlong_fs);
+            this.groupBox1.Controls.Add(this.mavlinkCheckBoxgcs_fs);
+            this.groupBox1.Controls.Add(this.mavlinkCheckBoxshort_fs);
+            resources.ApplyResources(this.groupBox1, "groupBox1");
+            this.groupBox1.Name = "groupBox1";
+            this.groupBox1.TabStop = false;
+            // 
+            // label3
+            // 
+            resources.ApplyResources(this.label3, "label3");
+            this.label3.Name = "label3";
             // 
             // ConfigFailSafe
             // 
             resources.ApplyResources(this, "$this");
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.Controls.Add(this.mavlinkNumericUpDown1);
+            this.Controls.Add(this.groupBox1);
-            this.Controls.Add(this.mavlinkCheckBox1);
+            this.Controls.Add(this.LNK_wiki);
             this.Controls.Add(this.lbl_currentmode);
             this.Controls.Add(this.label2);
             this.Controls.Add(this.label1);
@@ -346,7 +434,9 @@
             this.Controls.Add(this.horizontalProgressBar1);
             this.Name = "ConfigFailSafe";
             ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown1)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownthr_fs_value)).EndInit();
+            this.groupBox1.ResumeLayout(false);
+            this.groupBox1.PerformLayout();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -374,7 +464,15 @@
         private HorizontalProgressBar horizontalProgressBar2;
         private HorizontalProgressBar horizontalProgressBar1;
         private System.Windows.Forms.Label lbl_currentmode;
-        private Controls.MavlinkCheckBox mavlinkCheckBox1;
+        private Controls.MavlinkCheckBox mavlinkCheckBoxthr_fs;
-        private Controls.MavlinkNumericUpDown mavlinkNumericUpDown1;
+        private Controls.MavlinkNumericUpDown mavlinkNumericUpDownthr_fs_value;
+        private System.Windows.Forms.LinkLabel LNK_wiki;
+        private Controls.MavlinkCheckBox mavlinkCheckBoxgcs_fs;
+        private System.Windows.Forms.ToolTip toolTip1;
+        private Controls.MavlinkCheckBox mavlinkCheckBoxshort_fs;
+        private Controls.MavlinkCheckBox mavlinkCheckBoxlong_fs;
+        private Controls.MavlinkCheckBox mavlinkCheckBoxthr_fs_action;
+        private System.Windows.Forms.GroupBox groupBox1;
+        private System.Windows.Forms.Label label3;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFailSafe.cs

@@ -8,20 +8,19 @@ using System.Text;
 using System.Windows.Forms;
 using ArdupilotMega.Controls.BackstageView;
 using ArdupilotMega.Controls;
+using System.Diagnostics;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
     public partial class ConfigFailSafe : UserControl, IActivate, IDeactivate
     {
         Timer timer = new Timer();
+        //
 
         public ConfigFailSafe()
         {
             InitializeComponent();
 
-            mavlinkCheckBox1.setup(1, 0, "THR_FAILSAFE", MainV2.comPort.param);
-            mavlinkNumericUpDown1.setup(800, 1200, 1, 1, "THR_FS_VALUE", MainV2.comPort.param);
-
             // setup rc update
             timer.Tick += new EventHandler(timer_Tick);
         }
@@ -43,11 +42,23 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         public void Activate()
         {
+            mavlinkCheckBoxthr_fs.setup(1, 0, "THR_FAILSAFE", MainV2.comPort.param, mavlinkNumericUpDownthr_fs_value);
+            mavlinkNumericUpDownthr_fs_value.setup(800, 1200, 1, 1, "THR_FS_VALUE", MainV2.comPort.param);
+            mavlinkCheckBoxthr_fs_action.setup(1, 0, "THR_FS_ACTION",MainV2.comPort.param);
+            mavlinkCheckBoxgcs_fs.setup(1, 0, "FS_GCS_ENABL", MainV2.comPort.param);
+            mavlinkCheckBoxshort_fs.setup(1, 0, "FS_SHORT_ACTN", MainV2.comPort.param);
+            mavlinkCheckBoxlong_fs.setup(1, 0, "FS_LONG_ACTN", MainV2.comPort.param);
+
             timer.Enabled = true;
             timer.Interval = 100;
             timer.Start();
 
             CustomMessageBox.Show("Ensure your props are not on the Plane/Quad","FailSafe",MessageBoxButtons.OK,MessageBoxIcon.Exclamation);
         }
+
+        private void LNK_wiki_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
+        {
+            Process.Start(new ProcessStartInfo("http://code.google.com/p/ardupilot-mega/wiki/APM2xFailsafe"));
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFailSafe.resx

@@ -199,7 +199,7 @@
     <value>horizontalProgressBar9</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar9.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar9.Parent" xml:space="preserve">
     <value>$this</value>
@@ -223,7 +223,7 @@
     <value>horizontalProgressBar10</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar10.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar10.Parent" xml:space="preserve">
     <value>$this</value>
@@ -247,7 +247,7 @@
     <value>horizontalProgressBar11</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar11.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar11.Parent" xml:space="preserve">
     <value>$this</value>
@@ -271,7 +271,7 @@
     <value>horizontalProgressBar12</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar12.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar12.Parent" xml:space="preserve">
     <value>$this</value>
@@ -295,7 +295,7 @@
     <value>horizontalProgressBar13</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar13.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar13.Parent" xml:space="preserve">
     <value>$this</value>
@@ -319,7 +319,7 @@
     <value>horizontalProgressBar14</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar14.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar14.Parent" xml:space="preserve">
     <value>$this</value>
@@ -343,7 +343,7 @@
     <value>horizontalProgressBar15</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar15.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar15.Parent" xml:space="preserve">
     <value>$this</value>
@@ -367,7 +367,7 @@
     <value>horizontalProgressBar16</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar16.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar16.Parent" xml:space="preserve">
     <value>$this</value>
@@ -391,7 +391,7 @@
     <value>horizontalProgressBar8</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar8.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar8.Parent" xml:space="preserve">
     <value>$this</value>
@@ -415,7 +415,7 @@
     <value>horizontalProgressBar7</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar7.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar7.Parent" xml:space="preserve">
     <value>$this</value>
@@ -439,7 +439,7 @@
     <value>horizontalProgressBar6</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar6.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar6.Parent" xml:space="preserve">
     <value>$this</value>
@@ -463,7 +463,7 @@
     <value>horizontalProgressBar5</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar5.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar5.Parent" xml:space="preserve">
     <value>$this</value>
@@ -487,7 +487,7 @@
     <value>horizontalProgressBar4</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar4.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar4.Parent" xml:space="preserve">
     <value>$this</value>
@@ -511,7 +511,7 @@
     <value>horizontalProgressBar3</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar3.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar3.Parent" xml:space="preserve">
     <value>$this</value>
@@ -535,7 +535,7 @@
     <value>horizontalProgressBar2</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar2.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar2.Parent" xml:space="preserve">
     <value>$this</value>
@@ -559,7 +559,7 @@
     <value>horizontalProgressBar1</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar1.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar1.Parent" xml:space="preserve">
     <value>$this</value>
@@ -577,7 +577,7 @@
     <value>473, 21</value>
   </data>
   <data name="lbl_currentmode.Size" type="System.Drawing.Size, System.Drawing">
-    <value>275, 50</value>
+    <value>215, 50</value>
   </data>
   <data name="lbl_currentmode.TabIndex" type="System.Int32, mscorlib">
     <value>140</value>
@@ -600,58 +600,293 @@
   <data name="&gt;&gt;lbl_currentmode.ZOrder" xml:space="preserve">
     <value>2</value>
   </data>
-  <data name="mavlinkCheckBox1.AutoSize" type="System.Boolean, mscorlib">
+  <data name="mavlinkCheckBoxthr_fs.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
-  <data name="mavlinkCheckBox1.Enabled" type="System.Boolean, mscorlib">
+  <data name="mavlinkCheckBoxthr_fs.Enabled" type="System.Boolean, mscorlib">
     <value>False</value>
   </data>
-  <data name="mavlinkCheckBox1.Location" type="System.Drawing.Point, System.Drawing">
+  <data name="mavlinkCheckBoxthr_fs.Location" type="System.Drawing.Point, System.Drawing">
-    <value>556, 94</value>
+    <value>6, 19</value>
   </data>
-  <data name="mavlinkCheckBox1.Size" type="System.Drawing.Size, System.Drawing">
+  <data name="mavlinkCheckBoxthr_fs.Size" type="System.Drawing.Size, System.Drawing">
     <value>103, 17</value>
   </data>
-  <data name="mavlinkCheckBox1.TabIndex" type="System.Int32, mscorlib">
+  <data name="mavlinkCheckBoxthr_fs.TabIndex" type="System.Int32, mscorlib">
     <value>141</value>
   </data>
-  <data name="mavlinkCheckBox1.Text" xml:space="preserve">
+  <data name="mavlinkCheckBoxthr_fs.Text" xml:space="preserve">
     <value>Throttle FailSafe</value>
   </data>
-  <data name="&gt;&gt;mavlinkCheckBox1.Name" xml:space="preserve">
+  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>mavlinkCheckBox1</value>
+    <value>214, 17</value>
+  </metadata>
+  <data name="mavlinkCheckBoxthr_fs.ToolTip" xml:space="preserve">
+    <value>Enable Failsafe on low throttle pwm</value>
   </data>
-  <data name="&gt;&gt;mavlinkCheckBox1.Type" xml:space="preserve">
+  <data name="&gt;&gt;mavlinkCheckBoxthr_fs.Name" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>mavlinkCheckBoxthr_fs</value>
   </data>
-  <data name="&gt;&gt;mavlinkCheckBox1.Parent" xml:space="preserve">
+  <data name="&gt;&gt;mavlinkCheckBoxthr_fs.Type" xml:space="preserve">
-    <value>$this</value>
+    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
   </data>
-  <data name="&gt;&gt;mavlinkCheckBox1.ZOrder" xml:space="preserve">
+  <data name="&gt;&gt;mavlinkCheckBoxthr_fs.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxthr_fs.ZOrder" xml:space="preserve">
     <value>1</value>
   </data>
-  <data name="mavlinkNumericUpDown1.Enabled" type="System.Boolean, mscorlib">
+  <data name="mavlinkNumericUpDownthr_fs_value.Enabled" type="System.Boolean, mscorlib">
     <value>False</value>
   </data>
-  <data name="mavlinkNumericUpDown1.Location" type="System.Drawing.Point, System.Drawing">
+  <data name="mavlinkNumericUpDownthr_fs_value.Location" type="System.Drawing.Point, System.Drawing">
-    <value>556, 118</value>
+    <value>42, 42</value>
   </data>
-  <data name="mavlinkNumericUpDown1.Size" type="System.Drawing.Size, System.Drawing">
+  <data name="mavlinkNumericUpDownthr_fs_value.Size" type="System.Drawing.Size, System.Drawing">
-    <value>120, 20</value>
+    <value>103, 20</value>
   </data>
-  <data name="mavlinkNumericUpDown1.TabIndex" type="System.Int32, mscorlib">
+  <data name="mavlinkNumericUpDownthr_fs_value.TabIndex" type="System.Int32, mscorlib">
     <value>142</value>
   </data>
-  <data name="&gt;&gt;mavlinkNumericUpDown1.Name" xml:space="preserve">
+  <data name="mavlinkNumericUpDownthr_fs_value.ToolTip" xml:space="preserve">
-    <value>mavlinkNumericUpDown1</value>
+    <value>Trigger Throttle Pwm</value>
   </data>
-  <data name="&gt;&gt;mavlinkNumericUpDown1.Type" xml:space="preserve">
+  <data name="&gt;&gt;mavlinkNumericUpDownthr_fs_value.Name" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MavlinkNumericUpDown, ArdupilotMegaPlanner10, Version=1.1.4640.13049, Culture=neutral, PublicKeyToken=null</value>
+    <value>mavlinkNumericUpDownthr_fs_value</value>
   </data>
-  <data name="&gt;&gt;mavlinkNumericUpDown1.Parent" xml:space="preserve">
+  <data name="&gt;&gt;mavlinkNumericUpDownthr_fs_value.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MavlinkNumericUpDown, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;mavlinkNumericUpDownthr_fs_value.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;mavlinkNumericUpDownthr_fs_value.ZOrder" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="LNK_wiki.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Top, Right</value>
+  </data>
+  <data name="LNK_wiki.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="LNK_wiki.Location" type="System.Drawing.Point, System.Drawing">
+    <value>657, 5</value>
+  </data>
+  <data name="LNK_wiki.Size" type="System.Drawing.Size, System.Drawing">
+    <value>28, 13</value>
+  </data>
+  <data name="LNK_wiki.TabIndex" type="System.Int32, mscorlib">
+    <value>143</value>
+  </data>
+  <data name="LNK_wiki.Text" xml:space="preserve">
+    <value>Wiki</value>
+  </data>
+  <data name="&gt;&gt;LNK_wiki.Name" xml:space="preserve">
+    <value>LNK_wiki</value>
+  </data>
+  <data name="&gt;&gt;LNK_wiki.Type" xml:space="preserve">
+    <value>System.Windows.Forms.LinkLabel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;LNK_wiki.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
-  <data name="&gt;&gt;mavlinkNumericUpDown1.ZOrder" xml:space="preserve">
+  <data name="&gt;&gt;LNK_wiki.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="mavlinkCheckBoxgcs_fs.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="mavlinkCheckBoxgcs_fs.Enabled" type="System.Boolean, mscorlib">
+    <value>False</value>
+  </data>
+  <data name="mavlinkCheckBoxgcs_fs.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="mavlinkCheckBoxgcs_fs.Location" type="System.Drawing.Point, System.Drawing">
+    <value>6, 92</value>
+  </data>
+  <data name="mavlinkCheckBoxgcs_fs.Size" type="System.Drawing.Size, System.Drawing">
+    <value>89, 17</value>
+  </data>
+  <data name="mavlinkCheckBoxgcs_fs.TabIndex" type="System.Int32, mscorlib">
+    <value>144</value>
+  </data>
+  <data name="mavlinkCheckBoxgcs_fs.Text" xml:space="preserve">
+    <value>GCS FailSafe</value>
+  </data>
+  <data name="mavlinkCheckBoxgcs_fs.ToolTip" xml:space="preserve">
+    <value>Enable Failsafe on GCS loss of communication</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxgcs_fs.Name" xml:space="preserve">
+    <value>mavlinkCheckBoxgcs_fs</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxgcs_fs.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxgcs_fs.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxgcs_fs.ZOrder" xml:space="preserve">
+    <value>5</value>
+  </data>
+  <data name="mavlinkCheckBoxshort_fs.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="mavlinkCheckBoxshort_fs.Enabled" type="System.Boolean, mscorlib">
+    <value>False</value>
+  </data>
+  <data name="mavlinkCheckBoxshort_fs.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="mavlinkCheckBoxshort_fs.Location" type="System.Drawing.Point, System.Drawing">
+    <value>6, 115</value>
+  </data>
+  <data name="mavlinkCheckBoxshort_fs.Size" type="System.Drawing.Size, System.Drawing">
+    <value>127, 17</value>
+  </data>
+  <data name="mavlinkCheckBoxshort_fs.TabIndex" type="System.Int32, mscorlib">
+    <value>145</value>
+  </data>
+  <data name="mavlinkCheckBoxshort_fs.Text" xml:space="preserve">
+    <value>FailSafe Short (1 sec)</value>
+  </data>
+  <data name="mavlinkCheckBoxshort_fs.ToolTip" xml:space="preserve">
+    <value>Off, no Action, On, RTL</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxshort_fs.Name" xml:space="preserve">
+    <value>mavlinkCheckBoxshort_fs</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxshort_fs.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxshort_fs.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxshort_fs.ZOrder" xml:space="preserve">
+    <value>6</value>
+  </data>
+  <data name="mavlinkCheckBoxlong_fs.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="mavlinkCheckBoxlong_fs.Enabled" type="System.Boolean, mscorlib">
+    <value>False</value>
+  </data>
+  <data name="mavlinkCheckBoxlong_fs.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="mavlinkCheckBoxlong_fs.Location" type="System.Drawing.Point, System.Drawing">
+    <value>6, 138</value>
+  </data>
+  <data name="mavlinkCheckBoxlong_fs.Size" type="System.Drawing.Size, System.Drawing">
+    <value>132, 17</value>
+  </data>
+  <data name="mavlinkCheckBoxlong_fs.TabIndex" type="System.Int32, mscorlib">
+    <value>146</value>
+  </data>
+  <data name="mavlinkCheckBoxlong_fs.Text" xml:space="preserve">
+    <value>FailSafe Long (20 sec)</value>
+  </data>
+  <data name="mavlinkCheckBoxlong_fs.ToolTip" xml:space="preserve">
+    <value>Off, no Action, On, RTL</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxlong_fs.Name" xml:space="preserve">
+    <value>mavlinkCheckBoxlong_fs</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxlong_fs.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxlong_fs.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxlong_fs.ZOrder" xml:space="preserve">
+    <value>4</value>
+  </data>
+  <data name="mavlinkCheckBoxthr_fs_action.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="mavlinkCheckBoxthr_fs_action.Enabled" type="System.Boolean, mscorlib">
+    <value>False</value>
+  </data>
+  <data name="mavlinkCheckBoxthr_fs_action.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="mavlinkCheckBoxthr_fs_action.Location" type="System.Drawing.Point, System.Drawing">
+    <value>6, 69</value>
+  </data>
+  <data name="mavlinkCheckBoxthr_fs_action.Size" type="System.Drawing.Size, System.Drawing">
+    <value>134, 17</value>
+  </data>
+  <data name="mavlinkCheckBoxthr_fs_action.TabIndex" type="System.Int32, mscorlib">
+    <value>147</value>
+  </data>
+  <data name="mavlinkCheckBoxthr_fs_action.Text" xml:space="preserve">
+    <value>Throttle Failsafe Action</value>
+  </data>
+  <data name="mavlinkCheckBoxthr_fs_action.ToolTip" xml:space="preserve">
+    <value>Arducopter Auto: Off, no Action, On, RTL
+Arducopter Other: if have gps, RTL, Otherwise Land</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxthr_fs_action.Name" xml:space="preserve">
+    <value>mavlinkCheckBoxthr_fs_action</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxthr_fs_action.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4646.37607, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxthr_fs_action.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxthr_fs_action.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="label3.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="label3.Location" type="System.Drawing.Point, System.Drawing">
+    <value>6, 48</value>
+  </data>
+  <data name="label3.Size" type="System.Drawing.Size, System.Drawing">
+    <value>30, 13</value>
+  </data>
+  <data name="label3.TabIndex" type="System.Int32, mscorlib">
+    <value>148</value>
+  </data>
+  <data name="label3.Text" xml:space="preserve">
+    <value>Pwm</value>
+  </data>
+  <data name="&gt;&gt;label3.Name" xml:space="preserve">
+    <value>label3</value>
+  </data>
+  <data name="&gt;&gt;label3.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label3.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;label3.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
+  <data name="groupBox1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>495, 76</value>
+  </data>
+  <data name="groupBox1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>170, 167</value>
+  </data>
+  <data name="groupBox1.TabIndex" type="System.Int32, mscorlib">
+    <value>148</value>
+  </data>
+  <data name="groupBox1.Text" xml:space="preserve">
+    <value>FailSafe Options</value>
+  </data>
+  <data name="&gt;&gt;groupBox1.Name" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;groupBox1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.GroupBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;groupBox1.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;groupBox1.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
   <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
@@ -661,7 +896,7 @@
     <value>6, 13</value>
   </data>
   <data name="$this.Size" type="System.Drawing.Size, System.Drawing">
-    <value>751, 478</value>
+    <value>688, 448</value>
   </data>
   <data name="&gt;&gt;currentStateBindingSource.Name" xml:space="preserve">
     <value>currentStateBindingSource</value>
@@ -669,6 +904,12 @@
   <data name="&gt;&gt;currentStateBindingSource.Type" xml:space="preserve">
     <value>System.Windows.Forms.BindingSource, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
+  <data name="&gt;&gt;toolTip1.Name" xml:space="preserve">
+    <value>toolTip1</value>
+  </data>
+  <data name="&gt;&gt;toolTip1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolTip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
   <data name="&gt;&gt;$this.Name" xml:space="preserve">
     <value>ConfigFailSafe</value>
   </data>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRadioInput.cs

@@ -83,7 +83,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 CHK_revch3.Checked = MainV2.comPort.param["RC3_REV"].ToString() == "-1";
                 CHK_revch4.Checked = MainV2.comPort.param["RC4_REV"].ToString() == "-1";
             }
-            catch (Exception ex) { /*CustomMessageBox.Show("Missing RC rev Param " + ex.ToString());*/ }
+            catch {}//(Exception ex) { CustomMessageBox.Show("Missing RC rev Param " + ex.ToString()); }
             startup = false;
         }
 

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.Designer.cs

@@ -140,6 +140,12 @@
             resources.ApplyResources(this.RawValue, "RawValue");
             this.RawValue.Name = "RawValue";
             // 
+            // toolTip1
+            // 
+            this.toolTip1.AutoPopDelay = 20000;
+            this.toolTip1.InitialDelay = 500;
+            this.toolTip1.ReshowDelay = 100;
+            // 
             // ConfigRawParams
             // 
             resources.ApplyResources(this, "$this");

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.resx

@@ -142,7 +142,7 @@
     <value>BUT_compare</value>
   </data>
   <data name="&gt;&gt;BUT_compare.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4491.33622, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4646.35335, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_compare.Parent" xml:space="preserve">
     <value>$this</value>
@@ -172,7 +172,7 @@
     <value>BUT_rerequestparams</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4491.33622, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4646.35335, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.Parent" xml:space="preserve">
     <value>$this</value>
@@ -202,7 +202,7 @@
     <value>BUT_writePIDS</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4491.33622, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4646.35335, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.Parent" xml:space="preserve">
     <value>$this</value>
@@ -235,7 +235,7 @@
     <value>BUT_save</value>
   </data>
   <data name="&gt;&gt;BUT_save.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4491.33622, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4646.35335, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_save.Parent" xml:space="preserve">
     <value>$this</value>
@@ -268,7 +268,7 @@
     <value>BUT_load</value>
   </data>
   <data name="&gt;&gt;BUT_load.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4491.33622, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4646.35335, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_load.Parent" xml:space="preserve">
     <value>$this</value>
@@ -397,6 +397,6 @@
     <value>ConfigRawParams</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.BackstageView.BackStageViewContentPanel, ArdupilotMegaPlanner, Version=1.1.4491.33622, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.UserControl, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigTradHeli.Designer.cs

@@ -33,14 +33,12 @@
             this.groupBox5 = new System.Windows.Forms.GroupBox();
             this.H_SWASH_TYPE = new System.Windows.Forms.RadioButton();
             this.CCPM = new System.Windows.Forms.RadioButton();
-            this.BUT_swash_manual = new ArdupilotMega.Controls.MyButton();
             this.label41 = new System.Windows.Forms.Label();
             this.groupBox3 = new System.Windows.Forms.GroupBox();
             this.label46 = new System.Windows.Forms.Label();
             this.label45 = new System.Windows.Forms.Label();
             this.H_GYR_ENABLE = new System.Windows.Forms.CheckBox();
             this.H_GYR_GAIN = new System.Windows.Forms.TextBox();
-            this.BUT_HS4save = new ArdupilotMega.Controls.MyButton();
             this.label21 = new System.Windows.Forms.Label();
             this.H_COL_MIN = new System.Windows.Forms.TextBox();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
@@ -60,9 +58,7 @@
             this.label37 = new System.Windows.Forms.Label();
             this.label36 = new System.Windows.Forms.Label();
             this.label26 = new System.Windows.Forms.Label();
-            this.H_PIT_MAX = new System.Windows.Forms.TextBox();
             this.label25 = new System.Windows.Forms.Label();
-            this.H_ROL_MAX = new System.Windows.Forms.TextBox();
             this.label23 = new System.Windows.Forms.Label();
             this.label22 = new System.Windows.Forms.Label();
             this.label20 = new System.Windows.Forms.Label();
@@ -75,15 +71,27 @@
             this.HS2_REV = new System.Windows.Forms.CheckBox();
             this.HS1_REV = new System.Windows.Forms.CheckBox();
             this.label17 = new System.Windows.Forms.Label();
-            this.HS4 = new ArdupilotMega.HorizontalProgressBar2();
-            this.currentStateBindingSource = new System.Windows.Forms.BindingSource(this.components);
-            this.HS3 = new ArdupilotMega.VerticalProgressBar2();
-            this.Gservoloc = new AGaugeApp.AGauge();
             this.label44 = new System.Windows.Forms.Label();
             this.label43 = new System.Windows.Forms.Label();
             this.label42 = new System.Windows.Forms.Label();
             this.HS4_TRIM = new System.Windows.Forms.NumericUpDown();
             this.HS4_REV = new System.Windows.Forms.CheckBox();
+            this.label1 = new System.Windows.Forms.Label();
+            this.label2 = new System.Windows.Forms.Label();
+            this.mavlinkNumericUpDown3max = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.mavlinkNumericUpDown3min = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.mavlinkNumericUpDown2max = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.mavlinkNumericUpDown2min = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.mavlinkNumericUpDown1max = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.mavlinkNumericUpDown1min = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.BUT_swash_manual = new ArdupilotMega.Controls.MyButton();
+            this.BUT_HS4save = new ArdupilotMega.Controls.MyButton();
+            this.HS4 = new ArdupilotMega.HorizontalProgressBar2();
+            this.currentStateBindingSource = new System.Windows.Forms.BindingSource(this.components);
+            this.HS3 = new ArdupilotMega.VerticalProgressBar2();
+            this.Gservoloc = new AGaugeApp.AGauge();
+            this.mavlinkNumericUpDownrollmax = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.mavlinkNumericUpDownpitchmax = new ArdupilotMega.Controls.MavlinkNumericUpDown();
             this.groupBox5.SuspendLayout();
             this.groupBox3.SuspendLayout();
             this.groupBox1.SuspendLayout();
@@ -91,8 +99,16 @@
             ((System.ComponentModel.ISupportInitialize)(this.HS3_TRIM)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.HS2_TRIM)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.HS1_TRIM)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.HS4_TRIM)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown3max)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown3min)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown2max)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown2min)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown1max)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown1min)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownrollmax)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownpitchmax)).BeginInit();
             this.SuspendLayout();
             // 
             // groupBox5
@@ -118,13 +134,6 @@
             this.CCPM.TabStop = true;
             this.CCPM.UseVisualStyleBackColor = true;
             // 
-            // BUT_swash_manual
-            // 
-            resources.ApplyResources(this.BUT_swash_manual, "BUT_swash_manual");
-            this.BUT_swash_manual.Name = "BUT_swash_manual";
-            this.BUT_swash_manual.UseVisualStyleBackColor = true;
-            this.BUT_swash_manual.Click += new System.EventHandler(this.BUT_swash_manual_Click);
-            // 
             // label41
             // 
             resources.ApplyResources(this.label41, "label41");
@@ -163,13 +172,6 @@
             this.H_GYR_GAIN.Name = "H_GYR_GAIN";
             this.H_GYR_GAIN.Validating += new System.ComponentModel.CancelEventHandler(this.GYR_GAIN__Validating);
             // 
-            // BUT_HS4save
-            // 
-            resources.ApplyResources(this.BUT_HS4save, "BUT_HS4save");
-            this.BUT_HS4save.Name = "BUT_HS4save";
-            this.BUT_HS4save.UseVisualStyleBackColor = true;
-            this.BUT_HS4save.Click += new System.EventHandler(this.BUT_HS4save_Click);
-            // 
             // label21
             // 
             resources.ApplyResources(this.label21, "label21");
@@ -335,23 +337,11 @@
             resources.ApplyResources(this.label26, "label26");
             this.label26.Name = "label26";
             // 
-            // H_PIT_MAX
-            // 
-            resources.ApplyResources(this.H_PIT_MAX, "H_PIT_MAX");
-            this.H_PIT_MAX.Name = "H_PIT_MAX";
-            this.H_PIT_MAX.Validating += new System.ComponentModel.CancelEventHandler(this.PIT_MAX__Validating);
-            // 
             // label25
             // 
             resources.ApplyResources(this.label25, "label25");
             this.label25.Name = "label25";
             // 
-            // H_ROL_MAX
-            // 
-            resources.ApplyResources(this.H_ROL_MAX, "H_ROL_MAX");
-            this.H_ROL_MAX.Name = "H_ROL_MAX";
-            this.H_ROL_MAX.Validating += new System.ComponentModel.CancelEventHandler(this.ROL_MAX__Validating);
-            // 
             // label23
             // 
             resources.ApplyResources(this.label23, "label23");
@@ -421,6 +411,127 @@
             resources.ApplyResources(this.label17, "label17");
             this.label17.Name = "label17";
             // 
+            // label44
+            // 
+            resources.ApplyResources(this.label44, "label44");
+            this.label44.Name = "label44";
+            // 
+            // label43
+            // 
+            resources.ApplyResources(this.label43, "label43");
+            this.label43.Name = "label43";
+            // 
+            // label42
+            // 
+            resources.ApplyResources(this.label42, "label42");
+            this.label42.Name = "label42";
+            // 
+            // HS4_TRIM
+            // 
+            resources.ApplyResources(this.HS4_TRIM, "HS4_TRIM");
+            this.HS4_TRIM.Maximum = new decimal(new int[] {
+            2000,
+            0,
+            0,
+            0});
+            this.HS4_TRIM.Minimum = new decimal(new int[] {
+            1000,
+            0,
+            0,
+            0});
+            this.HS4_TRIM.Name = "HS4_TRIM";
+            this.HS4_TRIM.Value = new decimal(new int[] {
+            1500,
+            0,
+            0,
+            0});
+            this.HS4_TRIM.ValueChanged += new System.EventHandler(this.HS4_TRIM_ValueChanged);
+            // 
+            // HS4_REV
+            // 
+            resources.ApplyResources(this.HS4_REV, "HS4_REV");
+            this.HS4_REV.Name = "HS4_REV";
+            this.HS4_REV.UseVisualStyleBackColor = true;
+            this.HS4_REV.CheckedChanged += new System.EventHandler(this.HS4_REV_CheckedChanged);
+            // 
+            // label1
+            // 
+            resources.ApplyResources(this.label1, "label1");
+            this.label1.Name = "label1";
+            // 
+            // label2
+            // 
+            resources.ApplyResources(this.label2, "label2");
+            this.label2.Name = "label2";
+            // 
+            // mavlinkNumericUpDown3max
+            // 
+            resources.ApplyResources(this.mavlinkNumericUpDown3max, "mavlinkNumericUpDown3max");
+            this.mavlinkNumericUpDown3max.Max = 1F;
+            this.mavlinkNumericUpDown3max.Min = 0F;
+            this.mavlinkNumericUpDown3max.Name = "mavlinkNumericUpDown3max";
+            this.mavlinkNumericUpDown3max.param = null;
+            this.mavlinkNumericUpDown3max.ParamName = null;
+            // 
+            // mavlinkNumericUpDown3min
+            // 
+            resources.ApplyResources(this.mavlinkNumericUpDown3min, "mavlinkNumericUpDown3min");
+            this.mavlinkNumericUpDown3min.Max = 1F;
+            this.mavlinkNumericUpDown3min.Min = 0F;
+            this.mavlinkNumericUpDown3min.Name = "mavlinkNumericUpDown3min";
+            this.mavlinkNumericUpDown3min.param = null;
+            this.mavlinkNumericUpDown3min.ParamName = null;
+            // 
+            // mavlinkNumericUpDown2max
+            // 
+            resources.ApplyResources(this.mavlinkNumericUpDown2max, "mavlinkNumericUpDown2max");
+            this.mavlinkNumericUpDown2max.Max = 1F;
+            this.mavlinkNumericUpDown2max.Min = 0F;
+            this.mavlinkNumericUpDown2max.Name = "mavlinkNumericUpDown2max";
+            this.mavlinkNumericUpDown2max.param = null;
+            this.mavlinkNumericUpDown2max.ParamName = null;
+            // 
+            // mavlinkNumericUpDown2min
+            // 
+            resources.ApplyResources(this.mavlinkNumericUpDown2min, "mavlinkNumericUpDown2min");
+            this.mavlinkNumericUpDown2min.Max = 1F;
+            this.mavlinkNumericUpDown2min.Min = 0F;
+            this.mavlinkNumericUpDown2min.Name = "mavlinkNumericUpDown2min";
+            this.mavlinkNumericUpDown2min.param = null;
+            this.mavlinkNumericUpDown2min.ParamName = null;
+            // 
+            // mavlinkNumericUpDown1max
+            // 
+            resources.ApplyResources(this.mavlinkNumericUpDown1max, "mavlinkNumericUpDown1max");
+            this.mavlinkNumericUpDown1max.Max = 1F;
+            this.mavlinkNumericUpDown1max.Min = 0F;
+            this.mavlinkNumericUpDown1max.Name = "mavlinkNumericUpDown1max";
+            this.mavlinkNumericUpDown1max.param = null;
+            this.mavlinkNumericUpDown1max.ParamName = null;
+            // 
+            // mavlinkNumericUpDown1min
+            // 
+            resources.ApplyResources(this.mavlinkNumericUpDown1min, "mavlinkNumericUpDown1min");
+            this.mavlinkNumericUpDown1min.Max = 1F;
+            this.mavlinkNumericUpDown1min.Min = 0F;
+            this.mavlinkNumericUpDown1min.Name = "mavlinkNumericUpDown1min";
+            this.mavlinkNumericUpDown1min.param = null;
+            this.mavlinkNumericUpDown1min.ParamName = null;
+            // 
+            // BUT_swash_manual
+            // 
+            resources.ApplyResources(this.BUT_swash_manual, "BUT_swash_manual");
+            this.BUT_swash_manual.Name = "BUT_swash_manual";
+            this.BUT_swash_manual.UseVisualStyleBackColor = true;
+            this.BUT_swash_manual.Click += new System.EventHandler(this.BUT_swash_manual_Click);
+            // 
+            // BUT_HS4save
+            // 
+            resources.ApplyResources(this.BUT_HS4save, "BUT_HS4save");
+            this.BUT_HS4save.Name = "BUT_HS4save";
+            this.BUT_HS4save.UseVisualStyleBackColor = true;
+            this.BUT_HS4save.Click += new System.EventHandler(this.BUT_HS4save_Click);
+            // 
             // HS4
             // 
             this.HS4.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69)))));
@@ -600,53 +711,38 @@
             this.Gservoloc.Value2 = 180F;
             this.Gservoloc.Value3 = 0F;
             // 
-            // label44
+            // mavlinkNumericUpDownrollmax
             // 
-            resources.ApplyResources(this.label44, "label44");
+            resources.ApplyResources(this.mavlinkNumericUpDownrollmax, "mavlinkNumericUpDownrollmax");
-            this.label44.Name = "label44";
+            this.mavlinkNumericUpDownrollmax.Max = 1F;
+            this.mavlinkNumericUpDownrollmax.Min = 0F;
+            this.mavlinkNumericUpDownrollmax.Name = "mavlinkNumericUpDownrollmax";
+            this.mavlinkNumericUpDownrollmax.param = null;
+            this.mavlinkNumericUpDownrollmax.ParamName = null;
             // 
-            // label43
+            // mavlinkNumericUpDownpitchmax
             // 
-            resources.ApplyResources(this.label43, "label43");
+            resources.ApplyResources(this.mavlinkNumericUpDownpitchmax, "mavlinkNumericUpDownpitchmax");
-            this.label43.Name = "label43";
+            this.mavlinkNumericUpDownpitchmax.Max = 1F;
-            // 
+            this.mavlinkNumericUpDownpitchmax.Min = 0F;
-            // label42
+            this.mavlinkNumericUpDownpitchmax.Name = "mavlinkNumericUpDownpitchmax";
-            // 
+            this.mavlinkNumericUpDownpitchmax.param = null;
-            resources.ApplyResources(this.label42, "label42");
+            this.mavlinkNumericUpDownpitchmax.ParamName = null;
-            this.label42.Name = "label42";
-            // 
-            // HS4_TRIM
-            // 
-            resources.ApplyResources(this.HS4_TRIM, "HS4_TRIM");
-            this.HS4_TRIM.Maximum = new decimal(new int[] {
-            2000,
-            0,
-            0,
-            0});
-            this.HS4_TRIM.Minimum = new decimal(new int[] {
-            1000,
-            0,
-            0,
-            0});
-            this.HS4_TRIM.Name = "HS4_TRIM";
-            this.HS4_TRIM.Value = new decimal(new int[] {
-            1500,
-            0,
-            0,
-            0});
-            this.HS4_TRIM.ValueChanged += new System.EventHandler(this.HS4_TRIM_ValueChanged);
-            // 
-            // HS4_REV
-            // 
-            resources.ApplyResources(this.HS4_REV, "HS4_REV");
-            this.HS4_REV.Name = "HS4_REV";
-            this.HS4_REV.UseVisualStyleBackColor = true;
-            this.HS4_REV.CheckedChanged += new System.EventHandler(this.HS4_REV_CheckedChanged);
             // 
             // ConfigTradHeli
             // 
             resources.ApplyResources(this, "$this");
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.mavlinkNumericUpDownpitchmax);
+            this.Controls.Add(this.mavlinkNumericUpDownrollmax);
+            this.Controls.Add(this.label2);
+            this.Controls.Add(this.label1);
+            this.Controls.Add(this.mavlinkNumericUpDown3max);
+            this.Controls.Add(this.mavlinkNumericUpDown3min);
+            this.Controls.Add(this.mavlinkNumericUpDown2max);
+            this.Controls.Add(this.mavlinkNumericUpDown2min);
+            this.Controls.Add(this.mavlinkNumericUpDown1max);
+            this.Controls.Add(this.mavlinkNumericUpDown1min);
             this.Controls.Add(this.label44);
             this.Controls.Add(this.label43);
             this.Controls.Add(this.label42);
@@ -666,9 +762,7 @@
             this.Controls.Add(this.label37);
             this.Controls.Add(this.label36);
             this.Controls.Add(this.label26);
-            this.Controls.Add(this.H_PIT_MAX);
             this.Controls.Add(this.label25);
-            this.Controls.Add(this.H_ROL_MAX);
             this.Controls.Add(this.label23);
             this.Controls.Add(this.label22);
             this.Controls.Add(this.label20);
@@ -696,8 +790,16 @@
             ((System.ComponentModel.ISupportInitialize)(this.HS3_TRIM)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.HS2_TRIM)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.HS1_TRIM)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.HS4_TRIM)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown3max)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown3min)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown2max)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown2min)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown1max)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown1min)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownrollmax)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownpitchmax)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -735,9 +837,7 @@
         private System.Windows.Forms.Label label37;
         private System.Windows.Forms.Label label36;
         private System.Windows.Forms.Label label26;
-        private System.Windows.Forms.TextBox H_PIT_MAX;
         private System.Windows.Forms.Label label25;
-        private System.Windows.Forms.TextBox H_ROL_MAX;
         private System.Windows.Forms.Label label23;
         private System.Windows.Forms.Label label22;
         private System.Windows.Forms.Label label20;
@@ -759,5 +859,15 @@
         private System.Windows.Forms.Label label42;
         private System.Windows.Forms.NumericUpDown HS4_TRIM;
         private System.Windows.Forms.CheckBox HS4_REV;
+        private Controls.MavlinkNumericUpDown mavlinkNumericUpDown1min;
+        private Controls.MavlinkNumericUpDown mavlinkNumericUpDown1max;
+        private Controls.MavlinkNumericUpDown mavlinkNumericUpDown2max;
+        private Controls.MavlinkNumericUpDown mavlinkNumericUpDown2min;
+        private Controls.MavlinkNumericUpDown mavlinkNumericUpDown3max;
+        private Controls.MavlinkNumericUpDown mavlinkNumericUpDown3min;
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.Label label2;
+        private Controls.MavlinkNumericUpDown mavlinkNumericUpDownrollmax;
+        private Controls.MavlinkNumericUpDown mavlinkNumericUpDownpitchmax;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigTradHeli.cs

@@ -383,6 +383,16 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             timer.Interval = 100;
             timer.Start();
 
+            mavlinkNumericUpDown1min.setup(800,1400,1,1,"HS1_MIN",MainV2.comPort.param);
+            mavlinkNumericUpDown1max.setup(1600,2200,1,1,"HS1_MAX",MainV2.comPort.param);
+            mavlinkNumericUpDown2min.setup(800, 1400, 1, 1, "HS2_MIN", MainV2.comPort.param);
+            mavlinkNumericUpDown2max.setup(1600, 2200, 1, 1, "HS2_MAX", MainV2.comPort.param);
+            mavlinkNumericUpDown3min.setup(800, 1400, 1, 1, "HS3_MIN", MainV2.comPort.param);
+            mavlinkNumericUpDown3max.setup(1600, 2200, 1, 1, "HS3_MAX", MainV2.comPort.param);
+
+            mavlinkNumericUpDownpitchmax.setup(10, 65, 100, 1, "H_PIT_MAX", MainV2.comPort.param);
+            mavlinkNumericUpDownrollmax.setup(10, 65, 100, 1, "H_ROL_MAX", MainV2.comPort.param);
+
             startup = true;
             try
             {

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -10,6 +10,8 @@ using log4net;
 using ArdupilotMega.Arduino;
 using ArdupilotMega.Utilities;
 using System.Text.RegularExpressions;
+using System.Net.Security;
+using System.Security.Cryptography.X509Certificates;
 
 namespace ArdupilotMega.GCSViews
 {
@@ -84,9 +86,13 @@ namespace ArdupilotMega.GCSViews
 
             software temp = new software();
 
+            // this is for mono to a ssl server
+            //ServicePointManager.CertificatePolicy = new NoCheckCertificatePolicy(); 
+            ServicePointManager.ServerCertificateValidationCallback = new System.Net.Security.RemoteCertificateValidationCallback((sender1, certificate, chain, policyErrors) => { return true; });
+
             try
             {
-
+                log.Info("url: "+firmwareurl);
                 using (XmlTextReader xmlreader = new XmlTextReader(firmwareurl))
                 {
                     while (xmlreader.Read())
@@ -147,6 +153,7 @@ namespace ArdupilotMega.GCSViews
             }
             catch (Exception ex)
             {
+                log.Error(ex);
                 CustomMessageBox.Show("Failed to get Firmware List : " + ex.Message);
             }
             log.Info("FW load done");

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs

@@ -8,8 +8,8 @@
         {
             this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FlightData));
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle();
             this.contextMenuStripMap = new System.Windows.Forms.ContextMenuStrip(this.components);
             this.goHereToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.flyToHereAltToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@@ -35,6 +35,8 @@
             this.quickView2 = new ArdupilotMega.Controls.QuickView();
             this.quickView1 = new ArdupilotMega.Controls.QuickView();
             this.tabActions = new System.Windows.Forms.TabPage();
+            this.modifyandSetAlt = new ArdupilotMega.Controls.ModifyandSet();
+            this.BUT_ARM = new ArdupilotMega.Controls.MyButton();
             this.BUT_script = new ArdupilotMega.Controls.MyButton();
             this.BUT_joystick = new ArdupilotMega.Controls.MyButton();
             this.BUT_quickmanual = new ArdupilotMega.Controls.MyButton();
@@ -229,7 +231,7 @@
             this.hud1.opengl = true;
             this.hud1.pitch = 0F;
             this.hud1.roll = 0F;
-            this.hud1.status = 0;
+            this.hud1.status = false;
             this.hud1.streamjpg = null;
             this.hud1.targetalt = 0F;
             this.hud1.targetheading = 0F;
@@ -384,10 +386,13 @@
             this.quickView1.Name = "quickView1";
             this.quickView1.number = 0D;
             this.quickView1.numberColor = System.Drawing.Color.FromArgb(((int)(((byte)(209)))), ((int)(((byte)(151)))), ((int)(((byte)(248)))));
+            this.toolTip1.SetToolTip(this.quickView1, resources.GetString("quickView1.ToolTip"));
             this.quickView1.DoubleClick += new System.EventHandler(this.quickView_DoubleClick);
             // 
             // tabActions
             // 
+            this.tabActions.Controls.Add(this.modifyandSetAlt);
+            this.tabActions.Controls.Add(this.BUT_ARM);
             this.tabActions.Controls.Add(this.BUT_script);
             this.tabActions.Controls.Add(this.BUT_joystick);
             this.tabActions.Controls.Add(this.BUT_quickmanual);
@@ -407,6 +412,26 @@
             this.tabActions.Name = "tabActions";
             this.tabActions.UseVisualStyleBackColor = true;
             // 
+            // modifyandSetAlt
+            // 
+            this.modifyandSetAlt.ButtonText = "Change Alt";
+            resources.ApplyResources(this.modifyandSetAlt, "modifyandSetAlt");
+            this.modifyandSetAlt.Name = "modifyandSetAlt";
+            this.modifyandSetAlt.Value = new decimal(new int[] {
+            100,
+            0,
+            0,
+            0});
+            this.modifyandSetAlt.Click += new System.EventHandler(this.modifyandSetAlt_Click);
+            // 
+            // BUT_ARM
+            // 
+            resources.ApplyResources(this.BUT_ARM, "BUT_ARM");
+            this.BUT_ARM.Name = "BUT_ARM";
+            this.toolTip1.SetToolTip(this.BUT_ARM, resources.GetString("BUT_ARM.ToolTip"));
+            this.BUT_ARM.UseVisualStyleBackColor = true;
+            this.BUT_ARM.Click += new System.EventHandler(this.BUT_ARM_Click);
+            // 
             // BUT_script
             // 
             resources.ApplyResources(this.BUT_script, "BUT_script");
@@ -1243,8 +1268,8 @@
             // 
             // dataGridViewImageColumn1
             // 
-            dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            dataGridViewCellStyle3.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle1;
+            this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle3;
             resources.ApplyResources(this.dataGridViewImageColumn1, "dataGridViewImageColumn1");
             this.dataGridViewImageColumn1.Image = global::ArdupilotMega.Properties.Resources.up;
             this.dataGridViewImageColumn1.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -1252,8 +1277,8 @@
             // 
             // dataGridViewImageColumn2
             // 
-            dataGridViewCellStyle2.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle2;
+            this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle4;
             resources.ApplyResources(this.dataGridViewImageColumn2, "dataGridViewImageColumn2");
             this.dataGridViewImageColumn2.Image = global::ArdupilotMega.Properties.Resources.down;
             this.dataGridViewImageColumn2.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -1412,5 +1437,8 @@
         private Crom.Controls.Docking.DockContainer dockContainer1;
         private System.Windows.Forms.ContextMenuStrip contextMenuStripDockContainer;
         private System.Windows.Forms.ToolStripMenuItem resetToolStripMenuItem;
+        private Controls.MyButton BUT_ARM;
+        private Controls.ModifyandSet modifyandSetAlt;
+
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -68,13 +68,12 @@ namespace ArdupilotMega.GCSViews
         internal static GMapOverlay kmlpolygons;
         internal static GMapOverlay geofence;
 
-        Dictionary<Guid, Form> formguids = new Dictionary<Guid,Form>();
+        Dictionary<Guid, Form> formguids = new Dictionary<Guid, Form>();
 
         bool huddropout = false;
         bool huddropoutresize = false;
 
         private DockStateSerializer _serializer = null;
-        DockableFormInfo dockhud;
 
         List<PointLatLng> trackPoints = new List<PointLatLng>();
 
@@ -99,8 +98,11 @@ namespace ArdupilotMega.GCSViews
             threadrun = 0;
             MainV2.comPort.logreadmode = false;
             MainV2.config["FlightSplitter"] = hud1.Width;
-            _serializer.Save();
+            if (!MainV2.MONO)
-            SaveWindowLayout();
+            {
+                _serializer.Save();
+                SaveWindowLayout();
+            }
             System.Threading.Thread.Sleep(100);
             base.Dispose(disposing);
         }
@@ -230,25 +232,31 @@ namespace ArdupilotMega.GCSViews
             }
             catch { }
 
-            SetupDocking();
+            if (MainV2.MONO)
-
-            if (File.Exists(_serializer.SavePath) == true)
             {
-                try
+                MainH.Dock = DockStyle.Fill;
-                {
+                MainH.Visible = true;
-                    _serializer.Load(true, GetFormFromGuid);
-                }
-                catch { }
             }
+            else
+            {
+                SetupDocking();
 
-            cleanupDocks();
+                if (File.Exists(_serializer.SavePath) == true)
+                {
+                    try
+                    {
+                        _serializer.Load(true, GetFormFromGuid);
+                    }
+                    catch { }
+                }
+            }
         }
 
         void SetupDocking()
         {
             this.SuspendLayout();
 
-            dockhud = CreateFormAndGuid(dockContainer1, hud1, "fd_hud_guid");
+            DockableFormInfo dockhud = CreateFormAndGuid(dockContainer1, hud1, "fd_hud_guid");
             DockableFormInfo dockmap = CreateFormAndGuid(dockContainer1, tableMap, "fd_map_guid");
             DockableFormInfo dockquick = CreateFormAndGuid(dockContainer1, tabQuick, "fd_quick_guid");
             DockableFormInfo dockactions = CreateFormAndGuid(dockContainer1, tabActions, "fd_actions_guid");
@@ -256,7 +264,6 @@ namespace ArdupilotMega.GCSViews
             DockableFormInfo dockstatus = CreateFormAndGuid(dockContainer1, tabStatus, "fd_status_guid");
             DockableFormInfo docktlogs = CreateFormAndGuid(dockContainer1, tabTLogs, "fd_tlogs_guid");
 
-
             dockContainer1.DockForm(dockmap, DockStyle.Fill, zDockMode.Outer);
             dockContainer1.DockForm(dockquick, DockStyle.Right, zDockMode.Outer);
             dockContainer1.DockForm(dockhud, DockStyle.Left, zDockMode.Outer);
@@ -275,6 +282,8 @@ namespace ArdupilotMega.GCSViews
 
             dockContainer1.SetHeight(dockhud, hud1.Height);
 
+            dockContainer1.SetWidth(dockguages, 110);
+
             this.ResumeLayout();
         }
 
@@ -289,7 +298,6 @@ namespace ArdupilotMega.GCSViews
 
                 info.ShowContextMenuButton = false;
             }
-            dockContainer1.Invalidate();
         }
 
         void SaveWindowLayout()
@@ -319,7 +327,7 @@ namespace ArdupilotMega.GCSViews
                     object fieldValue;
                     try
                     {
-                        fieldValue = field.GetValue(thisBoxed,null); // Get value
+                        fieldValue = field.GetValue(thisBoxed, null); // Get value
                     }
                     catch { continue; }
 
@@ -329,10 +337,30 @@ namespace ArdupilotMega.GCSViews
                     xmlwriter.WriteElementString(field.Name, fieldValue.ToString());
                 }
 
-               // DockableContainer dockcont = info as DockableContainer;
+                thisBoxed = info.DockableForm;
+                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
+
+
+                        // Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
+                        TypeCode typeCode = Type.GetTypeCode(fieldValue.GetType());
+
+                        xmlwriter.WriteElementString(field.Name, fieldValue.ToString());
+                    }
+                    catch { continue; }
+                }
+
+                // DockableContainer dockcont = info as DockableContainer;
+
+                // dockContainer1.
 
-               // dockContainer1.
-               
                 xmlwriter.WriteEndElement();
             }
 
@@ -342,11 +370,12 @@ namespace ArdupilotMega.GCSViews
             xmlwriter.Close();
         }
 
-        DockableFormInfo CreateFormAndGuid(DockContainer dock, Control ctl, string configguidref) 
+        DockableFormInfo CreateFormAndGuid(DockContainer dock, Control ctl, string configguidref)
         {
             Guid gu = GetOrCreateGuid(configguidref);
             Form frm;
-            if (formguids.ContainsKey(gu))
+
+            if (formguids.ContainsKey(gu) && !formguids[gu].IsDisposed)
             {
                 frm = formguids[gu];
             }
@@ -355,9 +384,18 @@ namespace ArdupilotMega.GCSViews
                 frm = CreateFormFromControl(ctl);
                 frm.AutoScroll = true;
                 formguids[gu] = frm;
-            }           
+            }
 
-            return dock.Add(frm, Crom.Controls.Docking.zAllowedDock.All, gu);
+            frm.FormBorderStyle = FormBorderStyle.SizableToolWindow;
+            frm.TopLevel = false;
+
+            DockableFormInfo answer = dock.Add(frm, Crom.Controls.Docking.zAllowedDock.All, gu);
+
+            answer.ShowCloseButton = false;
+
+            answer.ShowContextMenuButton = false;
+
+            return answer;
         }
 
         Guid GetOrCreateGuid(string configname)
@@ -367,7 +405,7 @@ namespace ArdupilotMega.GCSViews
                 MainV2.config[configname] = Guid.NewGuid().ToString();
             }
 
-            return new Guid(MainV2.config[configname].ToString()); 
+            return new Guid(MainV2.config[configname].ToString());
         }
 
         Form GetFormFromGuid(Guid id)
@@ -418,7 +456,7 @@ namespace ArdupilotMega.GCSViews
                     {
                         newform.Text = "Hud";
                     }
-                    if (ctl is myGMAP) 
+                    if (ctl is myGMAP)
                     {
                         newform.Text = "Map";
                     }
@@ -433,7 +471,7 @@ namespace ArdupilotMega.GCSViews
             // localise it
             Control tabStatus = sender as Control;
 
-          //  tabStatus.SuspendLayout();
+            //  tabStatus.SuspendLayout();
 
             //foreach (Control temp in tabStatus.Controls)
             {
@@ -517,7 +555,7 @@ namespace ArdupilotMega.GCSViews
 
             tabStatus.Width = x;
 
-         //   tabStatus.ResumeLayout();
+            //   tabStatus.ResumeLayout();
         }
 
         public void Activate()
@@ -550,7 +588,7 @@ namespace ArdupilotMega.GCSViews
                 hud1.Enabled = false;
                 hud1.Visible = false;
             }
-           //     hud1.Location = new Point(-1000,-1000);
+            //     hud1.Location = new Point(-1000,-1000);
 
             ZedGraphTimer.Stop();
         }
@@ -718,7 +756,7 @@ namespace ArdupilotMega.GCSViews
                         LogPlayBackSpeed = 0.01;
                     try
                     {
-                        ts = Math.Min((act / LogPlayBackSpeed),1000);
+                        ts = Math.Min((act / LogPlayBackSpeed), 1000);
                     }
                     catch { }
 
@@ -759,7 +797,7 @@ namespace ArdupilotMega.GCSViews
                         tunning = DateTime.Now;
                     }
 
-                    
+
 
                     if (MainV2.comPort.logplaybackfile != null && MainV2.comPort.logplaybackfile.BaseStream.Position == MainV2.comPort.logplaybackfile.BaseStream.Length)
                     {
@@ -779,18 +817,18 @@ namespace ArdupilotMega.GCSViews
                     }
                 }
 
-                
+
 
                 try
                 {
-                   // Console.WriteLine(DateTime.Now.Millisecond);
+                    // Console.WriteLine(DateTime.Now.Millisecond);
                     updateBindingSource();
-                   // Console.WriteLine(DateTime.Now.Millisecond + " done ");
+                    // Console.WriteLine(DateTime.Now.Millisecond + " done ");
 
                     if (ArdupilotMega.Controls.OpenGLtest.instance != null)
                     {
-                        ArdupilotMega.Controls.OpenGLtest.instance.rpy = new OpenTK.Vector3(MainV2.cs.roll,MainV2.cs.pitch,MainV2.cs.yaw);
+                        ArdupilotMega.Controls.OpenGLtest.instance.rpy = new OpenTK.Vector3(MainV2.cs.roll, MainV2.cs.pitch, MainV2.cs.yaw);
-                        ArdupilotMega.Controls.OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.cs.lat,MainV2.cs.lng,MainV2.cs.alt,"here");
+                        ArdupilotMega.Controls.OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.cs.lat, MainV2.cs.lng, MainV2.cs.alt, "here");
                     }
 
                     if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked == true)
@@ -847,12 +885,12 @@ namespace ArdupilotMega.GCSViews
 
                         if (route.Points.Count > int.Parse(MainV2.config["NUM_tracklength"].ToString()))
                         {
-                          //  trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
+                            //  trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
                             route.Points.RemoveRange(0, route.Points.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
                         }
                         if (MainV2.cs.lat != 0)
                         {
-                           // trackPoints.Add(currentloc);
+                            // trackPoints.Add(currentloc);
                             route.Points.Add(currentloc);
                         }
 
@@ -880,26 +918,28 @@ namespace ArdupilotMega.GCSViews
                                 //Console.WriteLine("Doing FD WP's");
                                 updateMissionRouteMarkers();
 
-                                if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
+                                foreach (MAVLink.mavlink_mission_item_t plla in MainV2.comPort.wps.Values)
                                 {
-                                        FlightPlanner.pointlist.Clear();
+                                    if (plla.x == 0 || plla.y == 0)
-                                        FlightPlanner.pointlist.AddRange(MainV2.comPort.wps);
-                                }
-
-                                foreach (PointLatLngAlt plla in FlightPlanner.pointlist)
-                                {
-                                    if (plla == null)
-                                        break;
-                                    if (plla.Lng == 0 || plla.Lat == 0)
                                         continue;
 
-                                    if (plla.Tag.StartsWith("ROI"))
+                                    if (plla.command == (byte)MAVLink.MAV_CMD.ROI)
                                     {
-                                        addpolygonmarkerred(plla.Tag, plla.Lng, plla.Lat, (int)plla.Alt, plla.color, routes);
+                                        addpolygonmarkerred(plla.seq.ToString(), plla.y, plla.x, (int)plla.z, Color.Red, routes);
                                         continue;
                                     }
 
-                                    addpolygonmarker(plla.Tag, plla.Lng, plla.Lat, (int)plla.Alt,plla.color,polygons);
+                                    string tag = plla.seq.ToString();
+                                    if (plla.seq == 0 && plla.current != 2)
+                                    {
+                                        tag = "Home";
+                                    }
+                                    if (plla.current == 2)
+                                    {
+                                        continue;
+                                    }
+
+                                    addpolygonmarker(tag, plla.y, plla.x, (int)plla.z, Color.White, polygons);
                                 }
 
                                 RegeneratePolygon();
@@ -915,12 +955,12 @@ namespace ArdupilotMega.GCSViews
                                 if (routes.Markers.Count != 1)
                                 {
                                     routes.Markers.Clear();
-                                    routes.Markers.Add( new GMapMarkerCross(currentloc));
+                                    routes.Markers.Add(new GMapMarkerCross(currentloc));
                                 }
 
-                                if (MainV2.cs.mode.ToLower() == "guided" && MainV2.cs.GuidedModeWP != null && MainV2.cs.GuidedModeWP.Lat != 0)
+                                if (MainV2.cs.mode.ToLower() == "guided" && MainV2.comPort.GuidedMode.x != 0)
                                 {
-                                    addpolygonmarker("Guided Mode", MainV2.cs.GuidedModeWP.Lng, MainV2.cs.GuidedModeWP.Lat, (int)MainV2.cs.GuidedModeWP.Alt, Color.Blue, routes);
+                                    addpolygonmarker("Guided Mode", MainV2.comPort.GuidedMode.y, MainV2.comPort.GuidedMode.x, (int)MainV2.comPort.GuidedMode.z, Color.Blue, routes);
                                 }
 
                                 if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
@@ -999,7 +1039,7 @@ namespace ArdupilotMega.GCSViews
         {
             if (playing)
             {
-                if (BUT_playlog.Text == "Pause") 
+                if (BUT_playlog.Text == "Pause")
                     return;
 
                 this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
@@ -1091,18 +1131,18 @@ namespace ArdupilotMega.GCSViews
 
                 GMapMarkerRect mBorders = new GMapMarkerRect(point);
                 {
-                    
+
-                        mBorders.InnerMarker = m;
+                    mBorders.InnerMarker = m;
-                        try
+                    try
-                        {
+                    {
-                            mBorders.wprad = (int)(float.Parse(ArdupilotMega.MainV2.config["TXT_WPRad"].ToString()) / MainV2.cs.multiplierdist);
+                        mBorders.wprad = (int)(float.Parse(ArdupilotMega.MainV2.config["TXT_WPRad"].ToString()) / MainV2.cs.multiplierdist);
-                        }
+                    }
-                        catch { }
+                    catch { }
-                        mBorders.MainMap = gMapControl1;
+                    mBorders.MainMap = gMapControl1;
-                        if (color.HasValue)
+                    if (color.HasValue)
-                        {
+                    {
-                            mBorders.Color = color.Value;
+                        mBorders.Color = color.Value;
-                        }
+                    }
                 }
 
                 overlay.Markers.Add(m);
@@ -1284,7 +1324,7 @@ namespace ArdupilotMega.GCSViews
 
         private void BUT_clear_track_Click(object sender, EventArgs e)
         {
-            if (route !=null)
+            if (route != null)
                 route.Points.Clear();
         }
 
@@ -1308,7 +1348,7 @@ namespace ArdupilotMega.GCSViews
             {
                 ((Button)sender).Enabled = false;
 #if MAVLINK10
-                comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), CMB_action.Text),1,0,1,0,0,0,0);
+                comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), CMB_action.Text), 1, 0, 1, 0, 0, 0, 0);
 #else
                 comPort.doAction((MAVLink.MAV_ACTION)Enum.Parse(typeof(MAVLink.MAV_ACTION), "MAV_ACTION_" + CMB_action.Text));
 #endif
@@ -1387,11 +1427,11 @@ namespace ArdupilotMega.GCSViews
                 return;
             }
 
-            if (MainV2.cs.GuidedModeWP.Alt == 0)
+            if (MainV2.comPort.GuidedMode.z == 0)
             {
                 flyToHereAltToolStripMenuItem_Click(null, null);
 
-                if (MainV2.cs.GuidedModeWP.Alt == 0) 
+                if (MainV2.comPort.GuidedMode.z == 0)
                     return;
             }
 
@@ -1404,15 +1444,13 @@ namespace ArdupilotMega.GCSViews
             Locationwp gotohere = new Locationwp();
 
             gotohere.id = (byte)MAVLink.MAV_CMD.WAYPOINT;
-            gotohere.alt = (float)(MainV2.cs.GuidedModeWP.Alt); // back to m
+            gotohere.alt = (float)(MainV2.comPort.GuidedMode.z); // back to m
             gotohere.lat = (float)(gotolocation.Lat);
             gotohere.lng = (float)(gotolocation.Lng);
 
             try
             {
                 MainV2.comPort.setGuidedModeWP(gotohere);
-
-                MainV2.cs.GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt, "Guided Mode");
             }
             catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); }
 
@@ -1450,8 +1488,8 @@ namespace ArdupilotMega.GCSViews
                 catch { }
             }
         }
-		
+
-		        private void FlightData_ParentChanged(object sender, EventArgs e)
+        private void FlightData_ParentChanged(object sender, EventArgs e)
         {
             if (MainV2.cam != null)
             {
@@ -1528,7 +1566,7 @@ namespace ArdupilotMega.GCSViews
             }
             else
             {
-               // BUT_clear_track_Click(sender, e);
+                // BUT_clear_track_Click(sender, e);
                 MainV2.comPort.logreadmode = true;
                 list1.Clear();
                 list2.Clear();
@@ -1665,11 +1703,7 @@ namespace ArdupilotMega.GCSViews
             try
             {
                 ((Button)sender).Enabled = false;
-#if MAVLINK10
+                MainV2.comPort.setMode("Auto");
-				MainV2.comPort.setMode("Auto");
-#else
-                comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_AUTO);
-#endif
             }
             catch { CustomMessageBox.Show("The Command failed to execute"); }
             ((Button)sender).Enabled = true;
@@ -1680,11 +1714,7 @@ namespace ArdupilotMega.GCSViews
             try
             {
                 ((Button)sender).Enabled = false;
-#if MAVLINK10
+                MainV2.comPort.setMode("RTL");
-				MainV2.comPort.setMode("RTL");
-#else
-                comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_RETURN);
-#endif
             }
             catch { CustomMessageBox.Show("The Command failed to execute"); }
             ((Button)sender).Enabled = true;
@@ -1695,14 +1725,11 @@ namespace ArdupilotMega.GCSViews
             try
             {
                 ((Button)sender).Enabled = false;
-#if MAVLINK10
                 if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
-				    MainV2.comPort.setMode("Manual");
+                    MainV2.comPort.setMode("Manual");
                 if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
                     MainV2.comPort.setMode("Stabilize");
-#else
+
-                comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_MANUAL);
-#endif
             }
             catch { CustomMessageBox.Show("The Command failed to execute"); }
             ((Button)sender).Enabled = true;
@@ -1745,7 +1772,7 @@ namespace ArdupilotMega.GCSViews
 
         void dropout_FormClosed(object sender, FormClosedEventArgs e)
         {
-            dockhud.DockableForm.Controls.Add(hud1);
+            GetFormFromGuid(GetOrCreateGuid("fd_hud_guid")).Controls.Add(hud1);
             huddropout = false;
         }
 
@@ -2024,7 +2051,7 @@ namespace ArdupilotMega.GCSViews
             {
                 HUD.Custom cust = new HUD.Custom();
 
-                string prefix = ((CheckBox)sender).Name +": ";
+                string prefix = ((CheckBox)sender).Name + ": ";
                 if (MainV2.config["hud1_useritem_" + ((CheckBox)sender).Name] != null)
                     prefix = (string)MainV2.config["hud1_useritem_" + ((CheckBox)sender).Name];
 
@@ -2328,11 +2355,11 @@ print 'Roll complete'
 
 ";
 
-          //  CustomMessageBox.Show("This is Very ALPHA");
+            //  CustomMessageBox.Show("This is Very ALPHA");
 
             Form scriptedit = new Form();
 
-            scriptedit.Size = new System.Drawing.Size(500,500);
+            scriptedit.Size = new System.Drawing.Size(500, 500);
 
             TextBox tb = new TextBox();
 
@@ -2341,8 +2368,8 @@ print 'Roll complete'
             tb.ScrollBars = ScrollBars.Both;
             tb.Multiline = true;
 
-            tb.Location = new Point(0,0);
+            tb.Location = new Point(0, 0);
-            tb.Size = new System.Drawing.Size(scriptedit.Size.Width-30,scriptedit.Size.Height-30);
+            tb.Size = new System.Drawing.Size(scriptedit.Size.Width - 30, scriptedit.Size.Height - 30);
 
             scriptedit.Controls.Add(tb);
 
@@ -2485,7 +2512,7 @@ print 'Roll complete'
 
                 // set databinding for value
                 ((QuickView)((CheckBox)sender).Tag).DataBindings.Clear();
-                ((QuickView)((CheckBox)sender).Tag).DataBindings.Add(new System.Windows.Forms.Binding("number",this.bindingSource1, ((CheckBox)sender).Name, true));
+                ((QuickView)((CheckBox)sender).Tag).DataBindings.Add(new System.Windows.Forms.Binding("number", this.bindingSource1, ((CheckBox)sender).Name, true));
 
                 // close selection form
                 ((Form)((CheckBox)sender).Parent).Close();
@@ -2520,11 +2547,11 @@ print 'Roll complete'
                 return;
             }
 
-            MainV2.cs.GuidedModeWP.Alt = intalt;
+            MainV2.comPort.GuidedMode.z = intalt;
 
             if (MainV2.cs.mode == "Guided")
             {
-                MainV2.comPort.setGuidedModeWP(new Locationwp() { alt = (float)MainV2.cs.GuidedModeWP.Alt, lat = (float)MainV2.cs.GuidedModeWP.Lat, lng = (float)MainV2.cs.GuidedModeWP.Lng });
+                MainV2.comPort.setGuidedModeWP(new Locationwp() { alt = (float)MainV2.comPort.GuidedMode.z, lat = (float)MainV2.comPort.GuidedMode.x, lng = (float)MainV2.comPort.GuidedMode.y });
             }
         }
 
@@ -2545,7 +2572,7 @@ print 'Roll complete'
                     splitContainer1.Panel2.Controls.Add(but);
                     splitContainer1.Panel2.Controls.Add(sc.Control);
                     ThemeManager.ApplyThemeTo(sc.Control);
-                    
+
                     sc.Control.Dock = DockStyle.Fill;
                     sc.Control.Visible = true;
 
@@ -2598,11 +2625,11 @@ print 'Roll complete'
 
         private void hud1_Resize(object sender, EventArgs e)
         {
-            Console.WriteLine("HUD resize "+ hud1.Width + " " + hud1.Height);
+            //Console.WriteLine("HUD resize "+ hud1.Width + " " + hud1.Height);
 
             try
             {
-              //  dockContainer1.SetHeight(dockhud, hud1.Height);
+                //  dockContainer1.SetHeight(dockhud, hud1.Height);
             }
             catch { }
         }
@@ -2611,8 +2638,25 @@ print 'Roll complete'
         {
             dockContainer1.Clear();
             SetupDocking();
-            cleanupDocks();
             this.Refresh();
         }
+
+        private void BUT_ARM_Click(object sender, EventArgs e)
+        {
+            if (!MainV2.comPort.BaseStream.IsOpen)
+                return;
+
+            // arm the MAV
+            MainV2.comPort.doARM(MainV2.cs.armed);
+        }
+
+        private void modifyandSetAlt_Click(object sender, EventArgs e)
+        {
+            int newalt = (int)modifyandSetAlt.Value;
+
+            MainV2.comPort.setNewWPAlt(new Locationwp() { alt = newalt });
+
+            //MainV2.comPort.setNextWPTargetAlt((ushort)MainV2.cs.wpno, newalt);
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -38,7 +38,7 @@ namespace ArdupilotMega.GCSViews
         bool polygongridmode = false;
         Hashtable param = new Hashtable();
 
-        public static List<PointLatLngAlt> pointlist = new List<PointLatLngAlt>(); // used to calc distance
+        List<PointLatLngAlt> pointlist = new List<PointLatLngAlt>(); // used to calc distance
         static public Object thisLock = new Object();
         private ComponentResourceManager rm = new ComponentResourceManager(typeof(FlightPlanner));
 
@@ -925,7 +925,7 @@ namespace ArdupilotMega.GCSViews
 
             // this is to share the current mission with the data tab
             pointlist = new List<PointLatLngAlt>();
-
+			
             System.Diagnostics.Debug.WriteLine(DateTime.Now);
             try
             {
@@ -1921,7 +1921,7 @@ namespace ArdupilotMega.GCSViews
                     MainMap.Invalidate(false);
 
                     int answer;
-                    if (int.TryParse(item.Tag.ToString(), out answer))
+                    if (item.Tag != null && int.TryParse(item.Tag.ToString(), out answer))
                     {
                         try
                         {
@@ -2782,9 +2782,9 @@ namespace ArdupilotMega.GCSViews
                     routes.Markers.Add(new GMapMarkerQuad(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing));
                 }
 
-                if (MainV2.cs.mode.ToLower() == "guided" && MainV2.cs.GuidedModeWP != null && MainV2.cs.GuidedModeWP.Lat != 0)
+                if (MainV2.cs.mode.ToLower() == "guided" && MainV2.comPort.GuidedMode.x != 0)
                 {
-                    addpolygonmarker("Guided Mode", MainV2.cs.GuidedModeWP.Lng, MainV2.cs.GuidedModeWP.Lat, (int)MainV2.cs.GuidedModeWP.Alt, Color.Red, routes);
+                    addpolygonmarker("Guided Mode", MainV2.comPort.GuidedMode.y, MainV2.comPort.GuidedMode.x, (int)MainV2.comPort.GuidedMode.z, Color.Blue, routes);
                 }
 
 

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -565,10 +565,8 @@ namespace ArdupilotMega.GCSViews
 
             DateTime lastdata = DateTime.MinValue;
 
-            #if MAVLINK10
             // set enable hil status flag - sends base_mode = 0
             MainV2.comPort.setMode(new MAVLink.mavlink_set_mode_t() { target_system = MainV2.comPort.sysid }, MAVLink.MAV_MODE_FLAG.HIL_ENABLED);
-#endif
 
             while (threadrun == 1)
             {

Tools/ArdupilotMegaPlanner/Log.cs

@@ -62,6 +62,23 @@ namespace ArdupilotMega
             InitializeComponent();
         }
 
+        private void waitandsleep(int time)
+        {
+            DateTime start = DateTime.Now;
+
+            while ((DateTime.Now - start).TotalMilliseconds < time)
+            {
+                try
+                {
+                    if (comPort.BytesToRead > 0)
+                    {
+                        return;
+                    }
+                }
+                catch { threadrun = false; return; }
+            }
+        }
+
         private void readandsleep(int time)
         {
             DateTime start = DateTime.Now;
@@ -85,12 +102,15 @@ namespace ArdupilotMega
 
             comPort = MainV2.comPort.BaseStream;
 
-            //comPort.ReceivedBytesThreshold = 50;
-            //comPort.ReadBufferSize = 1024 * 1024;
             try
             {
+
                 comPort.toggleDTR();
-                //comPort.Open();
+
+                comPort.DiscardInBuffer();
+
+                // 10 sec
+                waitandsleep(10000);
             }
             catch (Exception ex)
             {
@@ -104,7 +124,7 @@ namespace ArdupilotMega
 
                 threadrun = true;
 
-                readandsleep(2500);
+                readandsleep(100);
 
                 try
                 {

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -1106,7 +1106,6 @@ namespace ArdupilotMega
                             MainV2.cs.linkqualitygcs = (ushort)(MainV2.cs.linkqualitygcs * 0.8f);
                             linkqualitytime = DateTime.Now;
 
-                            int checkthis;
                             GCSViews.FlightData.myhud.Invalidate();
                         }
                     }
@@ -1118,7 +1117,7 @@ namespace ArdupilotMega
                         {
                             type = (byte)MAVLink.MAV_TYPE.GCS,
                             autopilot = (byte)MAVLink.MAV_AUTOPILOT.ARDUPILOTMEGA,
-                            mavlink_version = 3
+                            mavlink_version = 3,
                         };
 
                         comPort.sendPacket(htb);
@@ -1474,11 +1473,9 @@ namespace ArdupilotMega
 
                         SharpKml.Dom.CoordinateCollection coords = new SharpKml.Dom.CoordinateCollection();
 
-                        foreach (var point in GCSViews.FlightPlanner.pointlist)
+                        foreach (var point in MainV2.comPort.wps.Values)
                         {
-                            if (point != null)
+                                coords.Add(new SharpKml.Base.Vector(point.x, point.y, point.z));
-                                coords.Add(new SharpKml.Base.Vector(point.Lat, point.Lng, point.Alt));
-
                         }
 
                         SharpKml.Dom.LineString ls = new SharpKml.Dom.LineString();
@@ -1716,8 +1713,8 @@ namespace ArdupilotMega
             {
                 var fi = new FileInfo(path);
 
-                string LocalVersion = "";
+                Version LocalVersion = new Version();
-                string WebVersion = "";
+                Version WebVersion = new Version();
 
                 if (File.Exists(path))
                 {
@@ -1725,7 +1722,7 @@ namespace ArdupilotMega
                     {
                         using (StreamReader sr = new StreamReader(fs))
                         {
-                            LocalVersion = sr.ReadLine();
+                            LocalVersion = new Version(sr.ReadLine());
                             sr.Close();
                         }
                         fs.Close();
@@ -1734,7 +1731,7 @@ namespace ArdupilotMega
 
                 using (StreamReader sr = new StreamReader(response.GetResponseStream()))
                 {
-                    WebVersion = sr.ReadLine();
+                    WebVersion = new Version(sr.ReadLine());
 
                     sr.Close();
                 }
@@ -1743,7 +1740,7 @@ namespace ArdupilotMega
 
                 log.Info("New file Check: local " + LocalVersion + " vs Remote " + WebVersion);
 
-                if (LocalVersion != WebVersion)
+                if (LocalVersion < WebVersion)
                 {
                     updateFound = true;
                 }

Tools/ArdupilotMegaPlanner/Mavlink/MAVLink.cs

@@ -47,15 +47,15 @@ namespace ArdupilotMega
         /// <summary>
         /// storage for whole paramater list
         /// </summary>
-        public Hashtable param  { get; set; }
+        public Hashtable param { get; set; }
         /// <summary>
         /// storage of a previous packet recevied of a specific type
         /// </summary>
-        public byte[][] packets  { get; set; }
+        public byte[][] packets { get; set; }
         /// <summary>
         /// used to calc packets per second on any single message type - used for stream rate comparaison
         /// </summary>
-        public double[] packetspersecond   { get; set; }
+        public double[] packetspersecond { get; set; }
         /// <summary>
         /// time last seen a packet of a type
         /// </summary>
@@ -95,7 +95,7 @@ namespace ArdupilotMega
         /// <summary>
         /// time seen of last mavlink packet
         /// </summary>
-        public DateTime lastvalidpacket  { get; set; }
+        public DateTime lastvalidpacket { get; set; }
         /// <summary>
         /// old log support
         /// </summary>
@@ -112,7 +112,11 @@ namespace ArdupilotMega
         /// <summary>
         /// used as a snapshot of what is loaded on the ap atm. - derived from the stream
         /// </summary>
-        public PointLatLngAlt[] wps  { get; set; }
+        public Dictionary<int, mavlink_mission_item_t> wps = new Dictionary<int, mavlink_mission_item_t>();
+        /// <summary>
+        /// Store the guided mode wp location
+        /// </summary>
+        public mavlink_mission_item_t GuidedMode = new mavlink_mission_item_t();
         /// <summary>
         /// turns on console packet display
         /// </summary>
@@ -157,7 +161,6 @@ namespace ArdupilotMega
             this.oldlogformat = false;
             this.mavlinkversion = 0;
             this.aptype = 0;
-            this.wps = new PointLatLngAlt[200];
             this.debugmavlink = false;
             this.logreadmode = false;
             this.lastlogread = DateTime.MinValue;
@@ -547,7 +550,7 @@ namespace ArdupilotMega
                     }
                     catch { } // been getting errors from this. people must have it open twice.
                 }*/
-            } 
+            }
         }
 
         public bool Write(string line)
@@ -581,7 +584,7 @@ namespace ArdupilotMega
 
             MainV2.giveComport = true;
 
-            var req = new mavlink_param_set_t {target_system = sysid, target_component = compid};
+            var req = new mavlink_param_set_t { target_system = sysid, target_component = compid };
 
             byte[] temp = Encoding.ASCII.GetBytes(paramname);
 
@@ -744,13 +747,13 @@ namespace ArdupilotMega
                     MainV2.giveComport = false;
                     if (packets > 0 && param_total == 1)
                     {
-                        throw new Exception("Timeout on read - getParamList\n"+packets+" Packets where received, but no paramater packets where received\n");
+                        throw new Exception("Timeout on read - getParamList\n" + packets + " Packets where received, but no paramater packets where received\n");
                     }
                     if (packets == 0)
                     {
                         throw new Exception("Timeout on read - getParamList\nNo Packets where received\n");
                     }
-                    
+
                     throw new Exception("Timeout on read - getParamList\nReceived: " + got.Count + " of " + param_total + " after 6 retrys\n\nPlease Check\n1. Link Speed\n2. Link Quality\n3. Hardware hasn't hung");
                 }
 
@@ -761,7 +764,7 @@ namespace ArdupilotMega
                 if (buffer.Length > 5)
                 {
                     packets++;
-                   // stopwatch.Start();
+                    // stopwatch.Start();
                     if (buffer[5] == MAVLINK_MSG_ID_PARAM_VALUE)
                     {
                         restart = DateTime.Now;
@@ -809,7 +812,7 @@ namespace ArdupilotMega
                         this.frmProgressReporter.UpdateProgressAndStatus((got.Count * 100) / param_total, "Got param " + paramID);
 
                         // we have them all - lets escape eq total = 176 index = 0-175
-                        if (par.param_index == (param_total -1))
+                        if (par.param_index == (param_total - 1))
                             break;
                     }
                     else
@@ -817,8 +820,8 @@ namespace ArdupilotMega
                         //Console.WriteLine(DateTime.Now + " PC paramlist " + buffer[5] + " want " + MAVLINK_MSG_ID_PARAM_VALUE + " btr " + BaseStream.BytesToRead);
                     }
                     //stopwatch.Stop();
-                   // Console.WriteLine("Time elapsed: {0}", stopwatch.Elapsed);
+                    // Console.WriteLine("Time elapsed: {0}", stopwatch.Elapsed);
-                   // Console.WriteLine(DateTime.Now.Millisecond + " gp4 " + BaseStream.BytesToRead);
+                    // Console.WriteLine(DateTime.Now.Millisecond + " gp4 " + BaseStream.BytesToRead);
                 }
             } while (got.Count < param_total);
 
@@ -836,6 +839,70 @@ namespace ArdupilotMega
             return param;
         }
 
+        public float GetParam(string name)
+        {
+            return GetParam(name);
+        }
+
+        public float GetParam(int index)
+        {
+            return GetParam("", index);
+        }
+
+        /// <summary>
+        /// Get param by either index or name
+        /// </summary>
+        /// <param name="index"></param>
+        /// <param name="name"></param>
+        /// <returns></returns>
+        internal float GetParam(string name = "", int index = -1)
+        {
+            if (name == "" && index == -1)
+                return 0;
+
+            MainV2.giveComport = true;
+            byte[] buffer;
+
+            mavlink_param_request_list_t req = new mavlink_param_request_list_t();
+            req.target_system = sysid;
+            req.target_component = compid;
+
+            generatePacket(MAVLINK_MSG_ID_PARAM_REQUEST_READ, req);
+
+            DateTime start = DateTime.Now;
+            int retrys = 3;
+
+            while (true)
+            {
+                if (!(start.AddMilliseconds(200) > DateTime.Now))
+                {
+                    if (retrys > 0)
+                    {
+                        log.Info("GetParam Retry " + retrys);
+                        generatePacket(MAVLINK_MSG_ID_PARAM_REQUEST_READ, req);
+                        start = DateTime.Now;
+                        retrys--;
+                        continue;
+                    }
+                    MainV2.giveComport = false;
+                    throw new Exception("Timeout on read - GetParam");
+                }
+
+                buffer = readPacket();
+                if (buffer.Length > 5)
+                {
+                    if (buffer[5] == MAVLINK_MSG_ID_PARAM_VALUE)
+                    {
+                        MainV2.giveComport = false;
+
+                        mavlink_param_value_t par = buffer.ByteArrayToStructure<mavlink_param_value_t>(6);
+
+                        return par.param_value;
+                    }
+                }
+            }
+        }
+
         public static void modifyParamForDisplay(bool fromapm, string paramname, ref float value)
         {
             if (paramname.ToUpper().EndsWith("_IMAX") || paramname.ToUpper().EndsWith("ALT_HOLD_RTL") || paramname.ToUpper().EndsWith("APPROACH_ALT") || paramname.ToUpper().EndsWith("TRIM_ARSPD_CM")
@@ -896,21 +963,12 @@ namespace ArdupilotMega
 
         public void setWPACK()
         {
-#if MAVLINK10
             MAVLink.mavlink_mission_ack_t req = new MAVLink.mavlink_mission_ack_t();
             req.target_system = sysid;
             req.target_component = compid;
             req.type = 0;
 
             generatePacket(MAVLINK_MSG_ID_MISSION_ACK, req);
-#else
-            MAVLink.mavlink_waypoint_ack_t req = new MAVLink.mavlink_waypoint_ack_t();
-            req.target_system = sysid;
-            req.target_component = compid;
-            req.type = 0;
-
-            generatePacket(MAVLINK_MSG_ID_WAYPOINT_ACK, req);
-#endif
         }
 
         public bool setWPCurrent(ushort index)
@@ -965,6 +1023,11 @@ namespace ArdupilotMega
             throw new NotImplementedException();
         }
 
+        public bool doARM(bool armit)
+        {
+            return doCommand(MAV_CMD.COMPONENT_ARM_DISARM, armit ? 1 : 0, 0, 0, 0, 0, 0, 0);
+        }
+
         public bool doCommand(MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
         {
 
@@ -976,6 +1039,11 @@ namespace ArdupilotMega
             req.target_system = sysid;
             req.target_component = compid;
 
+            if (actionid == MAV_CMD.COMPONENT_ARM_DISARM)
+            {
+                req.target_component = (byte)MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;
+            }
+
             req.command = (ushort)actionid;
 
             req.param1 = p1;
@@ -1691,7 +1759,7 @@ namespace ArdupilotMega
         /// <param name="wp_total"></param>
         public void setWPTotal(ushort wp_total)
         {
-#if MAVLINK10		
+#if MAVLINK10
             MainV2.giveComport = true;
             mavlink_mission_count_t req = new mavlink_mission_count_t();
 
@@ -1736,6 +1804,9 @@ namespace ArdupilotMega
                                 param["WP_TOTAL"] = (float)wp_total - 1;
                             if (param["CMD_TOTAL"] != null)
                                 param["CMD_TOTAL"] = (float)wp_total - 1;
+
+                            wps.Clear();
+
                             MainV2.giveComport = false;
                             return;
                         }
@@ -1809,14 +1880,10 @@ namespace ArdupilotMega
         /// <param name="index">wp no</param>
         /// <param name="frame">global or relative</param>
         /// <param name="current">0 = no , 2 = guided mode</param>
-        public MAV_MISSION_RESULT setWP(Locationwp loc, ushort index, MAV_FRAME frame, byte current)
+        public MAV_MISSION_RESULT setWP(Locationwp loc, ushort index, MAV_FRAME frame, byte current = 0)
         {
             MainV2.giveComport = true;
-#if MAVLINK10
             mavlink_mission_item_t req = new mavlink_mission_item_t();
-#else
-            mavlink_waypoint_t req = new mavlink_waypoint_t();
-#endif
 
             req.target_system = sysid;
             req.target_component = compid; // MAVLINK_MSG_ID_MISSION_ITEM
@@ -1835,68 +1902,14 @@ namespace ArdupilotMega
             req.param2 = loc.p2;
             req.param3 = loc.p3;
             req.param4 = loc.p4;
-            /*
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
-            {
-                switch (loc.id)
-                {					// Switch to map APM command fields inot MAVLink command fields
-                    case (byte)MAV_CMD.LOITER_TURNS:
-                    case (byte)MAV_CMD.TAKEOFF:
-                        req.param1 = loc.p1;
-                        break;
-                    case (byte)MAV_CMD.DO_SET_HOME:
-                        req.param1 = loc.p1;
-                        break;
 
-                    case (byte)MAV_CMD.CONDITION_CHANGE_ALT:
-                        req.param1 = loc.lat;
-                        req.x = 0;
-                        req.y = 0;
-                        break;
-
-                    case (byte)MAV_CMD.LOITER_TIME:
-                        req.param1 = loc.p1 * 10;	// APM loiter time is in ten second increments
-                        break;
-
-                    case (byte)MAV_CMD.CONDITION_DELAY:
-                    case (byte)MAV_CMD.CONDITION_DISTANCE:
-                        req.param1 = loc.lat;
-                        break;
-
-                    case (byte)MAV_CMD.DO_JUMP:
-                        req.param2 = loc.lat;
-                        req.param1 = loc.p1;
-                        break;
-
-                    case (byte)MAV_CMD.DO_REPEAT_SERVO:
-                        req.param4 = loc.lng;
-                        goto case (byte)MAV_CMD.DO_CHANGE_SPEED;
-                    case (byte)MAV_CMD.DO_REPEAT_RELAY:
-                    case (byte)MAV_CMD.DO_CHANGE_SPEED:
-                        req.param3 = loc.lat;
-                        req.param2 = loc.alt;
-                        req.param1 = loc.p1;
-                        break;
-
-                    case (byte)MAV_CMD.DO_SET_PARAMETER:
-                    case (byte)MAV_CMD.DO_SET_RELAY:
-                    case (byte)MAV_CMD.DO_SET_SERVO:
-                        req.param2 = loc.alt;
-                        req.param1 = loc.p1;
-                        break;
-                }
-            }
-            */
             req.seq = index;
 
             log.InfoFormat("setWP {6} frame {0} cmd {1} p1 {2} x {3} y {4} z {5}", req.frame, req.command, req.param1, req.x, req.y, req.z, index);
 
             // request
-#if MAVLINK10
             generatePacket(MAVLINK_MSG_ID_MISSION_ITEM, req);
-#else
+
-            generatePacket(MAVLINK_MSG_ID_WAYPOINT, req);
-#endif
 
             DateTime start = DateTime.Now;
             int retrys = 10;
@@ -1908,11 +1921,8 @@ namespace ArdupilotMega
                     if (retrys > 0)
                     {
                         log.Info("setWP Retry " + retrys);
-#if MAVLINK10
+                        generatePacket(MAVLINK_MSG_ID_MISSION_ITEM, req);
-            generatePacket(MAVLINK_MSG_ID_MISSION_ITEM, req);
+
-#else
-                        generatePacket(MAVLINK_MSG_ID_WAYPOINT, req);
-#endif
                         start = DateTime.Now;
                         retrys--;
                         continue;
@@ -1923,11 +1933,24 @@ namespace ArdupilotMega
                 byte[] buffer = readPacket();
                 if (buffer.Length > 5)
                 {
-#if MAVLINK10
                     if (buffer[5] == MAVLINK_MSG_ID_MISSION_ACK)
                     {
                         var ans = buffer.ByteArrayToStructure<mavlink_mission_ack_t>(6);
                         log.Info("set wp " + index + " ACK 47 : " + buffer[5] + " ans " + Enum.Parse(typeof(MAV_MISSION_RESULT), ans.type.ToString()));
+
+                        if (req.current == 2)
+                        {
+                            GuidedMode = req;
+                        }
+                        else if (req.current == 3)
+                        {
+
+                        }
+                        else
+                        {
+                            wps[req.seq] = req;
+                        }
+
                         return (MAV_MISSION_RESULT)ans.type;
                     }
                     else if (buffer[5] == MAVLINK_MSG_ID_MISSION_REQUEST)
@@ -1938,6 +1961,19 @@ namespace ArdupilotMega
                             log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
                             MainV2.giveComport = false;
 
+                            if (req.current == 2)
+                            {
+                                GuidedMode = req;
+                            }
+                            else if (req.current == 3)
+                            {
+
+                            }
+                            else
+                            {
+                                wps[req.seq] = req;
+                            }
+
                             return MAV_MISSION_RESULT.MAV_MISSION_ACCEPTED;
                         }
                         else
@@ -1950,37 +1986,40 @@ namespace ArdupilotMega
                     {
                         //Console.WriteLine(DateTime.Now + " PC setwp " + buffer[5]);
                     }
-#else
-                    if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_ACK)
-                    { //mavlink_waypoint_request_t
-                        log.Info("set wp " + index + " ACK 47 : " + buffer[5]);
-                        break;
-                    }
-                    else if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_REQUEST)
-                    {
-                        mavlink_waypoint_request_t ans = buffer.ByteArrayToStructure<mavlink_waypoint_request_t>(6);
-
-                        if (ans.seq == (index + 1))
-                        {
-                            log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
-                            MainV2.giveComport = false;
-                            break;
-                        }
-                        else
-                        {
-                            log.InfoFormat("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
-                            //break;
-                        }
-                    }
-                    else
-                    {
-                        //Console.WriteLine(DateTime.Now + " PC setwp " + buffer[5]);
-                    }
-#endif
                 }
             }
 
-           // return MAV_MISSION_RESULT.MAV_MISSION_INVALID;
+            // return MAV_MISSION_RESULT.MAV_MISSION_INVALID;
+        }
+
+        public void setNextWPTargetAlt(ushort wpno, float alt)
+        {
+            // get the existing wp
+            Locationwp current = getWP(wpno);
+
+            mavlink_mission_write_partial_list_t req = new mavlink_mission_write_partial_list_t();
+            req.target_system = sysid;
+            req.target_component = compid;
+
+            req.start_index = (short)wpno;
+            req.end_index = (short)wpno;
+
+            // change the alt
+            current.alt = alt;
+
+            // send a request to update single point
+            generatePacket(MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, req);
+            Thread.Sleep(10);
+            generatePacket(MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, req);
+
+            MAV_FRAME frame = (current.options & 0x1) == 0 ? MAV_FRAME.GLOBAL : MAV_FRAME.GLOBAL_RELATIVE_ALT;
+
+            //send the point with new alt
+            setWP(current, wpno, MAV_FRAME.GLOBAL_RELATIVE_ALT, 0);
+
+            // set the point as current to reload the modified command
+            setWPCurrent(wpno);
+
         }
 
         public void setGuidedModeWP(Locationwp gotohere)
@@ -1992,7 +2031,7 @@ namespace ArdupilotMega
 
             try
             {
-                gotohere.id =(byte)MAV_CMD.WAYPOINT;
+                gotohere.id = (byte)MAV_CMD.WAYPOINT;
 
                 MAV_MISSION_RESULT ans = MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT, (byte)2);
 
@@ -2004,6 +2043,24 @@ namespace ArdupilotMega
             MainV2.giveComport = false;
         }
 
+        public void setNewWPAlt(Locationwp gotohere)
+        {
+            MainV2.giveComport = true;
+
+            try
+            {
+                gotohere.id = (byte)MAV_CMD.WAYPOINT;
+
+                MAV_MISSION_RESULT ans = MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT, (byte)3);
+
+                if (ans != MAV_MISSION_RESULT.MAV_MISSION_ACCEPTED)
+                    throw new Exception("Alt Change Failed");
+            }
+            catch (Exception ex) { log.Error(ex); }
+
+            MainV2.giveComport = false;
+        }
+
         public void setMountConfigure(MAV_MOUNT_MODE mountmode, bool stabroll, bool stabpitch, bool stabyaw)
         {
             mavlink_mount_configure_t req = new mavlink_mount_configure_t();
@@ -2046,7 +2103,6 @@ namespace ArdupilotMega
 
         public void setMode(string modein)
         {
-#if MAVLINK10
             try
             {
                 MAVLink.mavlink_set_mode_t mode = new MAVLink.mavlink_set_mode_t();
@@ -2057,38 +2113,15 @@ namespace ArdupilotMega
                 }
             }
             catch { System.Windows.Forms.MessageBox.Show("Failed to change Modes"); }
-#else
-            try
-            {
-                MAVLink.mavlink_set_nav_mode_t navmode = new MAVLink.mavlink_set_nav_mode_t();
-
-                MAVLink.mavlink_set_mode_t mode = new MAVLink.mavlink_set_mode_t();
-
-                if (translateMode(modein, ref navmode, ref mode))
-                {
-                    generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_NAV_MODE, navmode);
-                    System.Threading.Thread.Sleep(10);
-                    generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_MODE, mode);
-                    System.Threading.Thread.Sleep(10);
-                    generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_NAV_MODE, navmode);
-                    System.Threading.Thread.Sleep(10);
-                    generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_MODE, mode);
-                }
-            }
-            catch { System.Windows.Forms.CustomMessageBox.Show("Failed to change Modes"); }
-
-#endif
         }
 
         public void setMode(mavlink_set_mode_t mode, MAV_MODE_FLAG base_mode = 0)
         {
-#if MAVLINK10
             mode.base_mode |= (byte)base_mode;
 
             generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_MODE, mode);
             System.Threading.Thread.Sleep(10);
             generatePacket((byte)MAVLink.MAVLINK_MSG_ID_SET_MODE, mode);
-#endif
         }
 
         /// <summary>
@@ -2175,7 +2208,7 @@ namespace ArdupilotMega
 
                             DateTime to = DateTime.Now.AddMilliseconds(BaseStream.ReadTimeout);
 
-                           // Console.WriteLine(DateTime.Now.Millisecond + " SR1a " + BaseStream.BytesToRead);
+                            // Console.WriteLine(DateTime.Now.Millisecond + " SR1a " + BaseStream.BytesToRead);
 
                             while (BaseStream.BytesToRead <= 0)
                             {
@@ -2240,7 +2273,7 @@ namespace ArdupilotMega
                             int read = BaseStream.Read(buffer, 1, 5);
                             count = read;
                             if (rawlogfile != null && rawlogfile.BaseStream.CanWrite)
-                                rawlogfile.Write(buffer,1,read);
+                                rawlogfile.Write(buffer, 1, read);
                         }
 
                         // packet length
@@ -2354,20 +2387,12 @@ namespace ArdupilotMega
                 else
                 {
                     log.InfoFormat("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", buffer.Length, buffer[5]);
-#if MAVLINK10
+                    if (buffer.Length == 11 && buffer[0] == 'U' && buffer[5] == 0)
-                    if (buffer.Length == 11 && buffer[0] == 'U' && buffer[5] == 0){
-                        string message ="Mavlink 0.9 Heartbeat, Please upgrade your AP, This planner is for Mavlink 1.0\n\n";
-                        System.Windows.Forms.CustomMessageBox.Show(message);
-                        throw new Exception(message);
-                    }
-#else
-                    if (buffer.Length == 17 && buffer[0] == 254 && buffer[5] == 0)
                     {
-                        string message = "Mavlink 1.0 Heartbeat, Please Upgrade your Mission Planner, This planner is for Mavlink 0.9\n\n";
+                        string message = "Mavlink 0.9 Heartbeat, Please upgrade your AP, This planner is for Mavlink 1.0\n\n";
                         System.Windows.Forms.CustomMessageBox.Show(message);
                         throw new Exception(message);
                     }
-#endif
                     return new byte[0];
                 }
             }
@@ -2393,7 +2418,7 @@ namespace ArdupilotMega
                     }
                     else
                     {
-                        
+
 
                         byte packetSeqNo = buffer[2];
                         int expectedPacketSeqNo = ((recvpacketcount + 1) % 0x100);
@@ -2428,7 +2453,7 @@ namespace ArdupilotMega
                             recvpacketcount = packetSeqNo;
                         }
                         WhenPacketReceived.OnNext(1);
-                       // Console.WriteLine(DateTime.Now.Millisecond);
+                        // Console.WriteLine(DateTime.Now.Millisecond);
                     }
 
                     //MAVLINK_MSG_ID_GPS_STATUS
@@ -2481,10 +2506,11 @@ namespace ArdupilotMega
                                 logfile.Write(datearray, 0, datearray.Length);
                                 logfile.Write(buffer, 0, buffer.Length);
 
-                                if (buffer[5] == 0)  {// flush on heartbeat - 1 seconds
+                                if (buffer[5] == 0)
+                                {// flush on heartbeat - 1 seconds
                                     logfile.BaseStream.Flush();
-									rawlogfile.BaseStream.Flush();
+                                    rawlogfile.BaseStream.Flush();
-								}
+                                }
                             }
                         }
 
@@ -2498,7 +2524,7 @@ namespace ArdupilotMega
 
             //            Console.Write((DateTime.Now - start).TotalMilliseconds.ToString("00.000") + "\t" + temp.Length + "     \r");
 
-         //   Console.WriteLine(DateTime.Now.Millisecond + " SR4 " + BaseStream.BytesToRead);
+            //   Console.WriteLine(DateTime.Now.Millisecond + " SR4 " + BaseStream.BytesToRead);
 
             return buffer;
         }
@@ -2509,32 +2535,28 @@ namespace ArdupilotMega
         /// <param name="buffer">packet</param>
         void getWPsfromstream(ref byte[] buffer)
         {
-#if MAVLINK10
             if (buffer[5] == MAVLINK_MSG_ID_MISSION_COUNT)
             {
                 // clear old
-                wps = new PointLatLngAlt[wps.Length];
+                wps.Clear();
+                //new PointLatLngAlt[wps.Length];
             }
 
             if (buffer[5] == MAVLink.MAVLINK_MSG_ID_MISSION_ITEM)
             {
                 mavlink_mission_item_t wp = buffer.ByteArrayToStructure<mavlink_mission_item_t>(6);
-#else
 
-            if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_COUNT)
+                if (wp.current == 2)
-            {
+                {
-                // clear old
+                    // guide mode wp
-                wps = new PointLatLngAlt[wps.Length];
+                    GuidedMode = wp;
-            }
+                }
+                else
+                {
+                    wps[wp.seq] = wp;
+                }
 
-            if (buffer[5] == MAVLink.MAVLINK_MSG_ID_WAYPOINT)
+                Console.WriteLine("WP # {7} cmd {8} p1 {0} p2 {1} p3 {2} p4 {3} x {4} y {5} z {6}", wp.param1, wp.param2, wp.param3, wp.param4, wp.x, wp.y, wp.z, wp.seq, wp.command);
-            {
-                mavlink_waypoint_t wp = buffer.ByteArrayToStructure<mavlink_waypoint_t>(6);
-
-#endif
-                wps[wp.seq] = new PointLatLngAlt(wp.x, wp.y, wp.z, wp.seq.ToString());
-
-                Console.WriteLine("WP # {7} cmd {8} p1 {0} p2 {1} p3 {2} p4 {3} x {4} y {5} z {6}",wp.param1,wp.param2,wp.param3,wp.param4,wp.x,wp.y,wp.z,wp.seq,wp.command);
             }
         }
 
@@ -2715,7 +2737,8 @@ namespace ArdupilotMega
             }
 
             // set ap type for log file playback
-            if (temp[5] == 0) {
+            if (temp[5] == 0)
+            {
                 mavlink_heartbeat_t hb = temp.ByteArrayToStructure<mavlink_heartbeat_t>(6);
 
                 mavlinkversion = hb.mavlink_version;
@@ -2726,9 +2749,6 @@ namespace ArdupilotMega
             return temp;
         }
 
-
-#if MAVLINK10
-		
         public static bool translateMode(string modein, ref MAVLink.mavlink_set_mode_t mode)
         {
             //MAVLink09.mavlink_set_mode_t mode = new MAVLink09.mavlink_set_mode_t();
@@ -2752,7 +2772,7 @@ namespace ArdupilotMega
                             mode.custom_mode = (uint)EnumTranslator.GetValue<Common.apmmodes>(modein);
                             break;
                         default:
-                            MessageBox.Show("No Mode Changed " +  modein);
+                            MessageBox.Show("No Mode Changed " + modein);
                             return false;
                     }
                 }
@@ -2772,7 +2792,7 @@ namespace ArdupilotMega
                             mode.custom_mode = (uint)EnumTranslator.GetValue<Common.ac2modes>(modein);
                             break;
                         default:
-                            MessageBox.Show("No Mode Changed " +  modein);
+                            MessageBox.Show("No Mode Changed " + modein);
                             return false;
                     }
                 }
@@ -2781,136 +2801,7 @@ namespace ArdupilotMega
 
             return true;
         }
-		
-#else
-        public static bool translateMode(string modein, ref  MAVLink.mavlink_set_nav_mode_t navmode, ref MAVLink.mavlink_set_mode_t mode)
-        {
 
-            //MAVLink.mavlink_set_nav_mode_t navmode = new MAVLink.mavlink_set_nav_mode_t();
-            navmode.target = MainV2.comPort.sysid;
-            navmode.nav_mode = 255;
-
-            //MAVLink.mavlink_set_mode_t mode = new MAVLink.mavlink_set_mode_t();
-            mode.target = MainV2.comPort.sysid;
-
-            try
-            {
-                if (Common.getModes() == typeof(Common.apmmodes))
-                {
-                    switch (EnumTranslator.GetValue<Common.apmmodes>(modein))
-                    {
-                        case (int)Common.apmmodes.MANUAL:
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_MANUAL;
-                            break;
-                        case (int)Common.apmmodes.GUIDED:
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_GUIDED;
-                            break;
-                        case (int)Common.apmmodes.STABILIZE:
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_TEST1;
-                            break;
-                        // AUTO MODES
-                        case (int)Common.apmmodes.AUTO:
-                            navmode.nav_mode = (byte)MAVLink.MAV_NAV.MAV_NAV_WAYPOINT;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_AUTO;
-                            break;
-                        case (int)Common.apmmodes.RTL:
-                            navmode.nav_mode = (byte)MAVLink.MAV_NAV.MAV_NAV_RETURNING;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_AUTO;
-                            break;
-                        case (int)Common.apmmodes.LOITER:
-                            navmode.nav_mode = (byte)MAVLink.MAV_NAV.MAV_NAV_LOITER;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_AUTO;
-                            break;
-                        // FBW
-                        case (int)Common.apmmodes.FLY_BY_WIRE_A:
-                            navmode.nav_mode = (byte)1;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_TEST2;
-                            break;
-                        case (int)Common.apmmodes.FLY_BY_WIRE_B:
-                            navmode.nav_mode = (byte)2;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_TEST2;
-                            break;
-                        default:
-                            CustomMessageBox.Show("No Mode Changed " + modein);
-                            return false;
-                    }
-                }
-                else if (Common.getModes() == typeof(Common.aprovermodes))
-                {
-                    switch (EnumTranslator.GetValue<Common.aprovermodes>(modein))
-                    {
-                        case (int)Common.aprovermodes.MANUAL:
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_MANUAL;
-                            break;
-                        case (int)Common.aprovermodes.GUIDED:
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_GUIDED;
-                            break;
-                        case (int)Common.aprovermodes.LEARNING:
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_TEST1;
-                            break;
-                        // AUTO MODES
-                        case (int)Common.aprovermodes.AUTO:
-                            navmode.nav_mode = (byte)MAVLink.MAV_NAV.MAV_NAV_WAYPOINT;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_AUTO;
-                            break;
-                        case (int)Common.aprovermodes.RTL:
-                            navmode.nav_mode = (byte)MAVLink.MAV_NAV.MAV_NAV_RETURNING;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_AUTO;
-                            break;
-                        case (int)Common.aprovermodes.LOITER:
-                            navmode.nav_mode = (byte)MAVLink.MAV_NAV.MAV_NAV_LOITER;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_AUTO;
-                            break;
-                        // FBW
-                        case (int)Common.aprovermodes.FLY_BY_WIRE_A:
-                            navmode.nav_mode = (byte)1;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_TEST2;
-                            break;
-                        case (int)Common.aprovermodes.FLY_BY_WIRE_B:
-                            navmode.nav_mode = (byte)2;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_TEST2;
-                            break;
-                        default:
-                            CustomMessageBox.Show("No Mode Changed " + modein);
-                            return false;
-                    }
-                }
-                else if (Common.getModes() == typeof(Common.ac2modes))
-                {
-                    switch (EnumTranslator.GetValue<Common.ac2modes>(modein))
-                    {
-                        case (int)Common.ac2modes.GUIDED:
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_GUIDED;
-                            break;
-                        case (int)Common.ac2modes.STABILIZE:
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_MANUAL;
-                            break;
-                        // AUTO MODES
-                        case (int)Common.ac2modes.AUTO:
-                            navmode.nav_mode = (byte)MAVLink.MAV_NAV.MAV_NAV_WAYPOINT;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_AUTO;
-                            break;
-                        case (int)Common.ac2modes.RTL:
-                            navmode.nav_mode = (byte)MAVLink.MAV_NAV.MAV_NAV_RETURNING;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_AUTO;
-                            break;
-                        case (int)Common.ac2modes.LOITER:
-                            navmode.nav_mode = (byte)MAVLink.MAV_NAV.MAV_NAV_LOITER;
-                            mode.mode = (byte)MAVLink.MAV_MODE.MAV_MODE_AUTO;
-                            break;
-                        default:
-                            CustomMessageBox.Show("No Mode Changed " + modein);
-                            return false;
-                    }
-                }
-            }
-            catch { System.Windows.Forms.CustomMessageBox.Show("Failed to find Mode"); return false; }
-
-            return true;
-        }
-#endif
-
-#if MAVLINK10
         public void setAPType()
         {
             switch (aptype)
@@ -2928,24 +2819,6 @@ namespace ArdupilotMega
                     break;
             }
         }
-#else 
+
-        public void setAPType()
-        {
-            switch (aptype)
-            {
-                case MAVLink.MAV_TYPE.MAV_FIXED_WING:
-                    MainV2.cs.firmware = MainV2.Firmwares.ArduPlane;
-                    break;
-                case MAVLink.MAV_TYPE.MAV_QUADROTOR:
-                    MainV2.cs.firmware = MainV2.Firmwares.ArduCopter2;
-                    break;
-                case MAVLink.MAV_TYPE.MAV_GROUND:
-                    MainV2.cs.firmware = MainV2.Firmwares.ArduRover;
-                    break;
-                default:
-                    break;
-            }
-        }
-#endif
     }
 }

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -1333,6 +1333,8 @@ namespace ArdupilotMega
                 foreach (string logfile in openFileDialog1.FileNames)
                 {
 
+                    int wplists = 0;
+
                     MAVLink mine = new MAVLink();
                     try
                     {
@@ -1344,17 +1346,28 @@ namespace ArdupilotMega
 
                     mine.packets.Initialize(); // clear
 
-                    StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".txt");
+                    while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
+                    {
+                        // bar moves to 100 % in this step
+                        progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 1.0f);
 
-                    // bar moves to 100 % in this step
+                        progressBar1.Refresh();
-                    progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 1.0f);
+                        //Application.DoEvents();
+                        byte count = 0;
+                        try
+                        {
+                            count = mine.getWPCount();
+                        }
+                        catch { }
 
-                    progressBar1.Refresh();
+                        if (count == 0)
-                    //Application.DoEvents();
+                        {
+                            continue;
+                        }
 
-                    sw.WriteLine("QGC WPL 110");
+                        StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + "-" + wplists + ".txt");
 
-                        byte count = mine.getWPCount();
+                        sw.WriteLine("QGC WPL 110");
                         for (ushort a = 0; a < count; a++)
                         {
                             Locationwp wp = mine.getWP(a);
@@ -1375,8 +1388,10 @@ namespace ArdupilotMega
                             sw.Write("\t" + 1);
                             sw.WriteLine("");
                         }
-                    
+
-                    sw.Close();
+                        sw.Close();
+                        wplists++;
+                    }
 
                     progressBar1.Value = 100;
 

Tools/ArdupilotMegaPlanner/Msi/installer.wxs

@@ -2,14 +2,14 @@
 <Wix xmlns="http://schemas.microsoft.com/wix/2006/wi" xmlns:netfx="http://schemas.microsoft.com/wix/NetFxExtension" xmlns:difx="http://schemas.microsoft.com/wix/DifxAppExtension">
 
 
-    <Product Id="*" Name="APM Planner" Language="1033" Version="1.2.11" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
+    <Product Id="*" Name="APM Planner" Language="1033" Version="1.2.12" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
 
         <Package Description="APM Planner Installer" Comments="Apm Planner Installer" Manufacturer="Michael Oborne" InstallerVersion="200" Compressed="yes" />
 
 
 <Upgrade Id="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
-    <UpgradeVersion OnlyDetect="yes" Minimum="1.2.11" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
+    <UpgradeVersion OnlyDetect="yes" Minimum="1.2.12" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
-    <UpgradeVersion OnlyDetect="no" Maximum="1.2.11" Property="OLDERVERSIONBEINGUPGRADED" IncludeMaximum="no" />
+    <UpgradeVersion OnlyDetect="no" Maximum="1.2.12" Property="OLDERVERSIONBEINGUPGRADED" IncludeMaximum="no" />
 </Upgrade>
 
 <InstallExecuteSequence>
@@ -31,7 +31,7 @@
                             <Permission User="Everyone" GenericAll="yes" /> 
                         </CreateFolder>
                     </Component>
-<Component Id="_comp1" Guid="14edd85b-dc50-435c-9790-c20549b31302">
+<Component Id="_comp1" Guid="00bc1eab-4a5f-41c6-93e6-29f385b08237">
 <File Id="_2" Source="..\bin\release\.gdbinit" />
 <File Id="_3" Source="..\bin\release\.gitignore" />
 <File Id="_4" Source="..\bin\release\aerosim3.91.txt" />
@@ -61,197 +61,201 @@
 <File Id="_28" Source="..\bin\release\BSE.Windows.Forms.pdb" />
 <File Id="_29" Source="..\bin\release\BSE.Windows.Forms.xml" />
 <File Id="_30" Source="..\bin\release\Core.dll" />
-<File Id="_31" Source="..\bin\release\cygstdc++-6.dll" />
+<File Id="_31" Source="..\bin\release\Crom.Controls.dll" />
-<File Id="_32" Source="..\bin\release\cygwin1.dll" />
+<File Id="_32" Source="..\bin\release\Crom.Controls.pdb" />
-<File Id="_33" Source="..\bin\release\dataflashlog.xml" />
+<File Id="_33" Source="..\bin\release\cygstdc++-6.dll" />
-<File Id="_34" Source="..\bin\release\DirectShowLib-2005.dll" />
+<File Id="_34" Source="..\bin\release\cygwin1.dll" />
-<File Id="_35" Source="..\bin\release\eeprom.bin" />
+<File Id="_35" Source="..\bin\release\dataflashlog.xml" />
-<File Id="_36" Source="..\bin\release\GMap.NET.Core.dll" />
+<File Id="_36" Source="..\bin\release\DirectShowLib-2005.dll" />
-<File Id="_37" Source="..\bin\release\GMap.NET.Core.pdb" />
+<File Id="_37" Source="..\bin\release\eeprom.bin" />
-<File Id="_38" Source="..\bin\release\GMap.NET.WindowsForms.dll" />
+<File Id="_38" Source="..\bin\release\GMap.NET.Core.dll" />
-<File Id="_39" Source="..\bin\release\GMap.NET.WindowsForms.pdb" />
+<File Id="_39" Source="..\bin\release\GMap.NET.Core.pdb" />
-<File Id="_40" Source="..\bin\release\hud.html" />
+<File Id="_40" Source="..\bin\release\GMap.NET.WindowsForms.dll" />
-<File Id="_41" Source="..\bin\release\ICSharpCode.SharpZipLib.dll" />
+<File Id="_41" Source="..\bin\release\GMap.NET.WindowsForms.pdb" />
-<File Id="_42" Source="..\bin\release\Ionic.Zip.Reduced.dll" />
+<File Id="_42" Source="..\bin\release\hud.html" />
-<File Id="_43" Source="..\bin\release\IronPython.dll" />
+<File Id="_43" Source="..\bin\release\ICSharpCode.SharpZipLib.dll" />
-<File Id="_44" Source="..\bin\release\IronPython.Modules.dll" />
+<File Id="_44" Source="..\bin\release\Ionic.Zip.Reduced.dll" />
-<File Id="_45" Source="..\bin\release\JSBSim.exe" />
+<File Id="_45" Source="..\bin\release\IronPython.dll" />
-<File Id="_46" Source="..\bin\release\KMLib.dll" />
+<File Id="_46" Source="..\bin\release\IronPython.Modules.dll" />
-<File Id="_47" Source="..\bin\release\log4net.dll" />
+<File Id="_47" Source="..\bin\release\JSBSim.exe" />
-<File Id="_48" Source="..\bin\release\mavcmd.xml" />
+<File Id="_48" Source="..\bin\release\KMLib.dll" />
-<File Id="_49" Source="..\bin\release\MAVLink.xml" />
+<File Id="_49" Source="..\bin\release\log4net.dll" />
-<File Id="_50" Source="..\bin\release\MetaDataExtractor.dll" />
+<File Id="_50" Source="..\bin\release\mavcmd.xml" />
-<File Id="_51" Source="..\bin\release\Microsoft.DirectX.dll" />
+<File Id="_51" Source="..\bin\release\MAVLink.xml" />
-<File Id="_52" Source="..\bin\release\Microsoft.Dynamic.dll" />
+<File Id="_52" Source="..\bin\release\MetaDataExtractor.dll" />
-<File Id="_53" Source="..\bin\release\Microsoft.Scripting.Core.dll" />
+<File Id="_53" Source="..\bin\release\Microsoft.DirectX.DirectInput.dll" />
-<File Id="_54" Source="..\bin\release\Microsoft.Scripting.Debugging.dll" />
+<File Id="_54" Source="..\bin\release\Microsoft.DirectX.dll" />
-<File Id="_55" Source="..\bin\release\Microsoft.Scripting.dll" />
+<File Id="_55" Source="..\bin\release\Microsoft.Dynamic.dll" />
-<File Id="_56" Source="..\bin\release\Microsoft.Scripting.ExtensionAttribute.dll" />
+<File Id="_56" Source="..\bin\release\Microsoft.Scripting.Core.dll" />
-<File Id="_57" Source="..\bin\release\netDxf.dll" />
+<File Id="_57" Source="..\bin\release\Microsoft.Scripting.Debugging.dll" />
-<File Id="_58" Source="..\bin\release\OpenTK.Compatibility.dll" />
+<File Id="_58" Source="..\bin\release\Microsoft.Scripting.dll" />
-<File Id="_59" Source="..\bin\release\OpenTK.dll" />
+<File Id="_59" Source="..\bin\release\Microsoft.Scripting.ExtensionAttribute.dll" />
-<File Id="_60" Source="..\bin\release\OpenTK.dll.config" />
+<File Id="_60" Source="..\bin\release\netDxf.dll" />
-<File Id="_61" Source="..\bin\release\OpenTK.GLControl.dll" />
+<File Id="_61" Source="..\bin\release\OpenTK.Compatibility.dll" />
-<File Id="_62" Source="..\bin\release\ParameterMetaData.xml" />
+<File Id="_62" Source="..\bin\release\OpenTK.dll" />
-<File Id="_63" Source="..\bin\release\quadhil.xml" />
+<File Id="_63" Source="..\bin\release\OpenTK.dll.config" />
-<File Id="_64" Source="..\bin\release\runme" />
+<File Id="_64" Source="..\bin\release\OpenTK.GLControl.dll" />
-<File Id="_65" Source="..\bin\release\serialsent.raw" />
+<File Id="_65" Source="..\bin\release\ParameterMetaData.xml" />
-<File Id="_66" Source="..\bin\release\SharpKml.dll" />
+<File Id="_66" Source="..\bin\release\quadhil.xml" />
-<File Id="_67" Source="..\bin\release\SharpKml.pdb" />
+<File Id="_67" Source="..\bin\release\Release.zip" />
-<File Id="_68" Source="..\bin\release\SharpKml.xml" />
+<File Id="_68" Source="..\bin\release\runme" />
-<File Id="_69" Source="..\bin\release\System.Data.SQLite.dll" />
+<File Id="_69" Source="..\bin\release\serialsent.raw" />
-<File Id="_70" Source="..\bin\release\System.Reactive.dll" />
+<File Id="_70" Source="..\bin\release\SharpKml.dll" />
-<File Id="_71" Source="..\bin\release\System.Reactive.xml" />
+<File Id="_71" Source="..\bin\release\SharpKml.pdb" />
-<File Id="_72" Source="..\bin\release\System.Speech.dll" />
+<File Id="_72" Source="..\bin\release\SharpKml.xml" />
-<File Id="_73" Source="..\bin\release\Transitions.dll" />
+<File Id="_73" Source="..\bin\release\System.Data.SQLite.dll" />
-<File Id="_74" Source="..\bin\release\Updater.exe" />
+<File Id="_74" Source="..\bin\release\System.Reactive.dll" />
-<File Id="_75" Source="..\bin\release\Updater.exe.config" />
+<File Id="_75" Source="..\bin\release\System.Reactive.xml" />
-<File Id="_76" Source="..\bin\release\Updater.pdb" />
+<File Id="_76" Source="..\bin\release\System.Speech.dll" />
-<File Id="_77" Source="..\bin\release\version.exe" />
+<File Id="_77" Source="..\bin\release\Transitions.dll" />
-<File Id="_78" Source="..\bin\release\version.txt" />
+<File Id="_78" Source="..\bin\release\Updater.exe" />
-<File Id="_79" Source="..\bin\release\ZedGraph.dll" />
+<File Id="_79" Source="..\bin\release\Updater.exe.config" />
+<File Id="_80" Source="..\bin\release\Updater.pdb" />
+<File Id="_81" Source="..\bin\release\version.exe" />
+<File Id="_82" Source="..\bin\release\version.txt" />
+<File Id="_83" Source="..\bin\release\ZedGraph.dll" />
 </Component>
-<Directory Id="aircraft79" Name="aircraft">
+<Directory Id="aircraft83" Name="aircraft">
-<Component Id="_comp80" Guid="626e4768-abf0-4b69-bd4c-a203dba6a6a6">
+<Component Id="_comp84" Guid="8739c9c5-9787-44cd-bcde-35025a1b5820">
-<File Id="_81" Source="..\bin\release\aircraft\placeholder.txt" />
+<File Id="_85" Source="..\bin\release\aircraft\placeholder.txt" />
 </Component>
-<Directory Id="arducopter81" Name="arducopter">
+<Directory Id="arducopter85" Name="arducopter">
-<Component Id="_comp82" Guid="2d01715e-d29d-4f10-bd83-ec9c9a91e44d">
+<Component Id="_comp86" Guid="e01e29a2-4aca-4800-986a-25b7dfd5657e">
-<File Id="_83" Source="..\bin\release\aircraft\arducopter\arducopter-set.xml" />
+<File Id="_87" Source="..\bin\release\aircraft\arducopter\arducopter-set.xml" />
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 </Component>
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 </Component>
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-<File Id="_97" Source="..\bin\release\aircraft\arducopter\Engines\prop10x4.5.xml" />
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 </Component>
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-<File Id="_120" Source="..\bin\release\aircraft\Rascal\Engines\Zenoah_G-26A.xml" />
+<File Id="_124" Source="..\bin\release\aircraft\Rascal\Engines\Zenoah_G-26A.xml" />
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-<File Id="_131" Source="..\bin\release\aircraft\Rascal\Systems\airdata.nas" />
+<File Id="_135" Source="..\bin\release\aircraft\Rascal\Systems\airdata.nas" />
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+<File Id="_136" Source="..\bin\release\aircraft\Rascal\Systems\electrical.xml" />
-<File Id="_133" Source="..\bin\release\aircraft\Rascal\Systems\main.nas" />
+<File Id="_137" Source="..\bin\release\aircraft\Rascal\Systems\main.nas" />
-<File Id="_134" Source="..\bin\release\aircraft\Rascal\Systems\ugear.nas" />
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 </Component>
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 </Component>
 </Directory>
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 </Component>
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 </Component>
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+<File Id="_149" Source="..\bin\release\jsbsim\rascal_test.xml" />
 </Component>
 </Directory>
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-<File Id="_147" Source="..\bin\release\m3u\both.m3u" />
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+<File Id="_152" Source="..\bin\release\m3u\GeoRefnetworklink.kml" />
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+<File Id="_154" Source="..\bin\release\m3u\map.m3u" />
-<File Id="_151" Source="..\bin\release\m3u\networklink.kml" />
+<File Id="_155" Source="..\bin\release\m3u\networklink.kml" />
 </Component>
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-<File Id="_153" Source="..\bin\release\pl\ArdupilotMegaPlanner10.resources.dll" />
+<File Id="_157" Source="..\bin\release\pl\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
-<Directory Id="Resources153" Name="Resources">
+<Directory Id="Resources157" Name="Resources">
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+<Component Id="_comp158" Guid="5fe1820a-7c50-4a0f-9f77-b7adb699b565">
-<File Id="_155" Source="..\bin\release\Resources\MAVCmd.txt" />
+<File Id="_159" Source="..\bin\release\Resources\MAVCmd.txt" />
-<File Id="_156" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf" />
+<File Id="_160" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf" />
 </Component>
 </Directory>
-<Directory Id="ru_RU156" Name="ru-RU">
+<Directory Id="ru_RU160" Name="ru-RU">
-<Component Id="_comp157" Guid="e10eddb8-431c-40f2-9e22-70824b73ef02">
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-<File Id="_158" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner10.resources.dll" />
+<File Id="_162" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
-<Directory Id="zh_Hans158" Name="zh-Hans">
+<Directory Id="zh_Hans162" Name="zh-Hans">
-<Component Id="_comp159" Guid="c2bffeb8-3994-49ae-9fec-03ff68237f0a">
+<Component Id="_comp163" Guid="af6ea193-4ca9-461f-9060-ea5f65dc5396">
-<File Id="_160" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner10.resources.dll" />
+<File Id="_164" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
-<Directory Id="zh_TW160" Name="zh-TW">
+<Directory Id="zh_TW164" Name="zh-TW">
-<Component Id="_comp161" Guid="3f203723-7fc9-48f5-af76-4ecb6cce7f35">
+<Component Id="_comp165" Guid="2e9a21fc-2d73-4de2-98d8-75341c0140c6">
-<File Id="_162" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner10.resources.dll" />
+<File Id="_166" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 
@@ -295,26 +299,26 @@
             <ComponentRef Id="InstallDirPermissions" />
 
 <ComponentRef Id="_comp1" />
-<ComponentRef Id="_comp80" />
+<ComponentRef Id="_comp84" />
-<ComponentRef Id="_comp82" />
+<ComponentRef Id="_comp86" />
-<ComponentRef Id="_comp91" />
 <ComponentRef Id="_comp95" />
-<ComponentRef Id="_comp98" />
+<ComponentRef Id="_comp99" />
-<ComponentRef Id="_comp108" />
+<ComponentRef Id="_comp102" />
-<ComponentRef Id="_comp118" />
+<ComponentRef Id="_comp112" />
-<ComponentRef Id="_comp121" />
+<ComponentRef Id="_comp122" />
-<ComponentRef Id="_comp129" />
+<ComponentRef Id="_comp125" />
-<ComponentRef Id="_comp135" />
+<ComponentRef Id="_comp133" />
-<ComponentRef Id="_comp137" />
 <ComponentRef Id="_comp139" />
 <ComponentRef Id="_comp141" />
 <ComponentRef Id="_comp143" />
-<ComponentRef Id="_comp146" />
+<ComponentRef Id="_comp145" />
-<ComponentRef Id="_comp152" />
+<ComponentRef Id="_comp147" />
-<ComponentRef Id="_comp154" />
+<ComponentRef Id="_comp150" />
-<ComponentRef Id="_comp157" />
+<ComponentRef Id="_comp156" />
-<ComponentRef Id="_comp159" />
+<ComponentRef Id="_comp158" />
 <ComponentRef Id="_comp161" />
+<ComponentRef Id="_comp163" />
+<ComponentRef Id="_comp165" />
 
             
             <ComponentRef Id="ApplicationShortcut" />

Tools/ArdupilotMegaPlanner/OpenGLtest.cs

@@ -253,6 +253,8 @@ namespace ArdupilotMega.Controls
 
             sw.Start();
 
+            zoom = 11;
+
             getImage();
 
             sw.Stop();
@@ -261,7 +263,7 @@ namespace ArdupilotMega.Controls
 
             sw.Start();
 
-           double increment = step * 1;
+           double increment = step * 5;
 
             double cleanup = area.Bottom % increment;
             double cleanup2 = area.Left % increment;
@@ -274,12 +276,12 @@ namespace ArdupilotMega.Controls
                 {
                     int heightl = srtm.getAltitude(z, area.Right + area.Left - x, 20);
 
-                 //   Console.WriteLine(x + " " + z);
+                  //  Console.WriteLine(x + " " + z);
 
                     GL.Color3(Color.White);
 
 
-                   // int heightl = 0;
+                  //  int heightl = 0;
 
                     double scale2 = (Math.Abs(x - area.Left) / area.WidthLng);// / (float)_terrain.Width;
 

Tools/ArdupilotMegaPlanner/Program.cs

@@ -38,7 +38,10 @@ namespace ArdupilotMega
 
             //Common.linearRegression();
 
-            //Console.WriteLine(srtm.getAltitude(-35.115676879882812, 117.94178754638671,20));
+            Console.WriteLine(srtm.getAltitude(-35.115676879882812, 117.94178754638671,20));
+
+           // Console.ReadLine();
+           // return;
             /*
             Arduino.ArduinoSTKv2 comport = new Arduino.ArduinoSTKv2();
 

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.1.*")]
-[assembly: AssemblyFileVersion("1.2.12")]
+[assembly: AssemblyFileVersion("1.2.13")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/ResEdit.cs

@@ -251,7 +251,7 @@ namespace resedit
 
             try
             {
-                thisAssembly = Assembly.LoadFile(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + ci + Path.DirectorySeparatorChar + "ArdupilotMegaPlanner.resources.dll");
+                thisAssembly = Assembly.LoadFile(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + ci + Path.DirectorySeparatorChar + "ArdupilotMegaPlanner10.resources.dll");
             }
             catch { return; }
 

Tools/ArdupilotMegaPlanner/dataflashlog.xml

@@ -20,8 +20,6 @@
       <F5>Yaw IN</F5>
       <F6>Yaw</F6>
       <F7>Nav Yaw</F7>
-      <F8>Roll I</F8>
-      <F9>Pitch I</F9>
     </ATT>
     <NTUN>
       <F1>WP Dist</F1>
@@ -32,20 +30,16 @@
       <F6>Nav Roll</F6>
       <F7>X Speed</F7>
       <F8>Y Speed</F8>
-      <F9>Nav Lon I</F9>
-      <F10>Nav Lat I</F10>
     </NTUN>
     <CTUN>
-      <F1>Thr in</F1>
+      <F1>Thr IN</F1>
       <F2>Sonar Alt</F2>
       <F3>Baro Alt</F3>
       <F4>WP Alt</F4>
       <F5>Nav Throttle</F5>
-      <F6>Angle Boost</F6>
+      <F6>Angle boost</F6>
       <F7>Climb Rate</F7>
       <F8>Throttle  Out</F8>
-      <F9>Alt Hold Int</F9>
-      <F10>Thr iInt</F10>
     </CTUN>
     <PM>
       <F1>Gyro Saturation</F1>

Tools/ArdupilotMegaPlanner/srtm.cs

@@ -27,19 +27,21 @@ namespace ArdupilotMega
 
         static Hashtable filecache = new Hashtable();
 
+        static Dictionary<string, short[,]> cache = new Dictionary<string, short[,]>();
+
         public static int getAltitude(double lat, double lng, double zoom)
         {
             short alt = 0;
 
-            lat += 1 / 1199.0;
+            //lat += 1 / 1199.0;
             //lng -= 1 / 1201f;
 
             // 		lat	-35.115676879882812	double
             //		lng	117.94178754638671	double
             // 		alt	70	short
 
-            int x = (int)Math.Floor(lng);
+            int x = (lng < 0) ? (int)(lng-1) : (int)lng;//(int)Math.Floor(lng);
-            int y = (int)Math.Floor(lat);
+            int y = (lat < 0) ? (int)(lat - 1) : (int)lat; ;//(int)Math.Floor(lat);
 
             string ns;
             if (y > 0)
@@ -63,47 +65,65 @@ namespace ArdupilotMega
             try
             {
 
-                if (filecache.ContainsKey(datadirectory + Path.DirectorySeparatorChar + filename) || File.Exists(datadirectory + Path.DirectorySeparatorChar + filename))
+                if (cache.ContainsKey(filename) || File.Exists(datadirectory + Path.DirectorySeparatorChar + filename))
                 { // srtm hgt files
-                    //FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open, FileAccess.Read, FileShare.Read);
 
-                    MemoryStream fs = readFile(datadirectory + Path.DirectorySeparatorChar + filename);
+                    int size = -1;
+
+                    if (!cache.ContainsKey(filename))
+                    {
+                        FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open, FileAccess.Read, FileShare.Read);
+
+                        if (fs.Length == (1201 * 1201 * 2))
+                        {
+                            size = 1201;
+                        }
+                        else
+                        {
+                            size = 3601;
+                        }
+
+                        byte[] altbytes = new byte[2];
+                        short[,] altdata = new short[size, size];
+
+
+                        int altlat = 0;
+                        int altlng = 0;
+
+                        while (fs.Read(altbytes, 0, 2) != 0)
+                        {
+                            altdata[altlat, altlng] = (short)((altbytes[0] << 8) + altbytes[1]);
+
+                            altlat++;
+                            if (altlat >= size)
+                            {
+                                altlng++;
+                                altlat = 0;
+                            }
+                        }
+
+                        fs.Close();
+
+                        cache[filename] = altdata;
+                    }
+
+                    if (cache[filename].Length == (1201 * 1201))
+                    {
+                        size = 1201;
+                    }
+                    else
+                    {
+                        size = 3601;
+                    }
 
                     int posx = 0;
                     int row = 0;
 
-                    if (fs.Length <= (1201 * 1201 * 2))
+                    posx = (int)(((float)(lng - x)) * (size * 1));
-                    {
+                    row = (int)(((float)(lat - y)) * (size * 1));
-                        posx = (int)(((float)(lng - x)) * (1201 * 2));
+                    row = size - row;
-                        row = (int)(((float)(lat - y)) * 1201) * (1201 * 2);
-                        row = (1201 * 1201 * 2) - row;
-                    }
-                    else
-                    {
-                        posx = (int)(((float)(lng - x)) * (3601 * 2));
-                        row = (int)(((float)(lat - y)) * 3601) * (3601 * 2);
-                        row = (3601 * 3601 * 2) - row;
-                    }
 
-                    if (posx % 2 == 1)
+                    return cache[filename][posx, row];
-                    {
-                        posx--;
-                    }
-
-                    //Console.WriteLine(filename + " row " + row + " posx" + posx);
-
-                    byte[] data = new byte[2];
-
-                    fs.Seek((int)(row + posx), SeekOrigin.Begin);
-                    fs.Read(data, 0, data.Length);
-
-                    //fs.Close();
-
-                    //Array.Reverse(data);
-
-                    alt = (short)((data[0] << 8) + data[1]) ;//BitConverter.ToInt16(data, 0);
-
-                    return alt;
                 }
 
                 string filename2 = "srtm_" + Math.Round((lng + 2.5 + 180) / 5, 0).ToString("00") + "_" + Math.Round((60 - lat + 2.5) / 5, 0).ToString("00") + ".asc";

Tools/ArdupilotMegaPlanner/temp.Designer.cs

@@ -249,7 +249,7 @@
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(685, 285);
+            this.ClientSize = new System.Drawing.Size(685, 507);
             this.Controls.Add(this.myButton1);
             this.Controls.Add(this.BUT_paramgen);
             this.Controls.Add(this.BUT_follow_me);

Tools/ArdupilotMegaPlanner/temp.cs

@@ -31,11 +31,11 @@ namespace ArdupilotMega
 
             if (System.Diagnostics.Debugger.IsAttached) {
 
-              //  ArdupilotMega.Controls.OpenGLtest ogl = new Controls.OpenGLtest();
+                ArdupilotMega.Controls.OpenGLtest ogl = new Controls.OpenGLtest();
 
-              //  this.Controls.Add(ogl);
+                this.Controls.Add(ogl);
 
-               // ogl.Dock = DockStyle.Fill;
+                ogl.Dock = DockStyle.Fill;
             }
         }