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APM Planner 1.0.70 

fix's
This commit is contained in:
Michael Oborne 2011-09-17 23:49:32 +08:00
parent cae10dc8f6
commit 0f7b317a8d
5 changed files with 63 additions and 20 deletions
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34
Tools/ArdupilotMegaPlanner/CurrentState.cs
View File

@ -285,24 +285,21 @@ namespace ArdupilotMega
mode = "Acro";
break;
case (byte)102:
mode = "Simple";
break;
case (byte)103:
mode = "Alt Hold";
break;
case (byte)104:
case (byte)103:
mode = "Auto";
break;
case (byte)105:
case (byte)104:
mode = "Guided";
break;
case (byte)106:
case (byte)105:
mode = "Loiter";
break;
case (byte)107:
case (byte)106:
mode = "RTL";
break;
case (byte)108:
case (byte)107:
mode = "Circle";
break;
case (byte)ArdupilotMega.MAVLink.MAV_MODE.MAV_MODE_MANUAL:
@ -546,6 +543,27 @@ namespace ArdupilotMega
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null;
}
if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU] != null)
{
var imu = new MAVLink.__mavlink_scaled_imu_t();
object temp = imu;
MAVLink.ByteArrayToStructure(MAVLink.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU], ref temp, 6);
imu = (MAVLink.__mavlink_scaled_imu_t)(temp);
gx = imu.xgyro;
gy = imu.ygyro;
gz = imu.zgyro;
ax = imu.xacc;
ay = imu.yacc;
az = imu.zacc;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null;
}
if (MAVLink.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD] != null)
{
MAVLink.__mavlink_vfr_hud_t vfr = new MAVLink.__mavlink_vfr_hud_t();

2
Tools/ArdupilotMegaPlanner/HUD.cs
View File

@ -1066,7 +1066,7 @@ System.ComponentModel.Category("Values")]
}
}
greenPen.Width = 4;
// vsi

21
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -210,6 +210,7 @@ namespace ArdupilotMega
Console.WriteLine("Done open " + sysid + " " + compid);
packetslost = 0;
}
public static byte[] StructureToByteArrayEndian(params object[] list)
@ -1491,6 +1492,7 @@ namespace ArdupilotMega
}
else
{
MainV2.cs.datetime = DateTime.Now;
temp[count] = (byte)BaseStream.ReadByte();
}
}
@ -1565,6 +1567,15 @@ namespace ArdupilotMega
Array.Resize<byte>(ref temp, count);
if (packetlosttimer.AddSeconds(10) < DateTime.Now)
{
packetlosttimer = DateTime.Now;
packetslost = (int)(packetslost * 0.8f);
packetsnotlost = (int)(packetsnotlost * 0.8f);
}
MainV2.cs.linkqualitygcs = (ushort)((packetsnotlost / (packetsnotlost + packetslost)) * 100);
if (bpstime.Second != DateTime.Now.Second && !logreadmode)
{
Console.WriteLine("bps {0} loss {1} left {2}", bps1, synclost, BaseStream.BytesToRead);
@ -1602,6 +1613,7 @@ namespace ArdupilotMega
try
{
if ((temp[0] == 'U' || temp[0] == 254) && temp.Length >= temp[1])
{
if (temp[2] != ((recvpacketcount + 1) % 0x100))
@ -1620,15 +1632,6 @@ namespace ArdupilotMega
Console.WriteLine("lost {0} pkts {1}", temp[2], (int)packetslost);
}
if (packetlosttimer.AddSeconds(10) < DateTime.Now)
{
packetlosttimer = DateTime.Now;
packetslost = (int)(packetslost *0.8f);
packetsnotlost = (int)(packetsnotlost *0.8f);
}
MainV2.cs.linkqualitygcs = (ushort)((packetsnotlost / (packetsnotlost + packetslost)) * 100);
packetsnotlost++;
recvpacketcount = temp[2];

24
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -884,6 +884,8 @@ namespace ArdupilotMega
DateTime speechcustomtime = DateTime.Now;
DateTime linkqualitytime = DateTime.Now;
while (serialthread)
{
try
@ -936,6 +938,21 @@ namespace ArdupilotMega
speechcustomtime = DateTime.Now;
}
if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds > 10)
{
MainV2.cs.linkqualitygcs = 0;
}
if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds >= 1)
{
GCSViews.FlightData.myhud.Invalidate();
if (linkqualitytime.Second != DateTime.Now.Second)
{
MainV2.cs.linkqualitygcs = (ushort)(MainV2.cs.linkqualitygcs * 0.8f);
linkqualitytime = DateTime.Now;
}
}
if (speechenable && talk != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
{
float warnalt = float.MaxValue;
@ -975,7 +992,6 @@ namespace ArdupilotMega
if (MainV2.talk.State == SynthesizerState.Ready)
MainV2.talk.SpeakAsync("WARNING No Data for " + (int)(DateTime.Now - comPort.lastvalidpacket).TotalSeconds + " Seconds");
}
MainV2.cs.linkqualitygcs = 0;
}
//Console.WriteLine(comPort.BaseStream.BytesToRead);
@ -1479,6 +1495,12 @@ namespace ArdupilotMega
MainV2.comPort.Open(false);
return true;
}
if (keyData == (Keys.Control | Keys.Y)) // for ryan beall
{
MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_STORAGE_WRITE);
MessageBox.Show("Done MAV_ACTION_STORAGE_WRITE");
return true;
}
if (keyData == (Keys.Control | Keys.J)) // for jani
{
string data = "!!";

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
View File

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.69")]
[assembly: AssemblyFileVersion("1.0.70")]
[assembly: NeutralResourcesLanguageAttribute("")]