APM Planner 1.0.70

fix's

Tools/ArdupilotMegaPlanner/CurrentState.cs

@@ -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();

Tools/ArdupilotMegaPlanner/HUD.cs

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

Tools/ArdupilotMegaPlanner/MAVLink.cs

@@ -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];

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -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 = "!!";

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

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