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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

This commit is contained in:
Chris Anderson 2012-01-23 15:26:21 -08:00
parent 09c16508b3 95773eb9aa
commit 101dcfebe8
17 changed files with 3070 additions and 974 deletions
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2
ArduCopter/config.h
View File

@ -628,7 +628,7 @@
# define LOITER_IMAX 30 // degrees° # define LOITER_IMAX 30 // degrees°
#endif #endif
#ifndef LOITER_D #ifndef LOITER_D
# define LOITER_D 3 // rate control # define LOITER_D 2.2 // rate control
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////

4
ArduCopter/navigation.pde
View File

@ -143,7 +143,7 @@ static void calc_location_error(struct Location *next_loc)
*/ */
#define NAV_ERR_MAX 800 #define NAV_ERR_MAX 800
static void calc_loiter(int x_error, int y_error) static void calc_loiter1(int x_error, int y_error)
{ {
int16_t lon_PI = g.pi_loiter_lon.get_pi(x_error, dTnav); int16_t lon_PI = g.pi_loiter_lon.get_pi(x_error, dTnav);
int16_t lon_D = g.loiter_d * x_actual_speed ; // this controls the small bumps int16_t lon_D = g.loiter_d * x_actual_speed ; // this controls the small bumps
@ -160,7 +160,7 @@ static void calc_loiter(int x_error, int y_error)
} }
static void calc_loiter1(int x_error, int y_error) static void calc_loiter(int x_error, int y_error)
{ {
// East/West // East/West
x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX); //800 x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX); //800

252
Tools/ArdupilotMegaPlanner/Firmware/firmware1.xml Normal file
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@ -0,0 +1,252 @@
<?xml version="1.0" encoding="utf-8" ?>
<options>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560-2.hex</url2560-2>
<name>ArduPlane V2.28 </name>
<desc></desc>
<format_version>12</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560-2.hex</url2560-2>
<name>ArduPlane V2.28 HIL</name>
<desc>
#define FLIGHT_MODE_CHANNEL 8
#define FLIGHT_MODE_1 AUTO
#define FLIGHT_MODE_2 RTL
#define FLIGHT_MODE_3 FLY_BY_WIRE_A
#define FLIGHT_MODE_4 FLY_BY_WIRE_B
#define FLIGHT_MODE_5 STABILIZE
#define FLIGHT_MODE_6 MANUAL
#define HIL_PROTOCOL HIL_PROTOCOL_MAVLINK
#define HIL_MODE HIL_MODE_ATTITUDE
#define HIL_PORT 0
#define LOGGING_ENABLED DISABLED
#define CLI_ENABLED DISABLED
#define GPS_PROTOCOL GPS_PROTOCOL_MTK
# define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
# define GCS_PORT 3
#define AIRSPEED_SENSOR ENABLED
#define MAGNETOMETER ENABLED
#define AIRSPEED_CRUISE 25
#define THROTTLE_FAILSAFE ENABLED
</desc>
<format_version>12</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Quad</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Tri</name>
<desc>
#define FRAME_CONFIG TRI_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Hexa X</name>
<desc>
#define FRAME_CONFIG HEXA_X_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Y6</name>
<desc>
#define FRAME_CONFIG Y6_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Octa V</name>
<desc>
#define FRAME_CONFIG OCTA_V_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Octa X</name>
<desc>
#define FRAME_CONFIG OCTA_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-plus-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-plus-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-plus-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Hexa Plus</name>
<desc>
#define FRAME_CONFIG HEXA_PLUS_FRAME
#define FRAME_ORIENTATION PLUS_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-plus-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-plus-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-plus-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Octa Plus</name>
<desc>
#define FRAME_CONFIG OCTA_QUAD_FRAME
#define FRAME_ORIENTATION PLUS_FRAME
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560-2.hex</url2560-2>
<name>ArduCopter V2.1.0r Heli (2560 only)</name>
<desc>
#define AUTO_RESET_LOITER 0
#define FRAME_CONFIG HELI_FRAME
#define INSTANT_PWM ENABLED
// DEFAULT PIDS
// roll
#define STABILIZE_ROLL_P 0.70
#define STABILIZE_ROLL_I 0.025
#define STABILIZE_ROLL_D 0.04
#define STABILIZE_ROLL_IMAX 7
//pitch
#define STABILIZE_PITCH_P 0.70
#define STABILIZE_PITCH_I 0.025
#define STABILIZE_PITCH_D 0.04
#define STABILIZE_PITCH_IMAX 7
// yaw stablise
#define STABILIZE_YAW_P 0.7
#define STABILIZE_YAW_I 0.02
#define STABILIZE_YAW_D 0.0
// yaw rate
#define RATE_YAW_P 0.135
#define RATE_YAW_I 0.0
#define RATE_YAW_D 0.0
// throttle
#define THROTTLE_P 0.2
#define THROTTLE_I 0.001
#define THROTTLE_IMAX 100
// navigation
#define NAV_LOITER_P 1.1
#define NAV_LOITER_I 0.03
#define NAV_LOITER_D 0.02
#define NAV_LOITER_IMAX 10
</desc>
<format_version>113</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b4 Quad Hil</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION PLUS_FRAME
#define HIL_MODE HIL_MODE_ATTITUDE
#define ALLOW_RC_OVERRIDE ENABLED
</desc>
<format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560-2.hex</url2560-2>
<name>ArduCopter V2.1.0r Heli Hil</name>
<desc>
#define HIL_MODE HIL_MODE_ATTITUDE
#define ALLOW_RC_OVERRIDE ENABLED
#define AUTO_RESET_LOITER 0
#define FRAME_CONFIG HELI_FRAME
// DEFAULT PIDS
// roll
#define STABILIZE_ROLL_P 0.70
#define STABILIZE_ROLL_I 0.025
#define STABILIZE_ROLL_D 0.04
#define STABILIZE_ROLL_IMAX 7
//pitch
#define STABILIZE_PITCH_P 0.70
#define STABILIZE_PITCH_I 0.025
#define STABILIZE_PITCH_D 0.04
#define STABILIZE_PITCH_IMAX 7
// yaw stablise
#define STABILIZE_YAW_P 0.7
#define STABILIZE_YAW_I 0.02
#define STABILIZE_YAW_D 0.0
// yaw rate
#define RATE_YAW_P 0.135
#define RATE_YAW_I 0.0
#define RATE_YAW_D 0.0
// throttle
#define THROTTLE_P 0.2
#define THROTTLE_I 0.001
#define THROTTLE_IMAX 100
// navigation
#define NAV_LOITER_P 1.1
#define NAV_LOITER_I 0.03
#define NAV_LOITER_D 0.02
#define NAV_LOITER_IMAX 10
</desc>
<format_version>113</format_version>
</Firmware>
</options>

65
Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
View File

@ -43,109 +43,72 @@
</desc> </desc>
<format_version>12</format_version> <format_version>12</format_version>
</Firmware> </Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-2560-2.hex</url2560-2>
<name>ArduPlane V2.28 APM trunk</name>
<desc></desc>
<format_version>12</format_version>
</Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b2 Quad</name> <name>ArduCopter V2.2 b4 Quad</name>
<desc> <desc>
#define FRAME_CONFIG QUAD_FRAME #define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION X_FRAME
</desc> </desc>
<format_version>113</format_version> <format_version>114</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b2 Tri</name> <name>ArduCopter V2.2 b4 Tri</name>
<desc> <desc>
#define FRAME_CONFIG TRI_FRAME #define FRAME_CONFIG TRI_FRAME
#define FRAME_ORIENTATION X_FRAME
</desc> </desc>
<format_version>113</format_version> <format_version>114</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b2 Hexa X</name> <name>ArduCopter V2.2 b4 Hexa X</name>
<desc> <desc>
#define FRAME_CONFIG HEXA_FRAME #define FRAME_CONFIG HEXA_FRAME
#define FRAME_ORIENTATION X_FRAME
</desc> </desc>
<format_version>113</format_version> <format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b2 Hexa Plus</name>
<desc>
#define FRAME_CONFIG HEXA_FRAME
#define FRAME_ORIENTATION X_FRAME
</desc>
<format_version>113</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b2 Y6</name> <name>ArduCopter V2.2 b4 Y6</name>
<desc> <desc>
#define FRAME_CONFIG Y6_FRAME #define FRAME_CONFIG Y6_FRAME
#define FRAME_ORIENTATION X_FRAME
</desc> </desc>
<format_version>113</format_version> <format_version>114</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b2 Octav</name> <name>ArduCopter V2.2 b4 Octa V</name>
<desc> <desc>
#define FRAME_CONFIG OCTA_FRAME #define FRAME_CONFIG OCTA_FRAME
#define FRAME_ORIENTATION V_FRAME #define FRAME_ORIENTATION V_FRAME
</desc> </desc>
<format_version>113</format_version> <format_version>114</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b2 Octa X</name> <name>ArduCopter V2.2 b4 Octa X</name>
<desc> <desc>
#define FRAME_CONFIG OCTA_FRAME #define FRAME_CONFIG OCTA_FRAME
#define FRAME_ORIENTATION X_FRAME
</desc> </desc>
<format_version>113</format_version> <format_version>114</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b2 Octa Plus</name>
<desc>
#define FRAME_CONFIG OCTA_FRAME
#define FRAME_ORIENTATION X_FRAME
</desc>
<format_version>113</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
@ -199,7 +162,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2> <url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2>
<name>ArduCopter V2.2 b2 Quad Hil</name> <name>ArduCopter V2.2 b4 Quad Hil</name>
<desc> <desc>
#define FRAME_CONFIG QUAD_FRAME #define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION PLUS_FRAME #define FRAME_ORIENTATION PLUS_FRAME
@ -209,7 +172,7 @@
</desc> </desc>
<format_version>113</format_version> <format_version>114</format_version>
</Firmware> </Firmware>
<Firmware> <Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>

4
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
View File

@ -328,6 +328,10 @@ namespace ArdupilotMega.GCSViews
cell.Style.BackColor = Color.LightGreen; cell.Style.BackColor = Color.LightGreen;
} }
} }
else
{
cell.Value = 100 ;
}
} }
cell.DataGridView.EndEdit(); cell.DataGridView.EndEdit();

26
Tools/ArdupilotMegaPlanner/GCSViews/Help.cs
View File

@ -22,29 +22,9 @@ namespace ArdupilotMega.GCSViews
catch { } catch { }
} }
private void BUT_updatecheck_Click(object sender, EventArgs e) public void BUT_updatecheck_Click(object sender, EventArgs e)
{ {
Form loading = new Form(); MainV2.doupdate();
loading.Width = 400;
loading.Height = 150;
loading.StartPosition = FormStartPosition.CenterScreen;
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
loading.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
Label loadinglabel = new Label();
loadinglabel.Location = new System.Drawing.Point(50, 40);
loadinglabel.Name = "load";
loadinglabel.AutoSize = true;
loadinglabel.Text = "Checking...";
loadinglabel.Size = new System.Drawing.Size(100, 20);
loading.Controls.Add(loadinglabel);
loading.Show();
System.Threading.Thread t12 = new System.Threading.Thread(delegate() { try { MainV2.updatecheck(loadinglabel); } catch (Exception ex) { Console.WriteLine(ex.ToString()); } }); // wait for tcp connections
t12.Name = "Update check thread";
t12.Start();
MainV2.threads.Add(t12);
} }
private void CHK_showconsole_CheckedChanged(object sender, EventArgs e) private void CHK_showconsole_CheckedChanged(object sender, EventArgs e)
@ -54,7 +34,7 @@ namespace ArdupilotMega.GCSViews
private void Help_Load(object sender, EventArgs e) private void Help_Load(object sender, EventArgs e)
{ {
richTextBox1.Rtf = new ComponentResourceManager(this.GetType()).GetString("Help_text"); richTextBox1.Rtf = new ComponentResourceManager(this.GetType()).GetString("help_text");
} }
} }
} }

6
Tools/ArdupilotMegaPlanner/GCSViews/Help.resx
View File

@ -196,7 +196,7 @@
<value>BUT_updatecheck</value> <value>BUT_updatecheck</value>
</data> </data>
<data name="&gt;&gt;BUT_updatecheck.Type" xml:space="preserve"> <data name="&gt;&gt;BUT_updatecheck.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.4199.27022, Culture=neutral, PublicKeyToken=ff91852278f5092c</value> <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data> </data>
<data name="&gt;&gt;BUT_updatecheck.Parent" xml:space="preserve"> <data name="&gt;&gt;BUT_updatecheck.Parent" xml:space="preserve">
<value>$this</value> <value>$this</value>
@ -220,9 +220,9 @@
<value>Help</value> <value>Help</value>
</data> </data>
<data name="&gt;&gt;$this.Type" xml:space="preserve"> <data name="&gt;&gt;$this.Type" xml:space="preserve">
<value>System.Windows.Forms.UserControl, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value> <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data> </data>
<data name="Help_text" type="System.Resources.ResXFileRef, System.Windows.Forms"> <data name="help_text" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\Welcome_to_Michael_Oborne.rtf;System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089;Windows-1252</value> <value>..\Resources\Welcome_to_Michael_Oborne.rtf;System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089;Windows-1252</value>
</data> </data>
</root> </root>

46
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
View File

@ -13,6 +13,8 @@ using ZedGraph; // Graphs
using ArdupilotMega; using ArdupilotMega;
using System.Reflection; using System.Reflection;
using System.Drawing.Drawing2D;
// Written by Michael Oborne // Written by Michael Oborne
namespace ArdupilotMega.GCSViews namespace ArdupilotMega.GCSViews
{ {
@ -897,9 +899,22 @@ namespace ArdupilotMega.GCSViews
att.roll = (aeroin.Model_fRoll * -1); att.roll = (aeroin.Model_fRoll * -1);
att.yaw = (float)((aeroin.Model_fHeading)); att.yaw = (float)((aeroin.Model_fHeading));
att.pitchspeed = (float)-aeroin.Model_fAngVelX; //Console.WriteLine("degs r {0:0.000} p {1:0.000} y {2:0.000} rates {3:0.000} {4:0.000} {5:0.000}", att.roll * -rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelZ * rad2deg);
att.rollspeed = (float)-aeroin.Model_fAngVelY;
att.yawspeed = (float)-aeroin.Model_fAngVelZ; //Console.WriteLine("mine2 {0} {1} {2} ", answer.Item1 , answer.Item2 , answer.Item3 );
var answer = HIL.Utils.EarthRatesToBodyRatesMine(att.roll * rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelZ * rad2deg);
Console.WriteLine("\n{0:0.000} {1:0.000} {2:0.000} ", answer.Item1 * deg2rad, answer.Item2 * deg2rad, answer.Item3 * deg2rad);
// att.pitchspeed = (float)answer.Item1 * -deg2rad;
// att.rollspeed = (float)answer.Item2 * -deg2rad;
// att.yawspeed = (float)answer.Item3 * -deg2rad;
//att.pitchspeed = (float)(Math.Cos(att.yaw) * aeroin.Model_fAngVelX - Math.Sin(att.yaw) * aeroin.Model_fAngVelY);
//att.rollspeed = (float)(Math.Sin(att.yaw) * aeroin.Model_fAngVelX + Math.Cos(att.yaw) * aeroin.Model_fAngVelY);
// att.yawspeed = (float)-aeroin.Model_fAngVelZ * deg2rad;
#if MAVLINK10 #if MAVLINK10
@ -1334,7 +1349,10 @@ namespace ArdupilotMega.GCSViews
rudder_out = (float)MainV2.cs.hilch4 / ruddergain; rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
if (RAD_aerosimrc.Checked && CHK_quad.Checked) if (RAD_aerosimrc.Checked && CHK_quad.Checked)
throttle_out = (float)(MainV2.cs.hilch3 - 1100) / throttlegain; {
throttle_out = ((float)MainV2.cs.hilch7 / 2 + 5000) / throttlegain;
//throttle_out = (float)(MainV2.cs.hilch7 - 1100) / throttlegain;
}
} }
@ -1425,6 +1443,26 @@ namespace ArdupilotMega.GCSViews
Array.Copy(BitConverter.GetBytes((double)(collective_out)), 0, AeroSimRC, 24, 8); Array.Copy(BitConverter.GetBytes((double)(collective_out)), 0, AeroSimRC, 24, 8);
} }
if (CHK_quad.Checked && false)
{
//MainV2.cs.ch1out = 1100;
//MainV2.cs.ch2out = 1100;
//MainV2.cs.ch3out = 1100;
//MainV2.cs.ch4out = 1100;
//ac
// 3 front
// 1 left
// 4 back
// 2 left
Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch3out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 0, 8); // motor 1 = front
Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch1out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 8, 8); // motor 2 = right
Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch4out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 16, 8);// motor 3 = back
Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch2out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 24, 8);// motor 4 = left
}
try try
{ {
SimulatorRECV.SendTo(AeroSimRC, Remote); SimulatorRECV.SendTo(AeroSimRC, Remote);

2
Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs
View File

@ -402,7 +402,7 @@ namespace ArdupilotMega.HIL
return v; return v;
} }
static Quaternion new_rotate_euler(double heading, double attitude, double bank) public static Quaternion new_rotate_euler(double heading, double attitude, double bank)
{ {
Quaternion Q = new Quaternion(); Quaternion Q = new Quaternion();
double c1 = Math.Cos(heading / 2); double c1 = Math.Cos(heading / 2);

173
Tools/ArdupilotMegaPlanner/HIL/Utils.cs
View File

@ -54,8 +54,9 @@ namespace ArdupilotMega.HIL
} }
public static Tuple<double,double,double> EarthRatesToBodyRates(double roll,double pitch,double yaw, public static Tuple<double, double, double> EarthRatesToBodyRates(double roll, double pitch, double yaw,
double rollRate,double pitchRate,double yawRate) { double rollRate, double pitchRate, double yawRate)
{
//convert the angular velocities from earth frame to //convert the angular velocities from earth frame to
//body frame. Thanks to James Goppert for the formula //body frame. Thanks to James Goppert for the formula
@ -70,14 +71,162 @@ public static Tuple<double,double,double> EarthRatesToBodyRates(double roll,doub
var thetaDot = radians(pitchRate); var thetaDot = radians(pitchRate);
var psiDot = radians(yawRate); var psiDot = radians(yawRate);
var p = phiDot - psiDot*sin(theta); var p = phiDot - psiDot * sin(theta);
var q = cos(phi)*thetaDot + sin(phi)*psiDot*cos(theta); var q = cos(phi) * thetaDot + sin(phi) * psiDot * cos(theta);
var r = cos(phi)*psiDot*cos(theta) - sin(phi)*thetaDot; var r = cos(phi) * psiDot * cos(theta) - sin(phi) * thetaDot;
return new Tuple<double,double,double> (degrees(p), degrees(q), degrees(r)); return new Tuple<double, double, double>(degrees(p), degrees(q), degrees(r));
} }
public static Tuple<double,double,double> BodyRatesToEarthRates(double roll, double pitch, double yaw,double pDeg, double qDeg,double rDeg){ public static Tuple<double, double, double> EarthRatesToBodyRatesRyan(double roll, double pitch, double yaw,
double rollRate, double pitchRate, double yawRate)
{
// thanks to ryan beall
var phi = radians(roll);
var theta = radians(pitch);
var psi = radians(yaw);
var Po = radians(pitchRate);
var Ro = radians(yawRate);
var Qo = radians(rollRate);
var P = Po * cos(psi) * cos(theta) - Ro * sin(theta) + Qo * cos(theta) * sin(psi);
var Q = Qo * (cos(phi) * cos(psi) + sin(phi) * sin(psi) * sin(theta)) - Po * (cos(phi) * sin(psi) - cos(psi) * sin(phi) * sin(theta)) + Ro * cos(theta) * sin(phi);
var R = Po * (sin(phi) * sin(psi) + cos(phi) * cos(psi) * sin(theta)) - Qo * (cos(psi) * sin(phi) - cos(phi) * sin(psi) * sin(theta)) + Ro * cos(phi) * cos(theta);
return new Tuple<double, double, double>(degrees(P), degrees(Q), degrees(R));
}
public static Tuple<double, double, double> EarthRatesToBodyRatesMine(double roll, double pitch, double yaw,
double rollRate, double pitchRate, double yawRate)
{
// thanks to ryan beall
var phi = radians(roll);
var theta = radians(pitch);
var psi = radians(yaw);
var Po = radians(pitchRate);
var Ro = radians(yawRate);
var Qo = radians(rollRate);
var Q = Po * cos(psi) + Qo * sin(psi);
var P = Po * sin(psi) + Qo * cos(psi); ;
var R = Ro;
return new Tuple<double, double, double>(degrees(P), degrees(Q), degrees(R));
/*
double Cr, Cp, Cz;
double Sr, Sp, Sz;
var phi = radians(roll);
var theta = radians(pitch);
var psi = radians(yaw);
var Po = radians(rollRate);
var Ro = radians(pitchRate);
var Qo = radians(yawRate);
Cr = Math.Cos((phi));
Cp = Math.Cos((theta));
Cz = Math.Cos((psi));
Sr = Math.Sin((phi));
Sp = Math.Sin((theta));
Sz = Math.Sin((psi));
// http://planning.cs.uiuc.edu/node102.html
// Z Y X
// roll -Sp, CpSr, CpCr
// pitch SzCp, SzSpSr+CzCr, SzSpCr-CpCr
// yaw CzCp, CzSpSr-SzCr, CzSpCr+SzSr
var P = -(Qo * Sp) + Po * Cp * Sr + Ro * Cp * Cr;
var Q = Qo * (Sz * Cp) + Po * (Sz * Sp * Sr + Cz * Cr) + Ro * (Sz * Sp * Cr - Cp * Cr);
var R = Qo * (Cz * Cp) + Po * (Cz * Sp * Sr - Sz * Cr) + Ro * (Cz * Sp * Cr + Sz * Sr);
return new Tuple<double, double, double>(degrees(P), degrees(Q), degrees(R));
* */
}
public static Tuple<double, double, double> OGLtoBCBF(double phi, double theta, double psi,double x, double y, double z)
{
double x_NED, y_NED, z_NED;
double Cr, Cp, Cy;
double Sr, Sp, Sy;
//Accelerations in X-Plane are expressed in the local OpenGL reference frame, for whatever reason.
//This coordinate system is defined as follows (taken from the X-Plane SDK Wiki):
// The origin 0,0,0 is on the surface of the earth at sea level at some "reference point".
// The +X axis points east from the reference point.
// The +Z axis points south from the reference point.
// The +Y axis points straight up away from the center of the earth at the reference point.
// First we shall convert from this East Up South frame, to a more conventional NED (North East Down) frame.
x_NED = radians(x) * -1.0;
y_NED = radians(y) * 1.0;
z_NED = radians(z) * -1.0;
// Next calculate cos & sin of angles for use in the transformation matrix.
// r, p & y subscripts stand for roll pitch and yaw.
Cr = Math.Cos(radians(phi));
Cp = Math.Cos(radians(theta));
Cy = Math.Cos(radians(psi));
Sr = Math.Sin(radians(phi));
Sp = Math.Sin(radians(theta));
Sy = Math.Sin(radians(psi));
// Next we need to rotate our accelerations from the NED reference frame, into the body fixed reference frame
// THANKS TO GEORGE M SIOURIS WHOSE "MISSILE GUIDANCE AND CONTROL SYSTEMS" BOOK SEEMS TO BE THE ONLY EASY TO FIND REFERENCE THAT
// ACTUALLY GETS THE NED TO BODY FRAME ROTATION MATRIX CORRECT!!
// CpCy, CpSy, -Sp | local_ax
// SrSpCy-CrSy, SrSpSy+CrCy, SrCp | local_ay
// CrSpCy+SrSy, CrSpSy-SrCy, CrCp | local_az
x = (x_NED * Cp * Cy) + (y_NED * Cp * Sy) - (z_NED * Sp);
y = (x_NED * ((Sr * Sp * Cy) - (Cr * Sy))) + (y_NED * ((Sr * Sp * Sy) + (Cr * Cy))) + (z_NED * Sr * Cp);
z = (x_NED * ((Cr * Sp * Cy) + (Sr * Sy))) + (y_NED * ((Cr * Sp * Sy) - (Sr * Cy))) + (z_NED * Cr * Cp);
return new Tuple<double, double, double>(degrees(x), degrees(y), degrees(z));
}
/// <summary>
/// From http://code.google.com/p/gentlenav/source/browse/trunk/Tools/XP_UDB_HILSIM/utility.cpp
/// Converts from xplanes to fixed body ref
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
/// <param name="alpha"></param>
/// <param name="beta"></param>
public static void FLIGHTtoBCBF(ref float x, ref float y, ref float z, float alpha, float beta)
{
float Ca = (float)Math.Cos(alpha);
float Cb = (float)Math.Cos(beta);
float Sa = (float)Math.Sin(alpha);
float Sb = (float)Math.Sin(beta);
float X_plane = (x * Ca * Cb) - (z * Sa * Cb) - (y * Sb);
float Y_plane = (z * Sa * Sb) - (x * Ca * Sb) - (y * Cb);
float Z_plane = (x * Sa) + (z * Ca);
x = X_plane;
y = Y_plane;
z = Z_plane;
}
public static Tuple<double, double, double> BodyRatesToEarthRates(double roll, double pitch, double yaw, double pDeg, double qDeg, double rDeg)
{
//convert the angular velocities from body frame to //convert the angular velocities from body frame to
//earth frame. //earth frame.
@ -92,13 +241,13 @@ public static Tuple<double,double,double> BodyRatesToEarthRates(double roll, dou
var phi = radians(roll); var phi = radians(roll);
var theta = radians(pitch); var theta = radians(pitch);
var phiDot = p + tan(theta)*(q*sin(phi) + r*cos(phi)); var phiDot = p + tan(theta) * (q * sin(phi) + r * cos(phi));
var thetaDot = q*cos(phi) - r*sin(phi); var thetaDot = q * cos(phi) - r * sin(phi);
if (fabs(cos(theta)) < 1.0e-20) if (fabs(cos(theta)) < 1.0e-20)
theta += 1.0e-10; theta += 1.0e-10;
var psiDot = (q*sin(phi) + r*cos(phi))/cos(theta); var psiDot = (q * sin(phi) + r * cos(phi)) / cos(theta);
return new Tuple<double,double,double> (degrees(phiDot), degrees(thetaDot), degrees(psiDot)); return new Tuple<double, double, double>(degrees(phiDot), degrees(thetaDot), degrees(psiDot));
} }
} }
} }

2
Tools/ArdupilotMegaPlanner/HUD.cs
View File

@ -240,7 +240,7 @@ namespace hud
protected override void OnPaint(PaintEventArgs e) protected override void OnPaint(PaintEventArgs e)
{ {
//GL.Enable(EnableCap.AlphaTest); //GL.Enable(EnableCap.AlphaTest)
if (this.DesignMode) if (this.DesignMode)
{ {

111
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -97,6 +97,10 @@ namespace ArdupilotMega
Application.DoEvents(); Application.DoEvents();
instance = this;
InitializeComponent();
srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm"; srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm";
var t = Type.GetType("Mono.Runtime"); var t = Type.GetType("Mono.Runtime");
@ -104,8 +108,6 @@ namespace ArdupilotMega
//talk.SpeakAsync("Welcome to APM Planner"); //talk.SpeakAsync("Welcome to APM Planner");
InitializeComponent();
MyRenderer.currentpressed = MenuFlightData; MyRenderer.currentpressed = MenuFlightData;
MainMenu.Renderer = new MyRenderer(); MainMenu.Renderer = new MyRenderer();
@ -244,7 +246,7 @@ namespace ArdupilotMega
Application.DoEvents(); Application.DoEvents();
instance = this;
splash.Close(); splash.Close();
} }
@ -1227,7 +1229,6 @@ namespace ArdupilotMega
//comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL,3); //comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL,3);
// //
MenuFlightData_Click(sender, e); MenuFlightData_Click(sender, e);
try try
@ -1260,6 +1261,12 @@ namespace ArdupilotMega
Name = "Main Serial reader" Name = "Main Serial reader"
}; };
t11.Start(); t11.Start();
try
{
checkForUpdate();
}
catch { Console.WriteLine("update check failed"); }
} }
public static String ComputeWebSocketHandshakeSecurityHash09(String secWebSocketKey) public static String ComputeWebSocketHandshakeSecurityHash09(String secWebSocketKey)
@ -1578,11 +1585,12 @@ namespace ArdupilotMega
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28); temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
} }
static string baseurl = "http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/";
public static void updatecheck(Label loadinglabel) public static void updatecheck(Label loadinglabel)
{ {
try try
{ {
string baseurl = "http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/";
bool update = updatecheck(loadinglabel, baseurl, ""); bool update = updatecheck(loadinglabel, baseurl, "");
System.Diagnostics.Process P = new System.Diagnostics.Process(); System.Diagnostics.Process P = new System.Diagnostics.Process();
if (MONO) if (MONO)
@ -1629,6 +1637,99 @@ namespace ArdupilotMega
Application.DoEvents(); Application.DoEvents();
} }
private static void checkForUpdate()
{
string path = Path.GetFileNameWithoutExtension(Application.ExecutablePath) + ".exe";
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl + path);
request.Timeout = 5000;
Console.Write(baseurl + path + " ");
// Set the Method property of the request to POST.
request.Method = "HEAD";
((HttpWebRequest)request).IfModifiedSince = File.GetLastWriteTimeUtc(path);
// Get the response.
WebResponse response = request.GetResponse();
// Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
//dataStream = response.GetResponseStream();
// Open the stream using a StreamReader for easy access.
bool getfile = false;
if (File.Exists(path))
{
FileInfo fi = new FileInfo(path);
Console.WriteLine(response.Headers[HttpResponseHeader.ETag]);
if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0")
{
StreamWriter sw = new StreamWriter(path + ".etag");
sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
sw.Close();
getfile = true;
Console.WriteLine("NEW FILE " + path);
}
}
else
{
getfile = true;
Console.WriteLine("NEW FILE " + path);
// get it
}
response.Close();
if (getfile)
{
DialogResult dr = MessageBox.Show("Update Found\n\nDo you wish to update now?", "Update Now", MessageBoxButtons.YesNo);
if (dr == DialogResult.Yes)
{
doupdate();
}
else
{
return;
}
}
}
public static void doupdate()
{
//System.Threading.Thread t12 = new System.Threading.Thread(delegate()
{
Form loading = new Form();
loading.Width = 400;
loading.Height = 150;
loading.StartPosition = FormStartPosition.CenterScreen;
loading.TopMost = true;
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
loading.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
Label loadinglabel = new Label();
loadinglabel.Location = new System.Drawing.Point(50, 40);
loadinglabel.Name = "load";
loadinglabel.AutoSize = true;
loadinglabel.Text = "Checking...";
loadinglabel.Size = new System.Drawing.Size(100, 20);
loading.Controls.Add(loadinglabel);
loading.Show();
try { MainV2.updatecheck(loadinglabel); } catch (Exception ex) { Console.WriteLine(ex.ToString()); }
}
//);
//t12.Name = "Update check thread";
//t12.Start();
//MainV2.threads.Add(t12);
}
private static bool updatecheck(Label loadinglabel, string baseurl, string subdir) private static bool updatecheck(Label loadinglabel, string baseurl, string subdir)
{ {
bool update = false; bool update = false;

16
Tools/ArdupilotMegaPlanner/Program.cs
View File

@ -29,6 +29,22 @@ namespace ArdupilotMega
//Common.linearRegression(); //Common.linearRegression();
var answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 0, 0, 5, 0);
Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1 , answer.Item2 , answer.Item3);
answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 45, 0, 5, 0);
Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1, answer.Item2, answer.Item3);
answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 90, 0, 5, 0);
Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1, answer.Item2, answer.Item3);
answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 135, 0, 5, 0);
Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1, answer.Item2, answer.Item3);
//Console.ReadLine();
//return;
Application.EnableVisualStyles(); Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false); Application.SetCompatibleTextRenderingDefault(false);
try try

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

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below: // by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")] // [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")] [assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.1.26")] [assembly: AssemblyFileVersion("1.1.28")]
[assembly: NeutralResourcesLanguageAttribute("")] [assembly: NeutralResourcesLanguageAttribute("")]

532
Tools/ArdupilotMegaPlanner/Setup/Setup.Designer.cs generated
View File

@ -41,6 +41,16 @@
this.CHK_revch4 = new System.Windows.Forms.CheckBox(); this.CHK_revch4 = new System.Windows.Forms.CheckBox();
this.CHK_revch2 = new System.Windows.Forms.CheckBox(); this.CHK_revch2 = new System.Windows.Forms.CheckBox();
this.CHK_revch1 = new System.Windows.Forms.CheckBox(); this.CHK_revch1 = new System.Windows.Forms.CheckBox();
this.BUT_Calibrateradio = new ArdupilotMega.MyButton();
this.BAR8 = new ArdupilotMega.HorizontalProgressBar2();
this.currentStateBindingSource = new System.Windows.Forms.BindingSource(this.components);
this.BAR7 = new ArdupilotMega.HorizontalProgressBar2();
this.BAR6 = new ArdupilotMega.HorizontalProgressBar2();
this.BAR5 = new ArdupilotMega.HorizontalProgressBar2();
this.BARpitch = new ArdupilotMega.VerticalProgressBar2();
this.BARthrottle = new ArdupilotMega.VerticalProgressBar2();
this.BARyaw = new ArdupilotMega.HorizontalProgressBar2();
this.BARroll = new ArdupilotMega.HorizontalProgressBar2();
this.tabModes = new System.Windows.Forms.TabPage(); this.tabModes = new System.Windows.Forms.TabPage();
this.CB_simple6 = new System.Windows.Forms.CheckBox(); this.CB_simple6 = new System.Windows.Forms.CheckBox();
this.CB_simple5 = new System.Windows.Forms.CheckBox(); this.CB_simple5 = new System.Windows.Forms.CheckBox();
@ -70,6 +80,7 @@
this.CMB_fmode2 = new System.Windows.Forms.ComboBox(); this.CMB_fmode2 = new System.Windows.Forms.ComboBox();
this.label1 = new System.Windows.Forms.Label(); this.label1 = new System.Windows.Forms.Label();
this.CMB_fmode1 = new System.Windows.Forms.ComboBox(); this.CMB_fmode1 = new System.Windows.Forms.ComboBox();
this.BUT_SaveModes = new ArdupilotMega.MyButton();
this.tabHardware = new System.Windows.Forms.TabPage(); this.tabHardware = new System.Windows.Forms.TabPage();
this.label27 = new System.Windows.Forms.Label(); this.label27 = new System.Windows.Forms.Label();
this.CMB_sonartype = new System.Windows.Forms.ComboBox(); this.CMB_sonartype = new System.Windows.Forms.ComboBox();
@ -85,16 +96,19 @@
this.pictureBox3 = new System.Windows.Forms.PictureBox(); this.pictureBox3 = new System.Windows.Forms.PictureBox();
this.pictureBox1 = new System.Windows.Forms.PictureBox(); this.pictureBox1 = new System.Windows.Forms.PictureBox();
this.tabBattery = new System.Windows.Forms.TabPage(); this.tabBattery = new System.Windows.Forms.TabPage();
this.TXT_ampspervolt = new System.Windows.Forms.TextBox(); this.groupBox4 = new System.Windows.Forms.GroupBox();
this.TXT_divider = new System.Windows.Forms.TextBox();
this.TXT_voltage = new System.Windows.Forms.TextBox();
this.TXT_measuredvoltage = new System.Windows.Forms.TextBox();
this.TXT_inputvoltage = new System.Windows.Forms.TextBox();
this.label35 = new System.Windows.Forms.Label();
this.label34 = new System.Windows.Forms.Label();
this.label33 = new System.Windows.Forms.Label();
this.label32 = new System.Windows.Forms.Label();
this.label31 = new System.Windows.Forms.Label(); this.label31 = new System.Windows.Forms.Label();
this.label32 = new System.Windows.Forms.Label();
this.label33 = new System.Windows.Forms.Label();
this.TXT_ampspervolt = new System.Windows.Forms.TextBox();
this.label34 = new System.Windows.Forms.Label();
this.TXT_divider = new System.Windows.Forms.TextBox();
this.label35 = new System.Windows.Forms.Label();
this.TXT_voltage = new System.Windows.Forms.TextBox();
this.TXT_inputvoltage = new System.Windows.Forms.TextBox();
this.TXT_measuredvoltage = new System.Windows.Forms.TextBox();
this.label47 = new System.Windows.Forms.Label();
this.CMB_batmonsensortype = new System.Windows.Forms.ComboBox();
this.textBox3 = new System.Windows.Forms.TextBox(); this.textBox3 = new System.Windows.Forms.TextBox();
this.label29 = new System.Windows.Forms.Label(); this.label29 = new System.Windows.Forms.Label();
this.label30 = new System.Windows.Forms.Label(); this.label30 = new System.Windows.Forms.Label();
@ -107,7 +121,10 @@
this.label15 = new System.Windows.Forms.Label(); this.label15 = new System.Windows.Forms.Label();
this.pictureBoxQuadX = new System.Windows.Forms.PictureBox(); this.pictureBoxQuadX = new System.Windows.Forms.PictureBox();
this.pictureBoxQuad = new System.Windows.Forms.PictureBox(); this.pictureBoxQuad = new System.Windows.Forms.PictureBox();
this.BUT_levelac2 = new ArdupilotMega.MyButton();
this.tabHeli = new System.Windows.Forms.TabPage(); this.tabHeli = new System.Windows.Forms.TabPage();
this.BUT_HS4save = new ArdupilotMega.MyButton();
this.BUT_swash_manual = new ArdupilotMega.MyButton();
this.groupBox3 = new System.Windows.Forms.GroupBox(); this.groupBox3 = new System.Windows.Forms.GroupBox();
this.label46 = new System.Windows.Forms.Label(); this.label46 = new System.Windows.Forms.Label();
this.label45 = new System.Windows.Forms.Label(); this.label45 = new System.Windows.Forms.Label();
@ -127,6 +144,7 @@
this.COL_MIN_ = new System.Windows.Forms.TextBox(); this.COL_MIN_ = new System.Windows.Forms.TextBox();
this.COL_MID_ = new System.Windows.Forms.TextBox(); this.COL_MID_ = new System.Windows.Forms.TextBox();
this.COL_MAX_ = new System.Windows.Forms.TextBox(); this.COL_MAX_ = new System.Windows.Forms.TextBox();
this.BUT_0collective = new ArdupilotMega.MyButton();
this.HS4_TRIM = new System.Windows.Forms.NumericUpDown(); this.HS4_TRIM = new System.Windows.Forms.NumericUpDown();
this.HS3_TRIM = new System.Windows.Forms.NumericUpDown(); this.HS3_TRIM = new System.Windows.Forms.NumericUpDown();
this.HS2_TRIM = new System.Windows.Forms.NumericUpDown(); this.HS2_TRIM = new System.Windows.Forms.NumericUpDown();
@ -152,33 +170,16 @@
this.HS2_REV = new System.Windows.Forms.CheckBox(); this.HS2_REV = new System.Windows.Forms.CheckBox();
this.HS1_REV = new System.Windows.Forms.CheckBox(); this.HS1_REV = new System.Windows.Forms.CheckBox();
this.label17 = new System.Windows.Forms.Label(); this.label17 = new System.Windows.Forms.Label();
this.tabReset = new System.Windows.Forms.TabPage();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.CMB_batmonsensortype = new System.Windows.Forms.ComboBox();
this.BUT_Calibrateradio = new ArdupilotMega.MyButton();
this.BAR8 = new ArdupilotMega.HorizontalProgressBar2();
this.currentStateBindingSource = new System.Windows.Forms.BindingSource(this.components);
this.BAR7 = new ArdupilotMega.HorizontalProgressBar2();
this.BAR6 = new ArdupilotMega.HorizontalProgressBar2();
this.BAR5 = new ArdupilotMega.HorizontalProgressBar2();
this.BARpitch = new ArdupilotMega.VerticalProgressBar2();
this.BARthrottle = new ArdupilotMega.VerticalProgressBar2();
this.BARyaw = new ArdupilotMega.HorizontalProgressBar2();
this.BARroll = new ArdupilotMega.HorizontalProgressBar2();
this.BUT_SaveModes = new ArdupilotMega.MyButton();
this.BUT_levelac2 = new ArdupilotMega.MyButton();
this.BUT_HS4save = new ArdupilotMega.MyButton();
this.BUT_swash_manual = new ArdupilotMega.MyButton();
this.BUT_0collective = new ArdupilotMega.MyButton();
this.HS4 = new ArdupilotMega.HorizontalProgressBar2(); this.HS4 = new ArdupilotMega.HorizontalProgressBar2();
this.HS3 = new ArdupilotMega.VerticalProgressBar2(); this.HS3 = new ArdupilotMega.VerticalProgressBar2();
this.Gservoloc = new AGaugeApp.AGauge(); this.Gservoloc = new AGaugeApp.AGauge();
this.tabReset = new System.Windows.Forms.TabPage();
this.BUT_reset = new ArdupilotMega.MyButton(); this.BUT_reset = new ArdupilotMega.MyButton();
this.label47 = new System.Windows.Forms.Label(); this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.groupBox4 = new System.Windows.Forms.GroupBox();
this.tabControl1.SuspendLayout(); this.tabControl1.SuspendLayout();
this.tabRadioIn.SuspendLayout(); this.tabRadioIn.SuspendLayout();
this.groupBoxElevons.SuspendLayout(); this.groupBoxElevons.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).BeginInit();
this.tabModes.SuspendLayout(); this.tabModes.SuspendLayout();
this.tabHardware.SuspendLayout(); this.tabHardware.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).BeginInit();
@ -186,6 +187,7 @@
((System.ComponentModel.ISupportInitialize)(this.pictureBox3)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.pictureBox3)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
this.tabBattery.SuspendLayout(); this.tabBattery.SuspendLayout();
this.groupBox4.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.pictureBox5)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.pictureBox5)).BeginInit();
this.tabArducopter.SuspendLayout(); this.tabArducopter.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuadX)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuadX)).BeginInit();
@ -199,8 +201,6 @@
((System.ComponentModel.ISupportInitialize)(this.HS2_TRIM)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.HS2_TRIM)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.HS1_TRIM)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.HS1_TRIM)).BeginInit();
this.tabReset.SuspendLayout(); this.tabReset.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).BeginInit();
this.groupBox4.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
// //
// tabControl1 // tabControl1
@ -306,6 +306,137 @@
this.CHK_revch1.UseVisualStyleBackColor = true; this.CHK_revch1.UseVisualStyleBackColor = true;
this.CHK_revch1.CheckedChanged += new System.EventHandler(this.CHK_revch1_CheckedChanged); this.CHK_revch1.CheckedChanged += new System.EventHandler(this.CHK_revch1_CheckedChanged);
// //
// BUT_Calibrateradio
//
resources.ApplyResources(this.BUT_Calibrateradio, "BUT_Calibrateradio");
this.BUT_Calibrateradio.Name = "BUT_Calibrateradio";
this.BUT_Calibrateradio.UseVisualStyleBackColor = true;
this.BUT_Calibrateradio.Click += new System.EventHandler(this.BUT_Calibrateradio_Click);
//
// BAR8
//
this.BAR8.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BAR8.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BAR8.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch8in", true));
this.BAR8.Label = "Radio 8";
resources.ApplyResources(this.BAR8, "BAR8");
this.BAR8.Maximum = 2200;
this.BAR8.maxline = 0;
this.BAR8.Minimum = 800;
this.BAR8.minline = 0;
this.BAR8.Name = "BAR8";
this.BAR8.Value = 1500;
this.BAR8.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// currentStateBindingSource
//
this.currentStateBindingSource.DataSource = typeof(ArdupilotMega.CurrentState);
//
// BAR7
//
this.BAR7.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BAR7.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BAR7.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch7in", true));
this.BAR7.Label = "Radio 7";
resources.ApplyResources(this.BAR7, "BAR7");
this.BAR7.Maximum = 2200;
this.BAR7.maxline = 0;
this.BAR7.Minimum = 800;
this.BAR7.minline = 0;
this.BAR7.Name = "BAR7";
this.BAR7.Value = 1500;
this.BAR7.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// BAR6
//
this.BAR6.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BAR6.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BAR6.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch6in", true));
this.BAR6.Label = "Radio 6";
resources.ApplyResources(this.BAR6, "BAR6");
this.BAR6.Maximum = 2200;
this.BAR6.maxline = 0;
this.BAR6.Minimum = 800;
this.BAR6.minline = 0;
this.BAR6.Name = "BAR6";
this.BAR6.Value = 1500;
this.BAR6.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// BAR5
//
this.BAR5.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BAR5.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BAR5.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch5in", true));
this.BAR5.Label = "Radio 5";
resources.ApplyResources(this.BAR5, "BAR5");
this.BAR5.Maximum = 2200;
this.BAR5.maxline = 0;
this.BAR5.Minimum = 800;
this.BAR5.minline = 0;
this.BAR5.Name = "BAR5";
this.BAR5.Value = 1500;
this.BAR5.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// BARpitch
//
this.BARpitch.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BARpitch.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BARpitch.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch2in", true));
this.BARpitch.Label = "Pitch";
resources.ApplyResources(this.BARpitch, "BARpitch");
this.BARpitch.Maximum = 2200;
this.BARpitch.maxline = 0;
this.BARpitch.Minimum = 800;
this.BARpitch.minline = 0;
this.BARpitch.Name = "BARpitch";
this.BARpitch.Value = 1500;
this.BARpitch.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// BARthrottle
//
this.BARthrottle.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69)))));
this.BARthrottle.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BARthrottle.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch3in", true));
this.BARthrottle.Label = "Throttle";
resources.ApplyResources(this.BARthrottle, "BARthrottle");
this.BARthrottle.Maximum = 2200;
this.BARthrottle.maxline = 0;
this.BARthrottle.Minimum = 800;
this.BARthrottle.minline = 0;
this.BARthrottle.Name = "BARthrottle";
this.BARthrottle.Value = 1000;
this.BARthrottle.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
//
// BARyaw
//
this.BARyaw.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BARyaw.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BARyaw.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch4in", true));
this.BARyaw.Label = "Yaw";
resources.ApplyResources(this.BARyaw, "BARyaw");
this.BARyaw.Maximum = 2200;
this.BARyaw.maxline = 0;
this.BARyaw.Minimum = 800;
this.BARyaw.minline = 0;
this.BARyaw.Name = "BARyaw";
this.BARyaw.Value = 1500;
this.BARyaw.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// BARroll
//
this.BARroll.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BARroll.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BARroll.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch1in", true));
this.BARroll.Label = "Roll";
resources.ApplyResources(this.BARroll, "BARroll");
this.BARroll.Maximum = 2200;
this.BARroll.maxline = 0;
this.BARroll.Minimum = 800;
this.BARroll.minline = 0;
this.BARroll.Name = "BARroll";
this.BARroll.Value = 1500;
this.BARroll.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// tabModes // tabModes
// //
this.tabModes.Controls.Add(this.CB_simple6); this.tabModes.Controls.Add(this.CB_simple6);
@ -512,6 +643,13 @@
resources.ApplyResources(this.CMB_fmode1, "CMB_fmode1"); resources.ApplyResources(this.CMB_fmode1, "CMB_fmode1");
this.CMB_fmode1.Name = "CMB_fmode1"; this.CMB_fmode1.Name = "CMB_fmode1";
// //
// BUT_SaveModes
//
resources.ApplyResources(this.BUT_SaveModes, "BUT_SaveModes");
this.BUT_SaveModes.Name = "BUT_SaveModes";
this.BUT_SaveModes.UseVisualStyleBackColor = true;
this.BUT_SaveModes.Click += new System.EventHandler(this.BUT_SaveModes_Click);
//
// tabHardware // tabHardware
// //
this.tabHardware.BackColor = System.Drawing.Color.DarkRed; this.tabHardware.BackColor = System.Drawing.Color.DarkRed;
@ -644,6 +782,37 @@
this.tabBattery.Name = "tabBattery"; this.tabBattery.Name = "tabBattery";
this.tabBattery.UseVisualStyleBackColor = true; this.tabBattery.UseVisualStyleBackColor = true;
// //
// groupBox4
//
this.groupBox4.Controls.Add(this.label31);
this.groupBox4.Controls.Add(this.label32);
this.groupBox4.Controls.Add(this.label33);
this.groupBox4.Controls.Add(this.TXT_ampspervolt);
this.groupBox4.Controls.Add(this.label34);
this.groupBox4.Controls.Add(this.TXT_divider);
this.groupBox4.Controls.Add(this.label35);
this.groupBox4.Controls.Add(this.TXT_voltage);
this.groupBox4.Controls.Add(this.TXT_inputvoltage);
this.groupBox4.Controls.Add(this.TXT_measuredvoltage);
resources.ApplyResources(this.groupBox4, "groupBox4");
this.groupBox4.Name = "groupBox4";
this.groupBox4.TabStop = false;
//
// label31
//
resources.ApplyResources(this.label31, "label31");
this.label31.Name = "label31";
//
// label32
//
resources.ApplyResources(this.label32, "label32");
this.label32.Name = "label32";
//
// label33
//
resources.ApplyResources(this.label33, "label33");
this.label33.Name = "label33";
//
// TXT_ampspervolt // TXT_ampspervolt
// //
resources.ApplyResources(this.TXT_ampspervolt, "TXT_ampspervolt"); resources.ApplyResources(this.TXT_ampspervolt, "TXT_ampspervolt");
@ -651,6 +820,11 @@
this.TXT_ampspervolt.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_ampspervolt_Validating); this.TXT_ampspervolt.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_ampspervolt_Validating);
this.TXT_ampspervolt.Validated += new System.EventHandler(this.TXT_ampspervolt_Validated); this.TXT_ampspervolt.Validated += new System.EventHandler(this.TXT_ampspervolt_Validated);
// //
// label34
//
resources.ApplyResources(this.label34, "label34");
this.label34.Name = "label34";
//
// TXT_divider // TXT_divider
// //
resources.ApplyResources(this.TXT_divider, "TXT_divider"); resources.ApplyResources(this.TXT_divider, "TXT_divider");
@ -658,6 +832,11 @@
this.TXT_divider.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_divider_Validating); this.TXT_divider.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_divider_Validating);
this.TXT_divider.Validated += new System.EventHandler(this.TXT_divider_Validated); this.TXT_divider.Validated += new System.EventHandler(this.TXT_divider_Validated);
// //
// label35
//
resources.ApplyResources(this.label35, "label35");
this.label35.Name = "label35";
//
// TXT_voltage // TXT_voltage
// //
this.TXT_voltage.DataBindings.Add(new System.Windows.Forms.Binding("Text", this.currentStateBindingSource, "battery_voltage", true)); this.TXT_voltage.DataBindings.Add(new System.Windows.Forms.Binding("Text", this.currentStateBindingSource, "battery_voltage", true));
@ -665,13 +844,6 @@
this.TXT_voltage.Name = "TXT_voltage"; this.TXT_voltage.Name = "TXT_voltage";
this.TXT_voltage.ReadOnly = true; this.TXT_voltage.ReadOnly = true;
// //
// TXT_measuredvoltage
//
resources.ApplyResources(this.TXT_measuredvoltage, "TXT_measuredvoltage");
this.TXT_measuredvoltage.Name = "TXT_measuredvoltage";
this.TXT_measuredvoltage.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_measuredvoltage_Validating);
this.TXT_measuredvoltage.Validated += new System.EventHandler(this.TXT_measuredvoltage_Validated);
//
// TXT_inputvoltage // TXT_inputvoltage
// //
resources.ApplyResources(this.TXT_inputvoltage, "TXT_inputvoltage"); resources.ApplyResources(this.TXT_inputvoltage, "TXT_inputvoltage");
@ -679,30 +851,29 @@
this.TXT_inputvoltage.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_inputvoltage_Validating); this.TXT_inputvoltage.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_inputvoltage_Validating);
this.TXT_inputvoltage.Validated += new System.EventHandler(this.TXT_inputvoltage_Validated); this.TXT_inputvoltage.Validated += new System.EventHandler(this.TXT_inputvoltage_Validated);
// //
// label35 // TXT_measuredvoltage
// //
resources.ApplyResources(this.label35, "label35"); resources.ApplyResources(this.TXT_measuredvoltage, "TXT_measuredvoltage");
this.label35.Name = "label35"; this.TXT_measuredvoltage.Name = "TXT_measuredvoltage";
this.TXT_measuredvoltage.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_measuredvoltage_Validating);
this.TXT_measuredvoltage.Validated += new System.EventHandler(this.TXT_measuredvoltage_Validated);
// //
// label34 // label47
// //
resources.ApplyResources(this.label34, "label34"); resources.ApplyResources(this.label47, "label47");
this.label34.Name = "label34"; this.label47.Name = "label47";
// //
// label33 // CMB_batmonsensortype
// //
resources.ApplyResources(this.label33, "label33"); this.CMB_batmonsensortype.FormattingEnabled = true;
this.label33.Name = "label33"; this.CMB_batmonsensortype.Items.AddRange(new object[] {
// resources.GetString("CMB_batmonsensortype.Items"),
// label32 resources.GetString("CMB_batmonsensortype.Items1"),
// resources.GetString("CMB_batmonsensortype.Items2"),
resources.ApplyResources(this.label32, "label32"); resources.GetString("CMB_batmonsensortype.Items3")});
this.label32.Name = "label32"; resources.ApplyResources(this.CMB_batmonsensortype, "CMB_batmonsensortype");
// this.CMB_batmonsensortype.Name = "CMB_batmonsensortype";
// label31 this.CMB_batmonsensortype.SelectedIndexChanged += new System.EventHandler(this.CMB_batmonsensortype_SelectedIndexChanged);
//
resources.ApplyResources(this.label31, "label31");
this.label31.Name = "label31";
// //
// textBox3 // textBox3
// //
@ -792,6 +963,13 @@
this.pictureBoxQuad.TabStop = false; this.pictureBoxQuad.TabStop = false;
this.pictureBoxQuad.Click += new System.EventHandler(this.pictureBoxQuad_Click); this.pictureBoxQuad.Click += new System.EventHandler(this.pictureBoxQuad_Click);
// //
// BUT_levelac2
//
resources.ApplyResources(this.BUT_levelac2, "BUT_levelac2");
this.BUT_levelac2.Name = "BUT_levelac2";
this.BUT_levelac2.UseVisualStyleBackColor = true;
this.BUT_levelac2.Click += new System.EventHandler(this.BUT_levelac2_Click);
//
// tabHeli // tabHeli
// //
this.tabHeli.Controls.Add(this.BUT_HS4save); this.tabHeli.Controls.Add(this.BUT_HS4save);
@ -835,6 +1013,20 @@
this.tabHeli.UseVisualStyleBackColor = true; this.tabHeli.UseVisualStyleBackColor = true;
this.tabHeli.Click += new System.EventHandler(this.tabHeli_Click); this.tabHeli.Click += new System.EventHandler(this.tabHeli_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);
//
// 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);
//
// groupBox3 // groupBox3
// //
this.groupBox3.Controls.Add(this.label46); this.groupBox3.Controls.Add(this.label46);
@ -963,6 +1155,13 @@
this.COL_MAX_.Leave += new System.EventHandler(this.COL_MAX__Leave); this.COL_MAX_.Leave += new System.EventHandler(this.COL_MAX__Leave);
this.COL_MAX_.Validating += new System.ComponentModel.CancelEventHandler(this.PWM_Validating); this.COL_MAX_.Validating += new System.ComponentModel.CancelEventHandler(this.PWM_Validating);
// //
// BUT_0collective
//
resources.ApplyResources(this.BUT_0collective, "BUT_0collective");
this.BUT_0collective.Name = "BUT_0collective";
this.BUT_0collective.UseVisualStyleBackColor = true;
this.BUT_0collective.Click += new System.EventHandler(this.BUT_0collective_Click);
//
// HS4_TRIM // HS4_TRIM
// //
resources.ApplyResources(this.HS4_TRIM, "HS4_TRIM"); resources.ApplyResources(this.HS4_TRIM, "HS4_TRIM");
@ -1165,191 +1364,6 @@
resources.ApplyResources(this.label17, "label17"); resources.ApplyResources(this.label17, "label17");
this.label17.Name = "label17"; this.label17.Name = "label17";
// //
// tabReset
//
this.tabReset.Controls.Add(this.BUT_reset);
resources.ApplyResources(this.tabReset, "tabReset");
this.tabReset.Name = "tabReset";
this.tabReset.UseVisualStyleBackColor = true;
//
// CMB_batmonsensortype
//
this.CMB_batmonsensortype.FormattingEnabled = true;
this.CMB_batmonsensortype.Items.AddRange(new object[] {
resources.GetString("CMB_batmonsensortype.Items"),
resources.GetString("CMB_batmonsensortype.Items1"),
resources.GetString("CMB_batmonsensortype.Items2"),
resources.GetString("CMB_batmonsensortype.Items3")});
resources.ApplyResources(this.CMB_batmonsensortype, "CMB_batmonsensortype");
this.CMB_batmonsensortype.Name = "CMB_batmonsensortype";
this.CMB_batmonsensortype.SelectedIndexChanged += new System.EventHandler(this.CMB_batmonsensortype_SelectedIndexChanged);
//
// BUT_Calibrateradio
//
resources.ApplyResources(this.BUT_Calibrateradio, "BUT_Calibrateradio");
this.BUT_Calibrateradio.Name = "BUT_Calibrateradio";
this.BUT_Calibrateradio.UseVisualStyleBackColor = true;
this.BUT_Calibrateradio.Click += new System.EventHandler(this.BUT_Calibrateradio_Click);
//
// BAR8
//
this.BAR8.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BAR8.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BAR8.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch8in", true));
this.BAR8.Label = "Radio 8";
resources.ApplyResources(this.BAR8, "BAR8");
this.BAR8.Maximum = 2200;
this.BAR8.maxline = 0;
this.BAR8.Minimum = 800;
this.BAR8.minline = 0;
this.BAR8.Name = "BAR8";
this.BAR8.Value = 1500;
this.BAR8.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// currentStateBindingSource
//
this.currentStateBindingSource.DataSource = typeof(ArdupilotMega.CurrentState);
//
// BAR7
//
this.BAR7.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BAR7.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BAR7.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch7in", true));
this.BAR7.Label = "Radio 7";
resources.ApplyResources(this.BAR7, "BAR7");
this.BAR7.Maximum = 2200;
this.BAR7.maxline = 0;
this.BAR7.Minimum = 800;
this.BAR7.minline = 0;
this.BAR7.Name = "BAR7";
this.BAR7.Value = 1500;
this.BAR7.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// BAR6
//
this.BAR6.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BAR6.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BAR6.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch6in", true));
this.BAR6.Label = "Radio 6";
resources.ApplyResources(this.BAR6, "BAR6");
this.BAR6.Maximum = 2200;
this.BAR6.maxline = 0;
this.BAR6.Minimum = 800;
this.BAR6.minline = 0;
this.BAR6.Name = "BAR6";
this.BAR6.Value = 1500;
this.BAR6.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// BAR5
//
this.BAR5.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BAR5.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BAR5.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch5in", true));
this.BAR5.Label = "Radio 5";
resources.ApplyResources(this.BAR5, "BAR5");
this.BAR5.Maximum = 2200;
this.BAR5.maxline = 0;
this.BAR5.Minimum = 800;
this.BAR5.minline = 0;
this.BAR5.Name = "BAR5";
this.BAR5.Value = 1500;
this.BAR5.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// BARpitch
//
this.BARpitch.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BARpitch.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BARpitch.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch2in", true));
this.BARpitch.Label = "Pitch";
resources.ApplyResources(this.BARpitch, "BARpitch");
this.BARpitch.Maximum = 2200;
this.BARpitch.maxline = 0;
this.BARpitch.Minimum = 800;
this.BARpitch.minline = 0;
this.BARpitch.Name = "BARpitch";
this.BARpitch.Value = 1500;
this.BARpitch.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// BARthrottle
//
this.BARthrottle.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69)))));
this.BARthrottle.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BARthrottle.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch3in", true));
this.BARthrottle.Label = "Throttle";
resources.ApplyResources(this.BARthrottle, "BARthrottle");
this.BARthrottle.Maximum = 2200;
this.BARthrottle.maxline = 0;
this.BARthrottle.Minimum = 800;
this.BARthrottle.minline = 0;
this.BARthrottle.Name = "BARthrottle";
this.BARthrottle.Value = 1000;
this.BARthrottle.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
//
// BARyaw
//
this.BARyaw.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BARyaw.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BARyaw.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch4in", true));
this.BARyaw.Label = "Yaw";
resources.ApplyResources(this.BARyaw, "BARyaw");
this.BARyaw.Maximum = 2200;
this.BARyaw.maxline = 0;
this.BARyaw.Minimum = 800;
this.BARyaw.minline = 0;
this.BARyaw.Name = "BARyaw";
this.BARyaw.Value = 1500;
this.BARyaw.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// BARroll
//
this.BARroll.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(255)))));
this.BARroll.BorderColor = System.Drawing.SystemColors.ActiveBorder;
this.BARroll.DataBindings.Add(new System.Windows.Forms.Binding("Value", this.currentStateBindingSource, "ch1in", true));
this.BARroll.Label = "Roll";
resources.ApplyResources(this.BARroll, "BARroll");
this.BARroll.Maximum = 2200;
this.BARroll.maxline = 0;
this.BARroll.Minimum = 800;
this.BARroll.minline = 0;
this.BARroll.Name = "BARroll";
this.BARroll.Value = 1500;
this.BARroll.ValueColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(0)))), ((int)(((byte)(255)))));
//
// BUT_SaveModes
//
resources.ApplyResources(this.BUT_SaveModes, "BUT_SaveModes");
this.BUT_SaveModes.Name = "BUT_SaveModes";
this.BUT_SaveModes.UseVisualStyleBackColor = true;
this.BUT_SaveModes.Click += new System.EventHandler(this.BUT_SaveModes_Click);
//
// BUT_levelac2
//
resources.ApplyResources(this.BUT_levelac2, "BUT_levelac2");
this.BUT_levelac2.Name = "BUT_levelac2";
this.BUT_levelac2.UseVisualStyleBackColor = true;
this.BUT_levelac2.Click += new System.EventHandler(this.BUT_levelac2_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);
//
// 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_0collective
//
resources.ApplyResources(this.BUT_0collective, "BUT_0collective");
this.BUT_0collective.Name = "BUT_0collective";
this.BUT_0collective.UseVisualStyleBackColor = true;
this.BUT_0collective.Click += new System.EventHandler(this.BUT_0collective_Click);
//
// HS4 // HS4
// //
this.HS4.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69))))); this.HS4.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69)))));
@ -1525,6 +1539,13 @@
this.Gservoloc.Value2 = 180F; this.Gservoloc.Value2 = 180F;
this.Gservoloc.Value3 = 0F; this.Gservoloc.Value3 = 0F;
// //
// tabReset
//
this.tabReset.Controls.Add(this.BUT_reset);
resources.ApplyResources(this.tabReset, "tabReset");
this.tabReset.Name = "tabReset";
this.tabReset.UseVisualStyleBackColor = true;
//
// BUT_reset // BUT_reset
// //
resources.ApplyResources(this.BUT_reset, "BUT_reset"); resources.ApplyResources(this.BUT_reset, "BUT_reset");
@ -1533,27 +1554,6 @@
this.BUT_reset.UseVisualStyleBackColor = true; this.BUT_reset.UseVisualStyleBackColor = true;
this.BUT_reset.Click += new System.EventHandler(this.BUT_reset_Click); this.BUT_reset.Click += new System.EventHandler(this.BUT_reset_Click);
// //
// label47
//
resources.ApplyResources(this.label47, "label47");
this.label47.Name = "label47";
//
// groupBox4
//
this.groupBox4.Controls.Add(this.label31);
this.groupBox4.Controls.Add(this.label32);
this.groupBox4.Controls.Add(this.label33);
this.groupBox4.Controls.Add(this.TXT_ampspervolt);
this.groupBox4.Controls.Add(this.label34);
this.groupBox4.Controls.Add(this.TXT_divider);
this.groupBox4.Controls.Add(this.label35);
this.groupBox4.Controls.Add(this.TXT_voltage);
this.groupBox4.Controls.Add(this.TXT_inputvoltage);
this.groupBox4.Controls.Add(this.TXT_measuredvoltage);
resources.ApplyResources(this.groupBox4, "groupBox4");
this.groupBox4.Name = "groupBox4";
this.groupBox4.TabStop = false;
//
// Setup // Setup
// //
resources.ApplyResources(this, "$this"); resources.ApplyResources(this, "$this");
@ -1568,6 +1568,7 @@
this.tabRadioIn.PerformLayout(); this.tabRadioIn.PerformLayout();
this.groupBoxElevons.ResumeLayout(false); this.groupBoxElevons.ResumeLayout(false);
this.groupBoxElevons.PerformLayout(); this.groupBoxElevons.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).EndInit();
this.tabModes.ResumeLayout(false); this.tabModes.ResumeLayout(false);
this.tabModes.PerformLayout(); this.tabModes.PerformLayout();
this.tabHardware.ResumeLayout(false); this.tabHardware.ResumeLayout(false);
@ -1578,6 +1579,8 @@
((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
this.tabBattery.ResumeLayout(false); this.tabBattery.ResumeLayout(false);
this.tabBattery.PerformLayout(); this.tabBattery.PerformLayout();
this.groupBox4.ResumeLayout(false);
this.groupBox4.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.pictureBox5)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.pictureBox5)).EndInit();
this.tabArducopter.ResumeLayout(false); this.tabArducopter.ResumeLayout(false);
this.tabArducopter.PerformLayout(); this.tabArducopter.PerformLayout();
@ -1596,9 +1599,6 @@
((System.ComponentModel.ISupportInitialize)(this.HS2_TRIM)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.HS2_TRIM)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.HS1_TRIM)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.HS1_TRIM)).EndInit();
this.tabReset.ResumeLayout(false); this.tabReset.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).EndInit();
this.groupBox4.ResumeLayout(false);
this.groupBox4.PerformLayout();
this.ResumeLayout(false); this.ResumeLayout(false);
} }

57
Tools/ArdupilotMegaPlanner/Setup/Setup.cs
View File

@ -146,8 +146,14 @@ namespace ArdupilotMega.Setup
MainV2.cs.rateposition = 0; MainV2.cs.rateposition = 0;
MainV2.cs.ratestatus = 0; MainV2.cs.ratestatus = 0;
try
{
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, 10); MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, 10);
}
catch { }
BUT_Calibrateradio.Text = "Click when Done"; BUT_Calibrateradio.Text = "Click when Done";
run = true; run = true;
@ -253,8 +259,14 @@ namespace ArdupilotMega.Setup
MainV2.cs.rateposition = oldpos; MainV2.cs.rateposition = oldpos;
MainV2.cs.ratestatus = oldstatus; MainV2.cs.ratestatus = oldstatus;
try
{
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, oldrc); MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, oldrc);
}
catch { }
if (Configuration != null) if (Configuration != null)
{ {
Configuration.startup = true; Configuration.startup = true;
@ -408,14 +420,29 @@ namespace ArdupilotMega.Setup
bool not_supported = false; bool not_supported = false;
if (MainV2.comPort.param["BATT_MONITOR"] != null) if (MainV2.comPort.param["BATT_MONITOR"] != null)
{ {
if (MainV2.comPort.param["BATT_MONITOR"].ToString() != "0") if (MainV2.comPort.param["BATT_MONITOR"].ToString() != "0.0")
{ {
CMB_batmontype.SelectedIndex = getIndex(CMB_batmontype,(int)float.Parse(MainV2.comPort.param["BATT_MONITOR"].ToString())); CMB_batmontype.SelectedIndex = getIndex(CMB_batmontype,(int)float.Parse(MainV2.comPort.param["BATT_MONITOR"].ToString()));
} }
if (TXT_ampspervolt.Text == "13.6612")
{
CMB_batmonsensortype.SelectedIndex = 1;
}
else if (TXT_ampspervolt.Text == "27.3224")
{
CMB_batmonsensortype.SelectedIndex = 2;
}
else if (TXT_ampspervolt.Text == "54.64481")
{
CMB_batmonsensortype.SelectedIndex = 3;
}
else
{
CMB_batmonsensortype.SelectedIndex = 0; CMB_batmonsensortype.SelectedIndex = 0;
} }
}
if (MainV2.comPort.param["BATT_CAPACITY"] != null) if (MainV2.comPort.param["BATT_CAPACITY"] != null)
TXT_battcapacity.Text = MainV2.comPort.param["BATT_CAPACITY"].ToString(); TXT_battcapacity.Text = MainV2.comPort.param["BATT_CAPACITY"].ToString();
@ -477,6 +504,12 @@ namespace ArdupilotMega.Setup
string option = MainV2.comPort.param[value].ToString(); string option = MainV2.comPort.param[value].ToString();
temp.Text = option; temp.Text = option;
} }
if (control[0].GetType() == typeof(NumericUpDown))
{
NumericUpDown temp = (NumericUpDown)control[0];
string option = MainV2.comPort.param[value].ToString();
temp.Text = option;
}
if (control[0].GetType() == typeof(CheckBox)) if (control[0].GetType() == typeof(CheckBox))
{ {
CheckBox temp = (CheckBox)control[0]; CheckBox temp = (CheckBox)control[0];
@ -670,7 +703,7 @@ namespace ArdupilotMega.Setup
private void TXT_battcapacity_Validating(object sender, CancelEventArgs e) private void TXT_battcapacity_Validating(object sender, CancelEventArgs e)
{ {
float ans = 0; float ans = 0;
e.Cancel = !float.TryParse(TXT_declination.Text, out ans); e.Cancel = !float.TryParse(TXT_battcapacity.Text, out ans);
} }
private void TXT_battcapacity_Validated(object sender, EventArgs e) private void TXT_battcapacity_Validated(object sender, EventArgs e)
{ {
@ -723,6 +756,9 @@ namespace ArdupilotMega.Setup
groupBox4.Enabled = true; groupBox4.Enabled = true;
CMB_batmonsensortype.Enabled = false; CMB_batmonsensortype.Enabled = false;
TXT_ampspervolt.Enabled = false; TXT_ampspervolt.Enabled = false;
TXT_inputvoltage.Enabled = true;
TXT_measuredvoltage.Enabled = true;
TXT_divider.Enabled = true;
} }
MainV2.comPort.setParam("BATT_MONITOR", selection); MainV2.comPort.setParam("BATT_MONITOR", selection);
@ -1209,6 +1245,11 @@ namespace ArdupilotMega.Setup
MainV2.comPort.setParam("COL_MAX_", int.Parse(COL_MAX_.Text)); MainV2.comPort.setParam("COL_MAX_", int.Parse(COL_MAX_.Text));
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
BUT_swash_manual.Text = "Manual"; BUT_swash_manual.Text = "Manual";
COL_MAX_.Enabled = false;
COL_MID_.Enabled = false;
COL_MIN_.Enabled = false;
BUT_0collective.Enabled = false;
} }
else else
{ {
@ -1216,6 +1257,11 @@ namespace ArdupilotMega.Setup
COL_MIN_.Text = "1500"; COL_MIN_.Text = "1500";
MainV2.comPort.setParam("HSV_MAN", 1); // randy request MainV2.comPort.setParam("HSV_MAN", 1); // randy request
BUT_swash_manual.Text = "Save"; BUT_swash_manual.Text = "Save";
COL_MAX_.Enabled = true;
COL_MID_.Enabled = true;
COL_MIN_.Enabled = true;
BUT_0collective.Enabled = true;
} }
} }
catch { MessageBox.Show("Failed to set HSV_MAN"); } catch { MessageBox.Show("Failed to set HSV_MAN"); }
@ -1231,6 +1277,9 @@ namespace ArdupilotMega.Setup
MainV2.comPort.setParam("HS4_MAX", int.Parse(HS4_MAX.Text)); MainV2.comPort.setParam("HS4_MAX", int.Parse(HS4_MAX.Text));
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
BUT_HS4save.Text = "Manual"; BUT_HS4save.Text = "Manual";
HS4_MAX.Enabled = false;
HS4_MIN.Enabled = false;
} }
else else
{ {
@ -1238,6 +1287,10 @@ namespace ArdupilotMega.Setup
HS4_MAX.Text = "1500"; HS4_MAX.Text = "1500";
MainV2.comPort.setParam("HSV_MAN", 1); // randy request MainV2.comPort.setParam("HSV_MAN", 1); // randy request
BUT_HS4save.Text = "Save"; BUT_HS4save.Text = "Save";
HS4_MAX.Enabled = true;
HS4_MIN.Enabled = true;
} }
} }
catch { MessageBox.Show("Failed to set HSV_MAN"); } catch { MessageBox.Show("Failed to set HSV_MAN"); }

2686
Tools/ArdupilotMegaPlanner/Setup/Setup.resx
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