Mission Planner 1.2.26

move mavlink structure/currentstate around for future mods
update old firmware git hashs
mod some error descriptions
AP_mount camera trigger mod
modify raw param display with units/range/desc
add radio support for 868mhz
update ch7 options
updated dataflashlog format
small df log parser mod for bad gps loc
renable menu to always dock. right click for autohide

Tools/ArdupilotMegaPlanner/3DRRadio/ChangeLog.txt

@@ -1,4 +1,5 @@
-0.9 - added rfd900a
+1.0 - added rf freeq for 868
+0.9 - added rfd900a
 0.8 - fix settings saving.
 0.7 - fix typos - log rssi screen to log as well
 0.6 - add terminal logging to file, fix remote radio config

Tools/ArdupilotMegaPlanner/3DRRadio/Config.resx

@@ -1588,7 +1588,7 @@
 </value>
   </data>
   <data name="$this.Text" xml:space="preserve">
-    <value>3DRRadio Config 0.9</value>
+    <value>3DRRadio Config 1.0</value>
   </data>
   <data name="&gt;&gt;settingsToolStripMenuItem.Name" xml:space="preserve">
     <value>settingsToolStripMenuItem</value>

Tools/ArdupilotMegaPlanner/Antenna/Tracker.cs

@@ -198,7 +198,7 @@ namespace ArdupilotMega.Antenna
                 try
                 {
                     // 10 hz - position updates default to 3 hz on the stream rate
-                    tracker.PanAndTilt(MainV2.cs.AZToMAV, MainV2.cs.ELToMAV);
+                    tracker.PanAndTilt(MainV2.comPort.MAV.cs.AZToMAV, MainV2.comPort.MAV.cs.ELToMAV);
                     System.Threading.Thread.Sleep(100);
                 }
                 catch { }
@@ -262,7 +262,7 @@ namespace ArdupilotMega.Antenna
         void tm1_Tick(object item)
         {
             
-            float snr = MainV2.cs.localsnrdb;
+            float snr = MainV2.comPort.MAV.cs.localsnrdb;
             float best = snr;
 
             float tilt = 0;
@@ -316,13 +316,13 @@ namespace ArdupilotMega.Antenna
 
                 System.Threading.Thread.Sleep(2000);
 
-                Console.WriteLine("Angle " + n + " snr " + MainV2.cs.localsnrdb);
+                Console.WriteLine("Angle " + n + " snr " + MainV2.comPort.MAV.cs.localsnrdb);
 
-                if (MainV2.cs.localsnrdb > lastsnr)
+                if (MainV2.comPort.MAV.cs.localsnrdb > lastsnr)
                 {
  
                     best = n;
-                    lastsnr = MainV2.cs.localsnrdb;
+                    lastsnr = MainV2.comPort.MAV.cs.localsnrdb;
                 }
             }
 

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -292,6 +292,12 @@
       <DependentUpon>ConnectionStats.cs</DependentUpon>
     </Compile>
     <Compile Include="Controls\CustomMessageBox.cs" />
+    <Compile Include="Controls\FlashMessage.cs">
+      <SubType>Component</SubType>
+    </Compile>
+    <Compile Include="Controls\FlashMessage.designer.cs">
+      <DependentUpon>FlashMessage.cs</DependentUpon>
+    </Compile>
     <Compile Include="Controls\HSI.cs">
       <SubType>UserControl</SubType>
     </Compile>
@@ -412,6 +418,12 @@
     <Compile Include="GCSViews\ConfigurationView\ConfigAteryxSensors.Designer.cs">
       <DependentUpon>ConfigAteryxSensors.cs</DependentUpon>
     </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigSignalization.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigSignalization.designer.cs">
+      <DependentUpon>ConfigSignalization.cs</DependentUpon>
+    </Compile>
     <Compile Include="HIL\Hil.cs" />
     <None Include="HIL\JSBSim.cs" />
     <Compile Include="HIL\Wind.cs" />
@@ -730,6 +742,9 @@
     <EmbeddedResource Include="Controls\ConnectionStats.resx">
       <DependentUpon>ConnectionStats.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="Controls\FlashMessage.resx">
+      <DependentUpon>FlashMessage.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="Controls\HSI.resx">
       <DependentUpon>HSI.cs</DependentUpon>
     </EmbeddedResource>
@@ -844,6 +859,9 @@
     <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigRawParams.fr.resx">
       <DependentUpon>ConfigRawParams.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigSignalization.resx">
+      <DependentUpon>ConfigSignalization.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigTradHeli.de-DE.resx">
       <DependentUpon>ConfigTradHeli.cs</DependentUpon>
     </EmbeddedResource>
@@ -1203,6 +1221,7 @@
     </EmbeddedResource>
     <EmbeddedResource Include="GCSViews\Help.zh-TW.resx">
       <DependentUpon>Help.cs</DependentUpon>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="GCSViews\Simulation.fr.resx">
       <DependentUpon>Simulation.cs</DependentUpon>
@@ -1343,6 +1362,7 @@
     </EmbeddedResource>
     <EmbeddedResource Include="GCSViews\Help.zh-Hans.resx">
       <DependentUpon>Help.cs</DependentUpon>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="GCSViews\Simulation.resx">
       <DependentUpon>Simulation.cs</DependentUpon>
@@ -1425,8 +1445,6 @@
     <None Include="block_plane_0.dae">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </None>
-    <None Include="Resources\Welcome_CN.rtf" />
-    <None Include="Resources\Welcome_TW.rtf" />
     <None Include="Resources\Welcome_to_Michael_Oborne.rtf">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </None>

Tools/ArdupilotMegaPlanner/ChangeLog.txt

@@ -1,4 +1,34 @@
-* Mission Planner 1.2.22
+* Mission Planner 1.2.26
+move mavlink structure/currentstate around for future mods
+update old firmware git hashs
+mod some error descriptions
+AP_mount camera trigger mod
+modify raw param display with units/range/desc
+add radio support for 868mhz
+update ch7 options
+updated dataflashlog format
+small df log parser mod for bad gps loc
+renable menu to always dock. right click for autohide
+
+* Mission Planner 1.2.25
+fix scaling problem on arducopter config tab. when linking is enabled
+
+* Mission Planner 1.2.24
+failsafe: hide element not needed
+ap_limits back - beta
+add new accel setup - beta
+fix planner config screen exception
+fix quickview desc/units if never been configured
+
+* Mission Planner 1.2.23
+ammend serial dispose on usb devices detach
+add item currentstate item description and units
+ammend battery screen for 3dr power module
+add trackbar zoom to flight data
+add unit desccription
+ammend PREFLIGHT_REBOOT_SHUTDOWN timeout
+
+* Mission Planner 1.2.22
 fix speed modification scale
 fix typo on antenna Tracker
 setup for ThemeManager.cs

Tools/ArdupilotMegaPlanner/Common.cs

@@ -201,29 +201,29 @@ namespace ArdupilotMega
                 double width = (MainMap.Manager.GetDistance(MainMap.FromLocalToLatLng(0, 0), MainMap.FromLocalToLatLng(MainMap.Width, 0)) * 1000.0);
                 double m2pixelwidth = MainMap.Width / width;
 
-                float alpha = ((desired_lead_dist * (float)m2pixelwidth) / MainV2.cs.radius) * rad2deg;
+                float alpha = ((desired_lead_dist * (float)m2pixelwidth) / MainV2.comPort.MAV.cs.radius) * rad2deg;
 
-                if (MainV2.cs.radius < -1)
+                if (MainV2.comPort.MAV.cs.radius < -1)
                 {
                     // fixme 
 
-                    float p1 = (float)Math.Cos((cog) * deg2rad) * MainV2.cs.radius + MainV2.cs.radius;
+                    float p1 = (float)Math.Cos((cog) * deg2rad) * MainV2.comPort.MAV.cs.radius + MainV2.comPort.MAV.cs.radius;
 
-                    float p2 = (float)Math.Sin((cog) * deg2rad) * MainV2.cs.radius + MainV2.cs.radius;
+                    float p2 = (float)Math.Sin((cog) * deg2rad) * MainV2.comPort.MAV.cs.radius + MainV2.comPort.MAV.cs.radius;
 
-                    g.DrawArc(new Pen(Color.HotPink, 2), p1, p2, Math.Abs(MainV2.cs.radius) * 2, Math.Abs(MainV2.cs.radius) * 2, cog, alpha);
+                    g.DrawArc(new Pen(Color.HotPink, 2), p1, p2, Math.Abs(MainV2.comPort.MAV.cs.radius) * 2, Math.Abs(MainV2.comPort.MAV.cs.radius) * 2, cog, alpha);
 
                 }
 
-                else if (MainV2.cs.radius > 1)
+                else if (MainV2.comPort.MAV.cs.radius > 1)
                 {
                     // correct
 
-                    float p1 = (float)Math.Cos((cog - 180) * deg2rad) * MainV2.cs.radius + MainV2.cs.radius;
+                    float p1 = (float)Math.Cos((cog - 180) * deg2rad) * MainV2.comPort.MAV.cs.radius + MainV2.comPort.MAV.cs.radius;
 
-                    float p2 = (float)Math.Sin((cog - 180) * deg2rad) * MainV2.cs.radius + MainV2.cs.radius;
+                    float p2 = (float)Math.Sin((cog - 180) * deg2rad) * MainV2.comPort.MAV.cs.radius + MainV2.comPort.MAV.cs.radius;
 
-                    g.DrawArc(new Pen(Color.HotPink, 2), -p1, -p2, MainV2.cs.radius * 2, MainV2.cs.radius * 2, cog - 180, alpha);
+                    g.DrawArc(new Pen(Color.HotPink, 2), -p1, -p2, MainV2.comPort.MAV.cs.radius * 2, MainV2.comPort.MAV.cs.radius * 2, cog - 180, alpha);
                 }
 
             }
@@ -543,20 +543,18 @@ namespace ArdupilotMega
         {
             [DisplayText("Do Nothing")]
             CH7_DO_NOTHING = 0,
-            [DisplayText("Set Hover")]
-            CH7_SET_HOVER = 1,
             [DisplayText("Flip")]
             CH7_FLIP = 2,
             [DisplayText("Simple Mode")]
             CH7_SIMPLE_MODE = 3,
             [DisplayText("Return to Launch")]
             CH7_RTL = 4,
-            [DisplayText("Automatic Trim")]
+            [DisplayText("Save Trim")]
             CH7_AUTO_TRIM = 5,
-            [DisplayText("ADC Filter")]
-            CH7_ADC_FILTER = 6,
             [DisplayText("Save Waypoint")]
-            CH7_SAVE_WP = 7
+            CH7_SAVE_WP = 7,
+             [DisplayText("Camera Trigger")]
+            CH7_CAMERA_TRIGGER = 9
         }
 
         public enum ac2ch6modes
@@ -699,15 +697,15 @@ namespace ArdupilotMega
         
         public static Type getModes()
         {
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
             {
                 return typeof(apmmodes);
             }
-            else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+            else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
             {
                 return typeof(ac2modes);
             }
-            else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
+            else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
             {
                 return typeof(aprovermodes);
             }
@@ -717,17 +715,17 @@ namespace ArdupilotMega
 
         public static List<KeyValuePair<int,string>> getModesList()
         {
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
             {
                 var flightModes = EnumTranslator.Translate<apmmodes>();
                 return flightModes.ToList();
             }
-            else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+            else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
             {
                 var flightModes = EnumTranslator.Translate<ac2modes>();
                 return flightModes.ToList();
             }
-            else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
+            else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
             {
                 var flightModes = EnumTranslator.Translate<aprovermodes>();
                 return flightModes.ToList();
@@ -897,26 +895,26 @@ namespace ArdupilotMega
 
         public static string speechConversion(string input)
         {
-            if (MainV2.cs.wpno == 0)
+            if (MainV2.comPort.MAV.cs.wpno == 0)
             {
                 input = input.Replace("{wpn}", "Home");
             }
             else
             {
-                input = input.Replace("{wpn}", MainV2.cs.wpno.ToString());
+                input = input.Replace("{wpn}", MainV2.comPort.MAV.cs.wpno.ToString());
             }
 
-            input = input.Replace("{asp}", MainV2.cs.airspeed.ToString("0"));
+            input = input.Replace("{asp}", MainV2.comPort.MAV.cs.airspeed.ToString("0"));
 
-            input = input.Replace("{alt}", MainV2.cs.alt.ToString("0"));
+            input = input.Replace("{alt}", MainV2.comPort.MAV.cs.alt.ToString("0"));
 
-            input = input.Replace("{wpa}", MainV2.cs.targetalt.ToString("0"));
+            input = input.Replace("{wpa}", MainV2.comPort.MAV.cs.targetalt.ToString("0"));
 
-            input = input.Replace("{gsp}", MainV2.cs.groundspeed.ToString("0"));
+            input = input.Replace("{gsp}", MainV2.comPort.MAV.cs.groundspeed.ToString("0"));
 
-            input = input.Replace("{mode}", MainV2.cs.mode.ToString());
+            input = input.Replace("{mode}", MainV2.comPort.MAV.cs.mode.ToString());
 
-            input = input.Replace("{batv}", MainV2.cs.battery_voltage.ToString("0.00"));
+            input = input.Replace("{batv}", MainV2.comPort.MAV.cs.battery_voltage.ToString("0.00"));
 
             return input;
         }

Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.cs

@@ -35,7 +35,7 @@ namespace ArdupilotMega.Controls
         public void PopulateData()
         {
             // process hashdefines and update display
-            foreach (string value in MainV2.comPort.param.Keys)
+            foreach (string value in MainV2.comPort.MAV.param.Keys)
             {
                 if (value == null || value == "") // older ap version have a null param
                     continue;
@@ -44,7 +44,7 @@ namespace ArdupilotMega.Controls
                 {
                     try
                     {
-                        float numbervalue = (float)MainV2.comPort.param[value];
+                        float numbervalue = (float)MainV2.comPort.MAV.param[value];
 
                         MAVLink.modifyParamForDisplay(true, value, ref numbervalue);
 

Tools/ArdupilotMegaPlanner/Controls/FlashMessage.cs

@@ -0,0 +1,142 @@
+using System;
+using System.ComponentModel;
+using System.Drawing;
+using System.Text;
+using System.Windows.Forms;
+using System.Collections;
+
+namespace ArdupilotMega.Controls
+{
+    public partial class FlashMessage : Label
+    {
+        private const int fadeInterval = 20;    //time in ms between "frames" of animation
+        private const int fadeDuration = 200;   //overall animation duration in ms in one direction
+        private const int desiredHeight = 20;   //desired height to animate to
+        private const int inOutDelay = 800 / fadeInterval; //number in ms between in and out
+        private const float fadeStepValue = desiredHeight * (float)fadeInterval / (float)fadeDuration;
+        private int inOutDelayCounter;
+        private int direction;
+        private int heightVisible;
+        private bool disposeOnComplete;
+        private Timer fadeTimer;
+        private bool inOut;
+        private Queue messages = new Queue();
+
+        public FlashMessage()
+        {
+            Visible = false;
+
+            Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
+            | System.Windows.Forms.AnchorStyles.Right)));
+            Font = new System.Drawing.Font("Microsoft Sans Serif", 9.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(238)));
+            Location = new Point(0, 0);
+            TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+
+            fadeTimer = new Timer();
+            fadeTimer.Interval = fadeInterval;
+            fadeTimer.Tick += new EventHandler(fadeTimer_Tick);
+        }
+
+        public void FadeInOut(string msg, bool success)
+        {
+            if (Visible)
+            {
+                messages.Enqueue(new { msg = msg, success = success });
+            }
+            else
+            {
+                if (this.Parent != null) Width = this.Parent.ClientSize.Width;
+                BringToFront();
+                direction = 1;
+                inOut = true;
+                inOutDelayCounter = inOutDelay;
+                heightVisible = Height = 0;
+                Text = msg;
+                BackColor = success ? Color.YellowGreen : Color.Coral;
+            }
+            Visible = true;
+            fadeTimer.Enabled = true;
+        }
+
+        //public void FadeIn(string msg, bool success)
+        //{
+        //    if (this.Parent != null) Width = this.Parent.ClientSize.Width;
+        //    BringToFront();
+        //    direction = 1;
+        //    inOut = false;
+        //    heightVisible = Height = 0;
+        //    if (Visible)
+        //    {
+        //        messages.Enqueue(msg);
+        //    }
+        //    else
+        //    {
+        //        Text = msg;
+        //    }
+        //    BackColor = success ? Color.YellowGreen : Color.Coral;
+        //    Visible = true;
+        //    fadeTimer.Enabled = true;
+        //}
+
+        private void FadeOut(bool disposeOnComplete = false)
+        {
+            if (this.Parent != null) Width = this.Parent.ClientSize.Width;
+            BringToFront();
+            direction = -1;
+            inOut = false;
+            heightVisible = Height = desiredHeight;
+            this.disposeOnComplete = disposeOnComplete;
+            fadeTimer.Enabled = true;
+        }
+
+        private void fadeTimer_Tick(object sender, EventArgs e)
+        {
+            bool done = false;
+            heightVisible += (int)Math.Round(direction * fadeStepValue);
+            if (heightVisible < 0) { done = true; heightVisible = 0; }
+            if (heightVisible > desiredHeight) { done = true; heightVisible = desiredHeight; }
+            Height = heightVisible;
+            if (done)
+            {
+                if (inOut)
+                {
+                    if (--inOutDelayCounter == 0)
+                    {
+                        FadeOut(disposeOnComplete);
+                    }
+                }
+                else
+                {
+                    if (messages.Count > 0)
+                    {
+                        Object o = messages.Dequeue();
+                        Text = (string)o.GetType().GetProperty("msg").GetValue(o, null);
+                        bool success = (bool)o.GetType().GetProperty("success").GetValue(o, null);
+                        BackColor = success ? Color.YellowGreen : Color.Coral;
+
+                        direction = 1;
+                        inOut = true;
+                        inOutDelayCounter = inOutDelay;
+                        heightVisible = Height = 0;
+
+                        //Text = (messages.Dequeue()).msg;
+                    }
+                    else
+                    {
+                        fadeTimer.Enabled = false;
+                        Visible = false;
+                        if (direction == -1)    //hide after fadeOut
+                        {
+                            if (disposeOnComplete) this.Dispose();
+                        }
+                    }
+                }
+            }
+            else
+            {
+                //this.Height = heightVisible;
+                //this.Invalidate();
+            }
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/FlashMessage.designer.cs

@@ -0,0 +1,46 @@
+using System.Windows.Forms;
+using System.Drawing;
+namespace ArdupilotMega.Controls
+{
+    partial class FlashMessage
+    {
+        public AutoScaleMode AutoScaleMode = AutoScaleMode.Font;
+
+        /// <summary> 
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary> 
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Component Designer generated code
+
+        /// <summary> 
+        /// Required method for Designer support - do not modify 
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.SuspendLayout();
+            // 
+            // FlashMessage
+            // 
+            this.BackColor = System.Drawing.Color.Coral;
+            this.Name = "FM_info";
+            this.ResumeLayout(false);
+        }
+
+        #endregion
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/FlashMessage.resx

@@ -0,0 +1,123 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <metadata name="$this.TrayLargeIcon" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>False</value>
+  </metadata>
+</root>

Tools/ArdupilotMegaPlanner/Controls/HUD.cs

@@ -169,7 +169,7 @@ namespace ArdupilotMega.Controls
             //public float FontSize;
             public string Header;
             public System.Reflection.PropertyInfo Item;
-            public float GetValue { get { return (float)Item.GetValue((object)MainV2.cs, null); } }
+            public float GetValue { get { return (float)Item.GetValue((object)MainV2.comPort.MAV.cs, null); } }
         }
 
         public Hashtable CustomItems = new Hashtable();

Tools/ArdupilotMegaPlanner/CurrentState.cs

@@ -151,9 +151,9 @@ namespace ArdupilotMega
                     return _ch3percent;
                 try
                 {
-                    if (MainV2.comPort.param.ContainsKey("RC3_MIN"))
+                    if (MainV2.comPort.MAV.param.ContainsKey("RC3_MIN"))
                     {
-                        return (int)((ch3out - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) / (float.Parse(MainV2.comPort.param["RC3_MAX"].ToString()) - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) * 100);
+                        return (int)((ch3out - float.Parse(MainV2.comPort.MAV.param["RC3_MIN"].ToString())) / (float.Parse(MainV2.comPort.MAV.param["RC3_MAX"].ToString()) - float.Parse(MainV2.comPort.MAV.param["RC3_MIN"].ToString())) * 100);
                     }
                     else
                     {
@@ -437,11 +437,11 @@ namespace ArdupilotMega
 
             if (desc.Contains("(dist)"))
             {
-                desc = desc.Replace("(dist)", "(" + MainV2.cs.DistanceUnit + ")");
+                desc = desc.Replace("(dist)", "(" + MainV2.comPort.MAV.cs.DistanceUnit + ")");
             }
             else if (desc.Contains("(speed)"))
             {
-                desc = desc.Replace("(speed)", "(" + MainV2.cs.SpeedUnit + ")");
+                desc = desc.Replace("(speed)", "(" + MainV2.comPort.MAV.cs.SpeedUnit + ")");
             }
 
             return desc;
@@ -490,10 +490,10 @@ namespace ArdupilotMega
                             dowindcalc();
                     }
 
-                    if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] != null) // status text 
+                    if (mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] != null) // status text 
                     {
 
-                        string logdata = DateTime.Now + " " + Encoding.ASCII.GetString(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT], 6, mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT].Length - 6);
+                        string logdata = DateTime.Now + " " + Encoding.ASCII.GetString(mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT], 6, mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT].Length - 6);
 
                         int ind = logdata.IndexOf('\0');
                         if (ind != -1)
@@ -509,10 +509,10 @@ namespace ArdupilotMega
 
                         }
                         catch { }
-                        mavinterface.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] = null;
+                        mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_STATUSTEXT] = null;
                     }
 
-                    byte[] bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED];
+                    byte[] bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED];
 
                     if (bytearray != null) // hil mavlink 0.9
                     {
@@ -530,7 +530,7 @@ namespace ArdupilotMega
                         //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] = null;
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS];
 
                     if (bytearray != null) // hil mavlink 0.9 and 1.0
                     {
@@ -544,7 +544,7 @@ namespace ArdupilotMega
                         //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS] = null;
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS];
 
                     if (bytearray != null)
                     {
@@ -556,7 +556,7 @@ namespace ArdupilotMega
                         //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS] = null;
                     }
 
-                    bytearray = mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WIND];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_WIND];
                     if (bytearray != null)
                     {
                         var wind = bytearray.ByteArrayToStructure<MAVLink.mavlink_wind_t>(6);
@@ -572,7 +572,7 @@ namespace ArdupilotMega
 #if MAVLINK10
 
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_HEARTBEAT];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_HEARTBEAT];
                     if (bytearray != null)
                     {
                         var hb = bytearray.ByteArrayToStructure<MAVLink.mavlink_heartbeat_t>(6);
@@ -669,7 +669,7 @@ namespace ArdupilotMega
                     }
 
 
-                    bytearray = mavinterface.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS];
+                    bytearray = mavinterface.MAV.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS];
                     if (bytearray != null)
                     {
                         var sysstatus = bytearray.ByteArrayToStructure<MAVLink.mavlink_sys_status_t>(6);
@@ -684,7 +684,7 @@ namespace ArdupilotMega
                     }
 #else
 
-                bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SYS_STATUS];
+                bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SYS_STATUS];
 
                 if (bytearray != null)
                 {
@@ -802,7 +802,7 @@ namespace ArdupilotMega
                 }
 #endif
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE];
                     if (bytearray != null)
                     {
                         var pres = bytearray.ByteArrayToStructure<MAVLink.mavlink_scaled_pressure_t>(6);
@@ -810,7 +810,7 @@ namespace ArdupilotMega
                         press_temp = pres.temperature;
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS];
                     if (bytearray != null)
                     {
                         var sensofs = bytearray.ByteArrayToStructure<MAVLink.mavlink_sensor_offsets_t>(6);
@@ -833,7 +833,7 @@ namespace ArdupilotMega
 
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE];
 
                     if (bytearray != null)
                     {
@@ -847,7 +847,7 @@ namespace ArdupilotMega
 
                         //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] = null;
                     }
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW_INT];
                     if (bytearray != null)
                     {
                         var gps = bytearray.ByteArrayToStructure<MAVLink.mavlink_gps_raw_int_t>(6);
@@ -872,14 +872,14 @@ namespace ArdupilotMega
                         //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] = null;
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_GPS_STATUS];
                     if (bytearray != null)
                     {
                         var gps = bytearray.ByteArrayToStructure<MAVLink.mavlink_gps_status_t>(6);
                         satcount = gps.satellites_visible;
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RADIO];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RADIO];
                     if (bytearray != null)
                     {
                         var radio = bytearray.ByteArrayToStructure<MAVLink.mavlink_radio_t>(6);
@@ -892,7 +892,7 @@ namespace ArdupilotMega
                         fixedp = radio.fixedp;
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION_INT];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_GLOBAL_POSITION_INT];
                     if (bytearray != null)
                     {
                         var loc = bytearray.ByteArrayToStructure<MAVLink.mavlink_global_position_int_t>(6);
@@ -912,7 +912,7 @@ namespace ArdupilotMega
                         }
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_MISSION_CURRENT];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_MISSION_CURRENT];
                     if (bytearray != null)
                     {
                         var wpcur = bytearray.ByteArrayToStructure<MAVLink.mavlink_mission_current_t>(6);
@@ -929,7 +929,7 @@ namespace ArdupilotMega
                         //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT];
 
                     if (bytearray != null)
                     {
@@ -947,7 +947,7 @@ namespace ArdupilotMega
                         //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] = null;
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW];
                     if (bytearray != null)
                     {
                         var rcin = bytearray.ByteArrayToStructure<MAVLink.mavlink_rc_channels_raw_t>(6);
@@ -967,7 +967,7 @@ namespace ArdupilotMega
                         //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW] = null;
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW];
                     if (bytearray != null)
                     {
                         var servoout = bytearray.ByteArrayToStructure<MAVLink.mavlink_servo_output_raw_t>(6);
@@ -985,7 +985,7 @@ namespace ArdupilotMega
                     }
 
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU];
                     if (bytearray != null)
                     {
                         var imu = bytearray.ByteArrayToStructure<MAVLink.mavlink_raw_imu_t>(6);
@@ -1005,7 +1005,7 @@ namespace ArdupilotMega
                         //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RAW_IMU] = null;
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_SCALED_IMU];
                     if (bytearray != null)
                     {
                         var imu = bytearray.ByteArrayToStructure<MAVLink.mavlink_scaled_imu_t>(6);
@@ -1022,7 +1022,7 @@ namespace ArdupilotMega
                     }
 
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD];
                     if (bytearray != null)
                     {
                         var vfr = bytearray.ByteArrayToStructure<MAVLink.mavlink_vfr_hud_t>(6);
@@ -1051,7 +1051,7 @@ namespace ArdupilotMega
                         //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_VFR_HUD] = null;
                     }
 
-                    bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_MEMINFO];
+                    bytearray = mavinterface.MAV.packets[MAVLink.MAVLINK_MSG_ID_MEMINFO];
                     if (bytearray != null)
                     {
                         var mem = bytearray.ByteArrayToStructure<MAVLink.mavlink_meminfo_t>(6);

Tools/ArdupilotMegaPlanner/ElevationProfile.cs

@@ -43,7 +43,7 @@ namespace ArdupilotMega
                 lastloc = loc;
             }
 
-            this.homealt = homealt / MainV2.cs.multiplierdist;
+            this.homealt = homealt / MainV2.comPort.MAV.cs.multiplierdist;
 
             Form frm = Common.LoadingBox("Loading", "Downloading Google Earth Data");
 
@@ -82,7 +82,7 @@ namespace ArdupilotMega
                     a += planloc.GetDistance(lastloc);
                 }
 
-                list1.Add(a, planloc.Alt / MainV2.cs.multiplierdist, 0, planloc.Tag); // homealt
+                list1.Add(a, planloc.Alt / MainV2.comPort.MAV.cs.multiplierdist, 0, planloc.Tag); // homealt
 
                 lastloc = planloc;
                 count++;

Tools/ArdupilotMegaPlanner/FollowMe.cs

@@ -57,18 +57,18 @@ namespace ArdupilotMega
 
                 string alt = "100";
 
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
                 {
-                    alt = (10 * MainV2.cs.multiplierdist).ToString("0");
+                    alt = (10 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
                 }
                 else
                 {
-                    alt = (100 * MainV2.cs.multiplierdist).ToString("0");
+                    alt = (100 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
                 }
                 if (DialogResult.Cancel == Common.InputBox("Enter Alt", "Enter Alt (relative to home alt)", ref alt))
                     return;
 
-                intalt = (int)(100 * MainV2.cs.multiplierdist);
+                intalt = (int)(100 * MainV2.comPort.MAV.cs.multiplierdist);
                 if (!int.TryParse(alt, out intalt))
                 {
                     CustomMessageBox.Show("Bad Alt");
@@ -97,7 +97,7 @@ namespace ArdupilotMega
                 {
                     string line = comPort.ReadLine();
 
-                    //string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.cs.lng < 0 ? "W" : "E", MainV2.cs.gpsstatus, MainV2.cs.satcount, MainV2.cs.gpshdop, MainV2.cs.alt, "M", 0, "M", "");
+                    //string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.comPort.MAV.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.comPort.MAV.cs.lng < 0 ? "W" : "E", MainV2.comPort.MAV.cs.gpsstatus, MainV2.comPort.MAV.cs.satcount, MainV2.comPort.MAV.cs.gpshdop, MainV2.comPort.MAV.cs.alt, "M", 0, "M", "");
                     if (line.StartsWith("$GPGGA")) // 
                     {
                         string[] items = line.Trim().Split(',','*');

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAP_Limits.cs

@@ -41,7 +41,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         private void LIM_ENABLED_CheckedChanged(object sender, EventArgs e)
         {
-            if (!MainV2.comPort.param.ContainsKey("LIM_ENABLED"))
+            if (!MainV2.comPort.MAV.param.ContainsKey("LIM_ENABLED"))
             {
                 CustomMessageBox.Show("This feature is not enabled in your firmware.");
                 return;
@@ -80,7 +80,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         void PopulateData()
         {
-            Hashtable copy = new Hashtable(MainV2.comPort.param);
+            Hashtable copy = new Hashtable(MainV2.comPort.MAV.param);
 
             foreach (string key in copy.Keys)
             {

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationPlane.cs

@@ -29,7 +29,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             }
             else
             {
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
                 {
                     this.Enabled = true;
                 }
@@ -42,8 +42,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             startup = true;
 
-            if (MainV2.comPort.param["MANUAL_LEVEL"] != null)
+            if (MainV2.comPort.MAV.param["MANUAL_LEVEL"] != null)
-                CHK_manuallevel.Checked = MainV2.comPort.param["MANUAL_LEVEL"].ToString() == "1" ? true : false;
+                CHK_manuallevel.Checked = MainV2.comPort.MAV.param["MANUAL_LEVEL"].ToString() == "1" ? true : false;
 
             startup = false;
         }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationQuad.cs

@@ -79,13 +79,13 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         public void Activate()
         {
-            if (!MainV2.comPort.param.ContainsKey("FRAME"))
+            if (!MainV2.comPort.MAV.param.ContainsKey("FRAME"))
             {
                 this.Enabled = false;
                 return;
             }
 
-            if ((float)MainV2.comPort.param["FRAME"] == 0)
+            if ((float)MainV2.comPort.MAV.param["FRAME"] == 0)
             {
                 this.radioButton_Plus.Checked = true;
                 pictureBoxX.Opacity = DisabledOpacity;
@@ -147,13 +147,13 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         {
             ConfigAccelerometerCalibrationQuad local = (ConfigAccelerometerCalibrationQuad)item;
 
-            while (!(MainV2.cs.message.Contains("Calibration successful") || MainV2.cs.message.Contains("Calibration failed")))
+            while (!(MainV2.comPort.MAV.cs.message.Contains("Calibration successful") || MainV2.comPort.MAV.cs.message.Contains("Calibration failed")))
             {
                 System.Threading.Thread.Sleep(10);
                 // read the message
                 MainV2.comPort.readPacket();
                 // update cs with the message
-                MainV2.cs.UpdateCurrentSettings(null);
+                MainV2.comPort.MAV.cs.UpdateCurrentSettings(null);
                 // update user display
                 local.UpdateUserMessage();
             }
@@ -170,7 +170,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         {
             this.Invoke((MethodInvoker)delegate()
             {
-                 lbl_Accel_user.Text = MainV2.cs.message;
+                 lbl_Accel_user.Text = MainV2.comPort.MAV.cs.message;
             });
         }
     }

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

@@ -30,12 +30,9 @@
         {
             this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(ConfigArducopter));
-            this.myLabel3 = new ArdupilotMega.Controls.MyLabel();
             this.TUNE_LOW = new System.Windows.Forms.NumericUpDown();
             this.TUNE_HIGH = new System.Windows.Forms.NumericUpDown();
-            this.myLabel2 = new ArdupilotMega.Controls.MyLabel();
             this.TUNE = new System.Windows.Forms.ComboBox();
-            this.myLabel1 = new ArdupilotMega.Controls.MyLabel();
             this.CH7_OPT = new System.Windows.Forms.ComboBox();
             this.groupBox5 = new System.Windows.Forms.GroupBox();
             this.THR_RATE_D = new System.Windows.Forms.NumericUpDown();
@@ -126,8 +123,6 @@
             this.RATE_RLL_P = new System.Windows.Forms.NumericUpDown();
             this.label91 = new System.Windows.Forms.Label();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
-            this.BUT_writePIDS = new ArdupilotMega.Controls.MyButton();
-            this.BUT_rerequestparams = new ArdupilotMega.Controls.MyButton();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.LOITER_LAT_D = new System.Windows.Forms.NumericUpDown();
             this.label1 = new System.Windows.Forms.Label();
@@ -137,6 +132,11 @@
             this.label3 = new System.Windows.Forms.Label();
             this.LOITER_LAT_P = new System.Windows.Forms.NumericUpDown();
             this.label4 = new System.Windows.Forms.Label();
+            this.BUT_rerequestparams = new ArdupilotMega.Controls.MyButton();
+            this.BUT_writePIDS = new ArdupilotMega.Controls.MyButton();
+            this.myLabel3 = new ArdupilotMega.Controls.MyLabel();
+            this.myLabel2 = new ArdupilotMega.Controls.MyLabel();
+            this.myLabel1 = new ArdupilotMega.Controls.MyLabel();
             ((System.ComponentModel.ISupportInitialize)(this.TUNE_LOW)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.TUNE_HIGH)).BeginInit();
             this.groupBox5.SuspendLayout();
@@ -195,12 +195,6 @@
             ((System.ComponentModel.ISupportInitialize)(this.LOITER_LAT_P)).BeginInit();
             this.SuspendLayout();
             // 
-            // myLabel3
-            // 
-            resources.ApplyResources(this.myLabel3, "myLabel3");
-            this.myLabel3.Name = "myLabel3";
-            this.myLabel3.resize = false;
-            // 
             // TUNE_LOW
             // 
             resources.ApplyResources(this.TUNE_LOW, "TUNE_LOW");
@@ -211,63 +205,19 @@
             resources.ApplyResources(this.TUNE_HIGH, "TUNE_HIGH");
             this.TUNE_HIGH.Name = "TUNE_HIGH";
             // 
-            // myLabel2
-            // 
-            resources.ApplyResources(this.myLabel2, "myLabel2");
-            this.myLabel2.Name = "myLabel2";
-            this.myLabel2.resize = false;
-            // 
             // TUNE
             // 
             this.TUNE.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.TUNE.DropDownWidth = 150;
             this.TUNE.FormattingEnabled = true;
-            this.TUNE.Items.AddRange(new object[] {
-            resources.GetString("TUNE.Items"),
-            resources.GetString("TUNE.Items1"),
-            resources.GetString("TUNE.Items2"),
-            resources.GetString("TUNE.Items3"),
-            resources.GetString("TUNE.Items4"),
-            resources.GetString("TUNE.Items5"),
-            resources.GetString("TUNE.Items6"),
-            resources.GetString("TUNE.Items7"),
-            resources.GetString("TUNE.Items8"),
-            resources.GetString("TUNE.Items9"),
-            resources.GetString("TUNE.Items10"),
-            resources.GetString("TUNE.Items11"),
-            resources.GetString("TUNE.Items12"),
-            resources.GetString("TUNE.Items13"),
-            resources.GetString("TUNE.Items14"),
-            resources.GetString("TUNE.Items15"),
-            resources.GetString("TUNE.Items16"),
-            resources.GetString("TUNE.Items17"),
-            resources.GetString("TUNE.Items18"),
-            resources.GetString("TUNE.Items19"),
-            resources.GetString("TUNE.Items20"),
-            resources.GetString("TUNE.Items21")});
             resources.ApplyResources(this.TUNE, "TUNE");
             this.TUNE.Name = "TUNE";
             // 
-            // myLabel1
-            // 
-            resources.ApplyResources(this.myLabel1, "myLabel1");
-            this.myLabel1.Name = "myLabel1";
-            this.myLabel1.resize = false;
-            // 
             // CH7_OPT
             // 
             this.CH7_OPT.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.CH7_OPT.DropDownWidth = 150;
             this.CH7_OPT.FormattingEnabled = true;
-            this.CH7_OPT.Items.AddRange(new object[] {
-            resources.GetString("CH7_OPT.Items"),
-            resources.GetString("CH7_OPT.Items1"),
-            resources.GetString("CH7_OPT.Items2"),
-            resources.GetString("CH7_OPT.Items3"),
-            resources.GetString("CH7_OPT.Items4"),
-            resources.GetString("CH7_OPT.Items5"),
-            resources.GetString("CH7_OPT.Items6"),
-            resources.GetString("CH7_OPT.Items7")});
             resources.ApplyResources(this.CH7_OPT, "CH7_OPT");
             this.CH7_OPT.Name = "CH7_OPT";
             // 
@@ -812,20 +762,6 @@
             this.toolTip1.InitialDelay = 500;
             this.toolTip1.ReshowDelay = 100;
             // 
-            // BUT_writePIDS
-            // 
-            resources.ApplyResources(this.BUT_writePIDS, "BUT_writePIDS");
-            this.BUT_writePIDS.Name = "BUT_writePIDS";
-            this.BUT_writePIDS.UseVisualStyleBackColor = true;
-            this.BUT_writePIDS.Click += new System.EventHandler(this.BUT_writePIDS_Click);
-            // 
-            // BUT_rerequestparams
-            // 
-            resources.ApplyResources(this.BUT_rerequestparams, "BUT_rerequestparams");
-            this.BUT_rerequestparams.Name = "BUT_rerequestparams";
-            this.BUT_rerequestparams.UseVisualStyleBackColor = true;
-            this.BUT_rerequestparams.Click += new System.EventHandler(this.BUT_rerequestparams_Click);
-            // 
             // groupBox1
             // 
             this.groupBox1.Controls.Add(this.LOITER_LAT_D);
@@ -880,6 +816,38 @@
             resources.ApplyResources(this.label4, "label4");
             this.label4.Name = "label4";
             // 
+            // BUT_rerequestparams
+            // 
+            resources.ApplyResources(this.BUT_rerequestparams, "BUT_rerequestparams");
+            this.BUT_rerequestparams.Name = "BUT_rerequestparams";
+            this.BUT_rerequestparams.UseVisualStyleBackColor = true;
+            this.BUT_rerequestparams.Click += new System.EventHandler(this.BUT_rerequestparams_Click);
+            // 
+            // BUT_writePIDS
+            // 
+            resources.ApplyResources(this.BUT_writePIDS, "BUT_writePIDS");
+            this.BUT_writePIDS.Name = "BUT_writePIDS";
+            this.BUT_writePIDS.UseVisualStyleBackColor = true;
+            this.BUT_writePIDS.Click += new System.EventHandler(this.BUT_writePIDS_Click);
+            // 
+            // myLabel3
+            // 
+            resources.ApplyResources(this.myLabel3, "myLabel3");
+            this.myLabel3.Name = "myLabel3";
+            this.myLabel3.resize = false;
+            // 
+            // myLabel2
+            // 
+            resources.ApplyResources(this.myLabel2, "myLabel2");
+            this.myLabel2.Name = "myLabel2";
+            this.myLabel2.resize = false;
+            // 
+            // myLabel1
+            // 
+            resources.ApplyResources(this.myLabel1, "myLabel1");
+            this.myLabel1.Name = "myLabel1";
+            this.myLabel1.resize = false;
+            // 
             // ConfigArducopter
             // 
             resources.ApplyResources(this, "$this");

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.cs

@@ -43,7 +43,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             }
             else
             {
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
                 {
                     this.Enabled = true;
                 }
@@ -163,7 +163,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
 
             // process hashdefines and update display
-            foreach (string value in MainV2.comPort.param.Keys)
+            foreach (string value in MainV2.comPort.MAV.param.Keys)
             {
                 if (value == null || value == "")
                     continue;
@@ -180,7 +180,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                         if (ctl.GetType() == typeof(NumericUpDown))
                         {
 
-                            float numbervalue = (float)MainV2.comPort.param[value];
+                            float numbervalue = (float)MainV2.comPort.MAV.param[value];
 
                             MAVLink.modifyParamForDisplay(true, value, ref numbervalue);
 
@@ -231,7 +231,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                             ComboBox thisctl = ((ComboBox)ctl);
 
-                            thisctl.SelectedValue = (int)(float)MainV2.comPort.param[value];
+                            thisctl.SelectedValue = (int)(float)MainV2.comPort.MAV.param[value];
 
                             thisctl.Validated += new EventHandler(ComboBox_Validated);
 

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.resx

@@ -118,37 +118,13 @@
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
-  <data name="myLabel3.Location" type="System.Drawing.Point, System.Drawing">
-    <value>364, 321</value>
-  </data>
-  <data name="myLabel3.Size" type="System.Drawing.Size, System.Drawing">
-    <value>29, 23</value>
-  </data>
-  <assembly alias="mscorlib" name="mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
-  <data name="myLabel3.TabIndex" type="System.Int32, mscorlib">
-    <value>42</value>
-  </data>
-  <data name="myLabel3.Text" xml:space="preserve">
-    <value>Min</value>
-  </data>
-  <data name="&gt;&gt;myLabel3.Name" xml:space="preserve">
-    <value>myLabel3</value>
-  </data>
-  <data name="&gt;&gt;myLabel3.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4666.36788, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;myLabel3.Parent" xml:space="preserve">
-    <value>$this</value>
-  </data>
-  <data name="&gt;&gt;myLabel3.ZOrder" xml:space="preserve">
-    <value>3</value>
-  </data>
   <data name="TUNE_LOW.Location" type="System.Drawing.Point, System.Drawing">
     <value>399, 324</value>
   </data>
   <data name="TUNE_LOW.Size" type="System.Drawing.Size, System.Drawing">
     <value>51, 20</value>
   </data>
+  <assembly alias="mscorlib" name="mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="TUNE_LOW.TabIndex" type="System.Int32, mscorlib">
     <value>41</value>
   </data>
@@ -185,96 +161,6 @@
   <data name="&gt;&gt;TUNE_HIGH.ZOrder" xml:space="preserve">
     <value>5</value>
   </data>
-  <data name="myLabel2.Location" type="System.Drawing.Point, System.Drawing">
-    <value>364, 296</value>
-  </data>
-  <data name="myLabel2.Size" type="System.Drawing.Size, System.Drawing">
-    <value>53, 23</value>
-  </data>
-  <data name="myLabel2.TabIndex" type="System.Int32, mscorlib">
-    <value>39</value>
-  </data>
-  <data name="myLabel2.Text" xml:space="preserve">
-    <value>Ch6 Opt</value>
-  </data>
-  <data name="&gt;&gt;myLabel2.Name" xml:space="preserve">
-    <value>myLabel2</value>
-  </data>
-  <data name="&gt;&gt;myLabel2.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4666.36788, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;myLabel2.Parent" xml:space="preserve">
-    <value>$this</value>
-  </data>
-  <data name="&gt;&gt;myLabel2.ZOrder" xml:space="preserve">
-    <value>6</value>
-  </data>
-  <data name="TUNE.Items" xml:space="preserve">
-    <value>CH6_NONE</value>
-  </data>
-  <data name="TUNE.Items1" xml:space="preserve">
-    <value>CH6_STABILIZE_KP</value>
-  </data>
-  <data name="TUNE.Items2" xml:space="preserve">
-    <value>CH6_STABILIZE_KI</value>
-  </data>
-  <data name="TUNE.Items3" xml:space="preserve">
-    <value>CH6_YAW_KP</value>
-  </data>
-  <data name="TUNE.Items4" xml:space="preserve">
-    <value>CH6_RATE_KP</value>
-  </data>
-  <data name="TUNE.Items5" xml:space="preserve">
-    <value>CH6_RATE_KI</value>
-  </data>
-  <data name="TUNE.Items6" xml:space="preserve">
-    <value>CH6_YAW_RATE_KP</value>
-  </data>
-  <data name="TUNE.Items7" xml:space="preserve">
-    <value>CH6_THROTTLE_KP</value>
-  </data>
-  <data name="TUNE.Items8" xml:space="preserve">
-    <value>CH6_TOP_BOTTOM_RATIO</value>
-  </data>
-  <data name="TUNE.Items9" xml:space="preserve">
-    <value>CH6_RELAY</value>
-  </data>
-  <data name="TUNE.Items10" xml:space="preserve">
-    <value>CH6_TRAVERSE_SPEED</value>
-  </data>
-  <data name="TUNE.Items11" xml:space="preserve">
-    <value>CH6_NAV_P</value>
-  </data>
-  <data name="TUNE.Items12" xml:space="preserve">
-    <value>CH6_LOITER_P</value>
-  </data>
-  <data name="TUNE.Items13" xml:space="preserve">
-    <value>CH6_HELI_EXTERNAL_GYRO</value>
-  </data>
-  <data name="TUNE.Items14" xml:space="preserve">
-    <value>CH6_THR_HOLD_KP</value>
-  </data>
-  <data name="TUNE.Items15" xml:space="preserve">
-    <value>CH6_Z_GAIN</value>
-  </data>
-  <data name="TUNE.Items16" xml:space="preserve">
-    <value>CH6_DAMP</value>
-  </data>
-  <data name="TUNE.Items17" xml:space="preserve">
-    <value>CH6_OPTFLOW_KP</value>
-  </data>
-  <data name="TUNE.Items18" xml:space="preserve">
-    <value>CH6_OPTFLOW_KI</value>
-  </data>
-  <data name="TUNE.Items19" xml:space="preserve">
-    <value>CH6_OPTFLOW_KD</value>
-  </data>
-  <data name="TUNE.Items20" xml:space="preserve">
-    <value>CH6_NAV_I</value>
-  </data>
-  <data name="TUNE.Items21" xml:space="preserve">
-    <value>CH6_RATE_KD</value>
-  </data>
   <data name="TUNE.Location" type="System.Drawing.Point, System.Drawing">
     <value>423, 296</value>
   </data>
@@ -296,54 +182,6 @@
   <data name="&gt;&gt;TUNE.ZOrder" xml:space="preserve">
     <value>7</value>
   </data>
-  <data name="myLabel1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>364, 348</value>
-  </data>
-  <data name="myLabel1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>53, 23</value>
-  </data>
-  <data name="myLabel1.TabIndex" type="System.Int32, mscorlib">
-    <value>37</value>
-  </data>
-  <data name="myLabel1.Text" xml:space="preserve">
-    <value>Ch7 Opt</value>
-  </data>
-  <data name="&gt;&gt;myLabel1.Name" xml:space="preserve">
-    <value>myLabel1</value>
-  </data>
-  <data name="&gt;&gt;myLabel1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4666.36788, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;myLabel1.Parent" xml:space="preserve">
-    <value>$this</value>
-  </data>
-  <data name="&gt;&gt;myLabel1.ZOrder" xml:space="preserve">
-    <value>8</value>
-  </data>
-  <data name="CH7_OPT.Items" xml:space="preserve">
-    <value>Do Nothing</value>
-  </data>
-  <data name="CH7_OPT.Items1" xml:space="preserve">
-    <value />
-  </data>
-  <data name="CH7_OPT.Items2" xml:space="preserve">
-    <value />
-  </data>
-  <data name="CH7_OPT.Items3" xml:space="preserve">
-    <value>Simple Mode</value>
-  </data>
-  <data name="CH7_OPT.Items4" xml:space="preserve">
-    <value>RTL</value>
-  </data>
-  <data name="CH7_OPT.Items5" xml:space="preserve">
-    <value />
-  </data>
-  <data name="CH7_OPT.Items6" xml:space="preserve">
-    <value />
-  </data>
-  <data name="CH7_OPT.Items7" xml:space="preserve">
-    <value>Save WP</value>
-  </data>
   <data name="CH7_OPT.Location" type="System.Drawing.Point, System.Drawing">
     <value>423, 348</value>
   </data>
@@ -2487,63 +2325,6 @@
   <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>17, 17</value>
   </metadata>
-  <data name="BUT_writePIDS.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="BUT_writePIDS.Location" type="System.Drawing.Point, System.Drawing">
-    <value>255, 383</value>
-  </data>
-  <data name="BUT_writePIDS.Size" type="System.Drawing.Size, System.Drawing">
-    <value>103, 19</value>
-  </data>
-  <data name="BUT_writePIDS.TabIndex" type="System.Int32, mscorlib">
-    <value>70</value>
-  </data>
-  <data name="BUT_writePIDS.Text" xml:space="preserve">
-    <value>Write Params</value>
-  </data>
-  <data name="&gt;&gt;BUT_writePIDS.Name" xml:space="preserve">
-    <value>BUT_writePIDS</value>
-  </data>
-  <data name="&gt;&gt;BUT_writePIDS.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4666.36788, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;BUT_writePIDS.Parent" xml:space="preserve">
-    <value>$this</value>
-  </data>
-  <data name="&gt;&gt;BUT_writePIDS.ZOrder" xml:space="preserve">
-    <value>2</value>
-  </data>
-  <data name="BUT_rerequestparams.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="BUT_rerequestparams.Location" type="System.Drawing.Point, System.Drawing">
-    <value>364, 383</value>
-  </data>
-  <data name="BUT_rerequestparams.Padding" type="System.Windows.Forms.Padding, System.Windows.Forms">
-    <value>0, 15, 0, 0</value>
-  </data>
-  <data name="BUT_rerequestparams.Size" type="System.Drawing.Size, System.Drawing">
-    <value>103, 19</value>
-  </data>
-  <data name="BUT_rerequestparams.TabIndex" type="System.Int32, mscorlib">
-    <value>74</value>
-  </data>
-  <data name="BUT_rerequestparams.Text" xml:space="preserve">
-    <value>Refresh Params</value>
-  </data>
-  <data name="&gt;&gt;BUT_rerequestparams.Name" xml:space="preserve">
-    <value>BUT_rerequestparams</value>
-  </data>
-  <data name="&gt;&gt;BUT_rerequestparams.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4666.36788, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;BUT_rerequestparams.Parent" xml:space="preserve">
-    <value>$this</value>
-  </data>
-  <data name="&gt;&gt;BUT_rerequestparams.ZOrder" xml:space="preserve">
-    <value>1</value>
-  </data>
   <data name="LOITER_LAT_D.Location" type="System.Drawing.Point, System.Drawing">
     <value>80, 60</value>
   </data>
@@ -2760,6 +2541,135 @@
   <data name="&gt;&gt;groupBox1.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
+  <data name="BUT_rerequestparams.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_rerequestparams.Location" type="System.Drawing.Point, System.Drawing">
+    <value>364, 383</value>
+  </data>
+  <data name="BUT_rerequestparams.Padding" type="System.Windows.Forms.Padding, System.Windows.Forms">
+    <value>0, 15, 0, 0</value>
+  </data>
+  <data name="BUT_rerequestparams.Size" type="System.Drawing.Size, System.Drawing">
+    <value>103, 19</value>
+  </data>
+  <data name="BUT_rerequestparams.TabIndex" type="System.Int32, mscorlib">
+    <value>74</value>
+  </data>
+  <data name="BUT_rerequestparams.Text" xml:space="preserve">
+    <value>Refresh Params</value>
+  </data>
+  <data name="&gt;&gt;BUT_rerequestparams.Name" xml:space="preserve">
+    <value>BUT_rerequestparams</value>
+  </data>
+  <data name="&gt;&gt;BUT_rerequestparams.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4724.22562, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;BUT_rerequestparams.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;BUT_rerequestparams.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="BUT_writePIDS.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_writePIDS.Location" type="System.Drawing.Point, System.Drawing">
+    <value>255, 383</value>
+  </data>
+  <data name="BUT_writePIDS.Size" type="System.Drawing.Size, System.Drawing">
+    <value>103, 19</value>
+  </data>
+  <data name="BUT_writePIDS.TabIndex" type="System.Int32, mscorlib">
+    <value>70</value>
+  </data>
+  <data name="BUT_writePIDS.Text" xml:space="preserve">
+    <value>Write Params</value>
+  </data>
+  <data name="&gt;&gt;BUT_writePIDS.Name" xml:space="preserve">
+    <value>BUT_writePIDS</value>
+  </data>
+  <data name="&gt;&gt;BUT_writePIDS.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4724.22562, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;BUT_writePIDS.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;BUT_writePIDS.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="myLabel3.Location" type="System.Drawing.Point, System.Drawing">
+    <value>364, 321</value>
+  </data>
+  <data name="myLabel3.Size" type="System.Drawing.Size, System.Drawing">
+    <value>29, 23</value>
+  </data>
+  <data name="myLabel3.TabIndex" type="System.Int32, mscorlib">
+    <value>42</value>
+  </data>
+  <data name="myLabel3.Text" xml:space="preserve">
+    <value>Min</value>
+  </data>
+  <data name="&gt;&gt;myLabel3.Name" xml:space="preserve">
+    <value>myLabel3</value>
+  </data>
+  <data name="&gt;&gt;myLabel3.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4724.22562, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;myLabel3.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;myLabel3.ZOrder" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="myLabel2.Location" type="System.Drawing.Point, System.Drawing">
+    <value>364, 296</value>
+  </data>
+  <data name="myLabel2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>53, 23</value>
+  </data>
+  <data name="myLabel2.TabIndex" type="System.Int32, mscorlib">
+    <value>39</value>
+  </data>
+  <data name="myLabel2.Text" xml:space="preserve">
+    <value>Ch6 Opt</value>
+  </data>
+  <data name="&gt;&gt;myLabel2.Name" xml:space="preserve">
+    <value>myLabel2</value>
+  </data>
+  <data name="&gt;&gt;myLabel2.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4724.22562, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;myLabel2.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;myLabel2.ZOrder" xml:space="preserve">
+    <value>6</value>
+  </data>
+  <data name="myLabel1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>364, 348</value>
+  </data>
+  <data name="myLabel1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>53, 23</value>
+  </data>
+  <data name="myLabel1.TabIndex" type="System.Int32, mscorlib">
+    <value>37</value>
+  </data>
+  <data name="myLabel1.Text" xml:space="preserve">
+    <value>Ch7 Opt</value>
+  </data>
+  <data name="&gt;&gt;myLabel1.Name" xml:space="preserve">
+    <value>myLabel1</value>
+  </data>
+  <data name="&gt;&gt;myLabel1.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4724.22562, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;myLabel1.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;myLabel1.ZOrder" xml:space="preserve">
+    <value>8</value>
+  </data>
   <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.cs

@@ -32,7 +32,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             }
             else
             {
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
                 {
                     this.Enabled = true;
                 }
@@ -153,7 +153,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             disableNumericUpDownControls(this);
 
             // process hashdefines and update display
-            foreach (string value in MainV2.comPort.param.Keys)
+            foreach (string value in MainV2.comPort.MAV.param.Keys)
             {
                 if (value == null || value == "")
                     continue;
@@ -167,7 +167,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                         if (ctl.GetType() == typeof(NumericUpDown))
                         {
 
-                            float numbervalue = (float)MainV2.comPort.param[value];
+                            float numbervalue = (float)MainV2.comPort.MAV.param[value];
 
                             MAVLink.modifyParamForDisplay(true, value,ref numbervalue);
 
@@ -214,7 +214,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                             ComboBox thisctl = ((ComboBox)ctl);
 
-                            thisctl.SelectedIndex = (int)(float)MainV2.comPort.param[value];
+                            thisctl.SelectedIndex = (int)(float)MainV2.comPort.MAV.param[value];
 
                             thisctl.Validated += new EventHandler(ComboBox_Validated);
                         }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArdurover.cs

@@ -32,7 +32,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             }
             else
             {
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
                 {
                     this.Enabled = true;
                 }
@@ -153,7 +153,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             disableNumericUpDownControls(this);
 
             // process hashdefines and update display
-            foreach (string value in MainV2.comPort.param.Keys)
+            foreach (string value in MainV2.comPort.MAV.param.Keys)
             {
                 if (value == null || value == "")
                     continue;
@@ -167,7 +167,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                         if (ctl.GetType() == typeof(NumericUpDown))
                         {
 
-                            float numbervalue = (float)MainV2.comPort.param[value];
+                            float numbervalue = (float)MainV2.comPort.MAV.param[value];
 
                             MAVLink.modifyParamForDisplay(true, value, ref numbervalue);
 
@@ -214,7 +214,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                             ComboBox thisctl = ((ComboBox)ctl);
 
-                            thisctl.SelectedIndex = (int)(float)MainV2.comPort.param[value];
+                            thisctl.SelectedIndex = (int)(float)MainV2.comPort.MAV.param[value];
 
                             thisctl.Validated += new EventHandler(ComboBox_Validated);
                         }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryx.cs

@@ -38,7 +38,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             }
             else
             {
-                if (MainV2.cs.firmware == MainV2.Firmwares.Ateryx)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.Ateryx)
                 {
                     this.Enabled = true;
                 }
@@ -159,7 +159,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             disableNumericUpDownControls(this);
 
             // process hashdefines and update display
-            foreach (string value in MainV2.comPort.param.Keys)
+            foreach (string value in MainV2.comPort.MAV.param.Keys)
             {
                 if (value == null || value == "")
                     continue;
@@ -176,7 +176,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                             NumericUpDown thisctl = ((NumericUpDown)ctl);
                             thisctl.Maximum = 9000;
                             thisctl.Minimum = -9000;
-                            thisctl.Value = (decimal)(float)MainV2.comPort.param[value];
+                            thisctl.Value = (decimal)(float)MainV2.comPort.MAV.param[value];
                             thisctl.Increment = (decimal)0.001;
                             if (thisctl.Name.EndsWith("_P") || thisctl.Name.EndsWith("_I") || thisctl.Name.EndsWith("_D")
                                 || thisctl.Name.EndsWith("_LOW") || thisctl.Name.EndsWith("_HIGH") || thisctl.Value == 0
@@ -216,7 +216,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                             ComboBox thisctl = ((ComboBox)ctl);
 
-                            thisctl.SelectedIndex = (int)(float)MainV2.comPort.param[value];
+                            thisctl.SelectedIndex = (int)(float)MainV2.comPort.MAV.param[value];
 
                             thisctl.Validated += new EventHandler(ComboBox_Validated);
                         }
@@ -353,7 +353,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             {
                 ((Button)sender).Enabled = false;
 
-                if ((MainV2.cs.airspeed > 7.0) || (MainV2.cs.groundspeed > 10.0))
+                if ((MainV2.comPort.MAV.cs.airspeed > 7.0) || (MainV2.comPort.MAV.cs.groundspeed > 10.0))
                 {
                     MessageBox.Show("Unable - UAV airborne");
                     ((Button)sender).Enabled = true;
@@ -379,7 +379,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 if (dr == System.Windows.Forms.DialogResult.Yes)
                 {
 
-                    if ((MainV2.cs.airspeed > 7.0) || (MainV2.cs.groundspeed > 7.0))
+                    if ((MainV2.comPort.MAV.cs.airspeed > 7.0) || (MainV2.comPort.MAV.cs.groundspeed > 7.0))
                     {
                         MessageBox.Show("Unable - UAV airborne");
                         ((Button)sender).Enabled = true;

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryxSensors.cs

@@ -29,7 +29,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             }
             else
             {
-                if (MainV2.cs.firmware == MainV2.Firmwares.Ateryx)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.Ateryx)
                 {
                     this.Enabled = true;
                 }
@@ -55,7 +55,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 ((Button)sender).Enabled = false;
 
 
-                if ((MainV2.cs.airspeed > 7.0) || (MainV2.cs.groundspeed > 10.0))
+                if ((MainV2.comPort.MAV.cs.airspeed > 7.0) || (MainV2.comPort.MAV.cs.groundspeed > 10.0))
                 {
                     MessageBox.Show("Unable - UAV airborne");
                     ((Button)sender).Enabled = true;
@@ -79,7 +79,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             {
                 ((Button)sender).Enabled = false;
 
-                if ((MainV2.cs.airspeed > 7.0) || (MainV2.cs.groundspeed > 10.0))
+                if ((MainV2.comPort.MAV.cs.airspeed > 7.0) || (MainV2.comPort.MAV.cs.groundspeed > 10.0))
                 {
                     MessageBox.Show("Unable - UAV airborne");
                     ((Button)sender).Enabled = true;
@@ -101,7 +101,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         private void timer1_Tick(object sender, EventArgs e)
         {
-            MainV2.cs.UpdateCurrentSettings(bindingSource1);
+            MainV2.comPort.MAV.cs.UpdateCurrentSettings(bindingSource1);
         }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigBatteryMonitoring.cs

@@ -49,7 +49,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["BATT_CAPACITY"] == null)
+                if (MainV2.comPort.MAV.param["BATT_CAPACITY"] == null)
                 {
                     CustomMessageBox.Show("Not Available");
                 }
@@ -66,7 +66,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["BATT_MONITOR"] == null)
+                if (MainV2.comPort.MAV.param["BATT_MONITOR"] == null)
                 {
                     CustomMessageBox.Show("Not Available");
                 }
@@ -117,7 +117,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["INPUT_VOLTS"] == null)
+                if (MainV2.comPort.MAV.param["INPUT_VOLTS"] == null)
                 {
                     CustomMessageBox.Show("Not Available");
                 }
@@ -151,7 +151,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             try
             {
-                if (MainV2.comPort.param["VOLT_DIVIDER"] == null)
+                if (MainV2.comPort.MAV.param["VOLT_DIVIDER"] == null)
                 {
                     CustomMessageBox.Show("Not Available");
                 }
@@ -173,7 +173,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["VOLT_DIVIDER"] == null)
+                if (MainV2.comPort.MAV.param["VOLT_DIVIDER"] == null)
                 {
                     CustomMessageBox.Show("Not Available");
                 }
@@ -195,7 +195,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["AMP_PER_VOLT"] == null)
+                if (MainV2.comPort.MAV.param["AMP_PER_VOLT"] == null)
                 {
                     CustomMessageBox.Show("Not Available");
                 }
@@ -304,28 +304,28 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         {
             startup = true;
             bool not_supported = false;
-            if (MainV2.comPort.param["BATT_MONITOR"] != null)
+            if (MainV2.comPort.MAV.param["BATT_MONITOR"] != null)
             {
-                if (MainV2.comPort.param["BATT_MONITOR"].ToString() != "0.0")
+                if (MainV2.comPort.MAV.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.MAV.param["BATT_MONITOR"].ToString()));
                 }
             }
 
-            if (MainV2.comPort.param["BATT_CAPACITY"] != null)
+            if (MainV2.comPort.MAV.param["BATT_CAPACITY"] != null)
-                TXT_battcapacity.Text = MainV2.comPort.param["BATT_CAPACITY"].ToString();
+                TXT_battcapacity.Text = MainV2.comPort.MAV.param["BATT_CAPACITY"].ToString();
-            if (MainV2.comPort.param["INPUT_VOLTS"] != null)
+            if (MainV2.comPort.MAV.param["INPUT_VOLTS"] != null)
-                TXT_inputvoltage.Text = MainV2.comPort.param["INPUT_VOLTS"].ToString();
+                TXT_inputvoltage.Text = MainV2.comPort.MAV.param["INPUT_VOLTS"].ToString();
             else
                 not_supported = true;
-            TXT_voltage.Text = MainV2.cs.battery_voltage.ToString();
+            TXT_voltage.Text = MainV2.comPort.MAV.cs.battery_voltage.ToString();
             TXT_measuredvoltage.Text = TXT_voltage.Text;
-            if (MainV2.comPort.param["VOLT_DIVIDER"] != null)
+            if (MainV2.comPort.MAV.param["VOLT_DIVIDER"] != null)
-                TXT_divider.Text = MainV2.comPort.param["VOLT_DIVIDER"].ToString();
+                TXT_divider.Text = MainV2.comPort.MAV.param["VOLT_DIVIDER"].ToString();
             else
                 not_supported = true;
-            if (MainV2.comPort.param["AMP_PER_VOLT"] != null)
+            if (MainV2.comPort.MAV.param["AMP_PER_VOLT"] != null)
-                TXT_ampspervolt.Text = MainV2.comPort.param["AMP_PER_VOLT"].ToString();
+                TXT_ampspervolt.Text = MainV2.comPort.MAV.param["AMP_PER_VOLT"].ToString();
             else
                 not_supported = true;
             if (not_supported)
@@ -359,11 +359,11 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 CMB_batmonsensortype.SelectedIndex = 0;
             }
 
-            if (MainV2.comPort.param["BATT_VOLT_PIN"] != null)
+            if (MainV2.comPort.MAV.param["BATT_VOLT_PIN"] != null)
             {
                 CMB_apmversion.Enabled = true;
 
-                float value = (float)MainV2.comPort.param["BATT_VOLT_PIN"];
+                float value = (float)MainV2.comPort.MAV.param["BATT_VOLT_PIN"];
                 if (value == 0) // apm1
                 {
                     CMB_apmversion.SelectedIndex = 0;
@@ -402,7 +402,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         private void timer1_Tick(object sender, EventArgs e)
         {
-            TXT_voltage.Text = MainV2.cs.battery_voltage.ToString();
+            TXT_voltage.Text = MainV2.comPort.MAV.cs.battery_voltage.ToString();
         }
 
         private void CMB_apmversion_SelectedIndexChanged(object sender, EventArgs e)

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFailSafe.cs

@@ -35,7 +35,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             // update all linked controls - 10hz
             try
             {
-                MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
+                MainV2.comPort.MAV.cs.UpdateCurrentSettings(currentStateBindingSource);
             }
             catch { }
         }
@@ -43,15 +43,15 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         public void Activate()
         {
             // arducopter
-            mavlinkCheckBoxfs_batt_enable.setup(1, 0, "FS_BATT_ENABLE", MainV2.comPort.param);
+            mavlinkCheckBoxfs_batt_enable.setup(1, 0, "FS_BATT_ENABLE", MainV2.comPort.MAV.param);
 
             // plane
-            mavlinkCheckBoxthr_fs.setup(1, 0, "THR_FAILSAFE", MainV2.comPort.param, mavlinkNumericUpDownthr_fs_value);
+            mavlinkCheckBoxthr_fs.setup(1, 0, "THR_FAILSAFE", MainV2.comPort.MAV.param, mavlinkNumericUpDownthr_fs_value);
-            mavlinkNumericUpDownthr_fs_value.setup(800, 1200, 1, 1, "THR_FS_VALUE", MainV2.comPort.param);
+            mavlinkNumericUpDownthr_fs_value.setup(800, 1200, 1, 1, "THR_FS_VALUE", MainV2.comPort.MAV.param);
-            mavlinkCheckBoxthr_fs_action.setup(1, 0, "THR_FS_ACTION",MainV2.comPort.param);
+            mavlinkCheckBoxthr_fs_action.setup(1, 0, "THR_FS_ACTION",MainV2.comPort.MAV.param);
-            mavlinkCheckBoxgcs_fs.setup(1, 0, "FS_GCS_ENABL", MainV2.comPort.param);
+            mavlinkCheckBoxgcs_fs.setup(1, 0, "FS_GCS_ENABL", MainV2.comPort.MAV.param);
-            mavlinkCheckBoxshort_fs.setup(1, 0, "FS_SHORT_ACTN", MainV2.comPort.param);
+            mavlinkCheckBoxshort_fs.setup(1, 0, "FS_SHORT_ACTN", MainV2.comPort.MAV.param);
-            mavlinkCheckBoxlong_fs.setup(1, 0, "FS_LONG_ACTN", MainV2.comPort.param);
+            mavlinkCheckBoxlong_fs.setup(1, 0, "FS_LONG_ACTN", MainV2.comPort.MAV.param);
 
             timer.Enabled = true;
             timer.Interval = 100;
@@ -109,7 +109,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         private void lbl_currentmode_TextChanged(object sender, EventArgs e)
         {
-            if (MainV2.cs.ch3in < (float)MainV2.comPort.param["THR_FS_VALUE"])
+            if (MainV2.comPort.MAV.cs.ch3in < (float)MainV2.comPort.MAV.param["THR_FS_VALUE"])
             {
                 lbl_currentmode.ForeColor = Color.Red;
             }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFlightModes.cs

@@ -25,43 +25,43 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         {
             try
             {
-                MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
+                MainV2.comPort.MAV.cs.UpdateCurrentSettings(currentStateBindingSource);
             }
             catch { }
 
             float pwm = 0;
 
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane || MainV2.cs.firmware == MainV2.Firmwares.ArduRover) // APM 
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane || MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover) // APM 
             {
-                if (MainV2.comPort.param.ContainsKey("FLTMODE_CH"))
+                if (MainV2.comPort.MAV.param.ContainsKey("FLTMODE_CH"))
                 {
-                    switch ((int)(float)MainV2.comPort.param["FLTMODE_CH"])
+                    switch ((int)(float)MainV2.comPort.MAV.param["FLTMODE_CH"])
                     {
                         case 5:
-                            pwm = MainV2.cs.ch5in;
+                            pwm = MainV2.comPort.MAV.cs.ch5in;
                             break;
                         case 6:
-                            pwm = MainV2.cs.ch6in;
+                            pwm = MainV2.comPort.MAV.cs.ch6in;
                             break;
                         case 7:
-                            pwm = MainV2.cs.ch7in;
+                            pwm = MainV2.comPort.MAV.cs.ch7in;
                             break;
                         case 8:
-                            pwm = MainV2.cs.ch8in;
+                            pwm = MainV2.comPort.MAV.cs.ch8in;
                             break;
                         default:
 
                             break;
                     }
 
-                    LBL_flightmodepwm.Text = MainV2.comPort.param["FLTMODE_CH"].ToString() + ": " + pwm.ToString();
+                    LBL_flightmodepwm.Text = MainV2.comPort.MAV.param["FLTMODE_CH"].ToString() + ": " + pwm.ToString();
                 }
             }
 
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
             {
-                pwm = MainV2.cs.ch5in;
+                pwm = MainV2.comPort.MAV.cs.ch5in;
-                LBL_flightmodepwm.Text = "5: " + MainV2.cs.ch5in.ToString();
+                LBL_flightmodepwm.Text = "5: " + MainV2.comPort.MAV.cs.ch5in.ToString();
             }
 
             Control[] fmodelist = new Control[] { CMB_fmode1, CMB_fmode2, CMB_fmode3, CMB_fmode4, CMB_fmode5, CMB_fmode6 };
@@ -100,11 +100,11 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 MainV2.comPort.setParam("FLTMODE5", (float)Int32.Parse(CMB_fmode5.SelectedValue.ToString()));
                 MainV2.comPort.setParam("FLTMODE6", (float)Int32.Parse(CMB_fmode6.SelectedValue.ToString()));
 
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
                 {
                     float value = (float)(CB_simple1.Checked ? (int)SimpleMode.Simple1 : 0) + (CB_simple2.Checked ? (int)SimpleMode.Simple2 : 0) + (CB_simple3.Checked ? (int)SimpleMode.Simple3 : 0)
                         + (CB_simple4.Checked ? (int)SimpleMode.Simple4 : 0) + (CB_simple5.Checked ? (int)SimpleMode.Simple5 : 0) + (CB_simple6.Checked ? (int)SimpleMode.Simple6 : 0);
-                    if (MainV2.comPort.param.ContainsKey("SIMPLE"))
+                    if (MainV2.comPort.MAV.param.ContainsKey("SIMPLE"))
                         MainV2.comPort.setParam("SIMPLE", value);
                 }
             }
@@ -131,7 +131,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         public void Activate()
         {
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
             {
                 CB_simple1.Visible = false;
                 CB_simple2.Visible = false;
@@ -168,17 +168,17 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                 try
                 {
-                    CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE1"].ToString()));
+                    CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.MAV.param["FLTMODE1"].ToString()));
-                    CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE2"].ToString()));
+                    CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.MAV.param["FLTMODE2"].ToString()));
-                    CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE3"].ToString()));
+                    CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.MAV.param["FLTMODE3"].ToString()));
-                    CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE4"].ToString()));
+                    CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.MAV.param["FLTMODE4"].ToString()));
-                    CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.param["FLTMODE5"].ToString()));
+                    CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.apmmodes), MainV2.comPort.MAV.param["FLTMODE5"].ToString()));
                     CMB_fmode6.Text = Common.apmmodes.MANUAL.ToString();
                     CMB_fmode6.Enabled = false;
                 }
                 catch { }
             }
-            else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover) // APM
+            else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover) // APM
             {
                 CB_simple1.Visible = false;
                 CB_simple2.Visible = false;
@@ -215,16 +215,16 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                 try
                 {
-                    CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE1"].ToString()));
+                    CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.MAV.param["FLTMODE1"].ToString()));
-                    CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE2"].ToString()));
+                    CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.MAV.param["FLTMODE2"].ToString()));
-                    CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE3"].ToString()));
+                    CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.MAV.param["FLTMODE3"].ToString()));
-                    CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE4"].ToString()));
+                    CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.MAV.param["FLTMODE4"].ToString()));
-                    CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.param["FLTMODE5"].ToString()));
+                    CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.aprovermodes), MainV2.comPort.MAV.param["FLTMODE5"].ToString()));
                     CMB_fmode6.Text = Common.aprovermodes.MANUAL.ToString();
                     CMB_fmode6.Enabled = false;
                 }
                 catch { }
-            } else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
+            } else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2) // ac2
             {
                var flightModes = EnumTranslator.Translate<Common.ac2modes>();
 
@@ -254,15 +254,15 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                 try
                 {
-                    CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE1"].ToString()));
+                    CMB_fmode1.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.MAV.param["FLTMODE1"].ToString()));
-                    CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE2"].ToString()));
+                    CMB_fmode2.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.MAV.param["FLTMODE2"].ToString()));
-                    CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE3"].ToString()));
+                    CMB_fmode3.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.MAV.param["FLTMODE3"].ToString()));
-                    CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE4"].ToString()));
+                    CMB_fmode4.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.MAV.param["FLTMODE4"].ToString()));
-                    CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE5"].ToString()));
+                    CMB_fmode5.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.MAV.param["FLTMODE5"].ToString()));
-                    CMB_fmode6.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.param["FLTMODE6"].ToString()));
+                    CMB_fmode6.Text = EnumTranslator.GetDisplayText(Enum.Parse(typeof(Common.ac2modes), MainV2.comPort.MAV.param["FLTMODE6"].ToString()));
                     CMB_fmode6.Enabled = true;
 
-                    int simple = int.Parse(MainV2.comPort.param["SIMPLE"].ToString());
+                    int simple = int.Parse(MainV2.comPort.MAV.param["SIMPLE"].ToString());
 
                     CB_simple1.Checked = ((simple >> 0 & 1) == 1);
                     CB_simple2.Checked = ((simple >> 1 & 1) == 1);

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFriendlyParams.cs

@@ -158,7 +158,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             _params.Clear();
 
             // When the parameter list is changed, re sort the list for our View's purposes
-            MainV2.comPort.param.Keys.ForEach(x =>
+            MainV2.comPort.MAV.param.Keys.ForEach(x =>
             {
                 string displayName = _parameterMetaDataRepository.GetParameterMetaData(x.ToString(), ParameterMetaDataConstants.DisplayName);
                 string parameterMode = _parameterMetaDataRepository.GetParameterMetaData(x.ToString(), ParameterMetaDataConstants.User);
@@ -216,7 +216,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 {
                     bool controlAdded = false;
 
-                    string value = ((float)MainV2.comPort.param[x.Key]).ToString("0.###", CultureInfo.InvariantCulture);
+                    string value = ((float)MainV2.comPort.MAV.param[x.Key]).ToString("0.###", CultureInfo.InvariantCulture);
                     string description = _parameterMetaDataRepository.GetParameterMetaData(x.Key, ParameterMetaDataConstants.Description);
                     string displayName = x.Value + " (" + x.Key + ")";
                     string units = _parameterMetaDataRepository.GetParameterMetaData(x.Key, ParameterMetaDataConstants.Units);

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigHardwareOptions.cs

@@ -29,9 +29,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
 
             // backup current rate and set to 10 hz
-            byte backupratesens = MainV2.cs.ratesensors;
+            byte backupratesens = MainV2.comPort.MAV.cs.ratesensors;
-            MainV2.cs.ratesensors = 10;
+            MainV2.comPort.MAV.cs.ratesensors = 10;
-            MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // mag captures at 10 hz
+            MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // mag captures at 10 hz
 
             CustomMessageBox.Show("Data will be collected for 30 seconds, Please click ok and move the apm around all axises");
 
@@ -46,24 +46,24 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 // dont let the gui hang
                 Application.DoEvents();
 
-                if (oldmx != MainV2.cs.mx &&
+                if (oldmx != MainV2.comPort.MAV.cs.mx &&
-                    oldmy != MainV2.cs.my &&
+                    oldmy != MainV2.comPort.MAV.cs.my &&
-                    oldmz != MainV2.cs.mz)
+                    oldmz != MainV2.comPort.MAV.cs.mz)
                 {
                     data.Add(new Tuple<float, float, float>(
-                        MainV2.cs.mx - (float)MainV2.cs.mag_ofs_x,
+                        MainV2.comPort.MAV.cs.mx - (float)MainV2.comPort.MAV.cs.mag_ofs_x,
-                        MainV2.cs.my - (float)MainV2.cs.mag_ofs_y,
+                        MainV2.comPort.MAV.cs.my - (float)MainV2.comPort.MAV.cs.mag_ofs_y,
-                        MainV2.cs.mz - (float)MainV2.cs.mag_ofs_z));
+                        MainV2.comPort.MAV.cs.mz - (float)MainV2.comPort.MAV.cs.mag_ofs_z));
 
-                    oldmx = MainV2.cs.mx;
+                    oldmx = MainV2.comPort.MAV.cs.mx;
-                    oldmy = MainV2.cs.my;
+                    oldmy = MainV2.comPort.MAV.cs.my;
-                    oldmz = MainV2.cs.mz;
+                    oldmz = MainV2.comPort.MAV.cs.mz;
                 }
             }
 
             // restore old sensor rate
-            MainV2.cs.ratesensors = backupratesens;
+            MainV2.comPort.MAV.cs.ratesensors = backupratesens;
-            MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors);
+            MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
 
             if (data.Count < 10)
             {
@@ -98,7 +98,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["COMPASS_DEC"] == null)
+                if (MainV2.comPort.MAV.param["COMPASS_DEC"] == null)
                 {
                     CustomMessageBox.Show("Not Available");
                 }
@@ -148,7 +148,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["MAG_ENABLE"] == null)
+                if (MainV2.comPort.MAV.param["MAG_ENABLE"] == null)
                 {
                     CustomMessageBox.Show("Not Available");
                 }
@@ -166,7 +166,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["SONAR_ENABLE"] == null)
+                if (MainV2.comPort.MAV.param["SONAR_ENABLE"] == null)
                 {
                     CustomMessageBox.Show("Not Available");
                 }
@@ -184,9 +184,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["ARSPD_ENABLE"] == null)
+                if (MainV2.comPort.MAV.param["ARSPD_ENABLE"] == null)
                 {
-                    CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
+                    CustomMessageBox.Show("Not Available on " + MainV2.comPort.MAV.cs.firmware.ToString());
                 }
                 else
                 {
@@ -203,9 +203,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["FLOW_ENABLE"] == null)
+                if (MainV2.comPort.MAV.param["FLOW_ENABLE"] == null)
                 {
-                    CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
+                    CustomMessageBox.Show("Not Available on " + MainV2.comPort.MAV.cs.firmware.ToString());
                 }
                 else
                 {
@@ -221,9 +221,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["SONAR_TYPE"] == null)
+                if (MainV2.comPort.MAV.param["SONAR_TYPE"] == null)
                 {
-                    CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
+                    CustomMessageBox.Show("Not Available on " + MainV2.comPort.MAV.cs.firmware.ToString());
                 }
                 else
                 {
@@ -247,23 +247,23 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             startup = true;
 
-            CHK_airspeeduse.setup(1, 0, "ARSPD_USE", MainV2.comPort.param);
+            CHK_airspeeduse.setup(1, 0, "ARSPD_USE", MainV2.comPort.MAV.param);
-            CHK_enableairspeed.setup(1, 0, "ARSPD_ENABLE", MainV2.comPort.param);
+            CHK_enableairspeed.setup(1, 0, "ARSPD_ENABLE", MainV2.comPort.MAV.param);
-            CHK_enablecompass.setup(1, 0, "MAG_ENABLE", MainV2.comPort.param, TXT_declination);
+            CHK_enablecompass.setup(1, 0, "MAG_ENABLE", MainV2.comPort.MAV.param, TXT_declination);
-            CHK_enableoptflow.setup(1,0,"FLOW_ENABLE", MainV2.comPort.param);
+            CHK_enableoptflow.setup(1,0,"FLOW_ENABLE", MainV2.comPort.MAV.param);
-            CHK_enablesonar.setup(1, 0, "SONAR_ENABLE", MainV2.comPort.param, CMB_sonartype);
+            CHK_enablesonar.setup(1, 0, "SONAR_ENABLE", MainV2.comPort.MAV.param, CMB_sonartype);
 
-            if (MainV2.comPort.param["COMPASS_DEC"] != null)
+            if (MainV2.comPort.MAV.param["COMPASS_DEC"] != null)
             {
-                TXT_declination.Text = (float.Parse(MainV2.comPort.param["COMPASS_DEC"].ToString()) * rad2deg).ToString();
+                TXT_declination.Text = (float.Parse(MainV2.comPort.MAV.param["COMPASS_DEC"].ToString()) * rad2deg).ToString();
             }
-            if (MainV2.comPort.param["SONAR_TYPE"] != null)
+            if (MainV2.comPort.MAV.param["SONAR_TYPE"] != null)
             {
-                CMB_sonartype.SelectedIndex = int.Parse(MainV2.comPort.param["SONAR_TYPE"].ToString());
+                CMB_sonartype.SelectedIndex = int.Parse(MainV2.comPort.MAV.param["SONAR_TYPE"].ToString());
             }
-            if (MainV2.comPort.param["COMPASS_AUTODEC"] != null)
+            if (MainV2.comPort.MAV.param["COMPASS_AUTODEC"] != null)
             {
-                CHK_autodec.Checked = MainV2.comPort.param["COMPASS_AUTODEC"].ToString() == "1" ? true : false;
+                CHK_autodec.Checked = MainV2.comPort.MAV.param["COMPASS_AUTODEC"].ToString() == "1" ? true : false;
             }
 
             startup = false;
@@ -295,9 +295,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["COMPASS_AUTODEC"] == null)
+                if (MainV2.comPort.MAV.param["COMPASS_AUTODEC"] == null)
                 {
-                    CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
+                    CustomMessageBox.Show("Not Available on " + MainV2.comPort.MAV.cs.firmware.ToString());
                 }
                 else
                 {

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigMount.cs

@@ -22,19 +22,14 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         public ConfigMount()
         {
             InitializeComponent();
-            PBOX_WarningIcon.Opacity = 0.0F;
+
-            LBL_Error.Opacity = 0.0F;
 
             var delay = new Transition(new TransitionType_Linear(2000));
             var fadeIn = new Transition(new TransitionType_Linear(800));
-            fadeIn.add(PBOX_WarningIcon, "Opacity", 1.0F);
-            fadeIn.add(LBL_Error, "Opacity", 1.0F);
 
             _ErrorTransition = new[] { delay, fadeIn };
 
             _NoErrorTransition = new Transition(new TransitionType_Linear(10));
-            _NoErrorTransition.add(PBOX_WarningIcon, "Opacity", 0.0F);
-            _NoErrorTransition.add(LBL_Error, "Opacity", 0.0F);
 
             //setup button actions
             foreach (var btn in Controls.Cast<Control>().OfType<Button>())
@@ -45,7 +40,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             SetErrorMessageOpacity();
 
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+            comboBox1.Items.AddRange(Enum.GetNames(typeof(ChannelCameraShutter)));
+
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
             {
                 mavlinkComboBoxTilt.Items.AddRange(Enum.GetNames(typeof(Channelap)));
                 mavlinkComboBoxRoll.Items.AddRange(Enum.GetNames(typeof(Channelap)));
@@ -84,6 +81,19 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             RC11 = 1
         }
 
+        enum ChannelCameraShutter
+        {
+            Disable = 0,
+            RC5 = 5,
+            RC6 = 6,
+            RC7 = 7,
+            RC8 = 8,
+            RC10 = 10,
+            RC11 = 11,
+            Relay = 1,
+            Transistor = 4
+        }
+
         enum Channelinput
         {
             Disable = 0,
@@ -95,13 +105,13 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         public void Activate()
         {
-            Hashtable copy = new Hashtable(MainV2.comPort.param);
+            Hashtable copy = new Hashtable(MainV2.comPort.MAV.param);
 
             foreach (string item in copy.Keys)
             {
                 if (item.EndsWith("_FUNCTION"))
                 {
-                    switch (MainV2.comPort.param[item].ToString())
+                    switch (MainV2.comPort.MAV.param[item].ToString())
                     {
                         case "6":
                             mavlinkComboBoxPan.Text = item.Replace("_FUNCTION", "");
@@ -112,6 +122,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                         case "8":
                             mavlinkComboBoxRoll.Text = item.Replace("_FUNCTION", "");
                             break;
+                        case "10":
+                            comboBox1.Text = item.Replace("_FUNCTION", "");
+                            break;
                         default:
                             break;
                     }
@@ -122,25 +135,26 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             try
             {
+                updateShutter();
                 updatePitch();
                 updateRoll();
                 updateYaw();
 
-                CHK_stab_tilt.setup(1, 0, ParamHead+"STAB_TILT", MainV2.comPort.param);
+                CHK_stab_tilt.setup(1, 0, ParamHead+"STAB_TILT", MainV2.comPort.MAV.param);
-                CHK_stab_roll.setup(1, 0, ParamHead+"STAB_ROLL", MainV2.comPort.param);
+                CHK_stab_roll.setup(1, 0, ParamHead+"STAB_ROLL", MainV2.comPort.MAV.param);
-                CHK_stab_pan.setup(1, 0, ParamHead+"STAB_PAN", MainV2.comPort.param);
+                CHK_stab_pan.setup(1, 0, ParamHead+"STAB_PAN", MainV2.comPort.MAV.param);
 
-                NUD_CONTROL_x.setup(-180, 180, 100, 1, ParamHead+"CONTROL_X",MainV2.comPort.param);
+                NUD_CONTROL_x.setup(-180, 180, 100, 1, ParamHead+"CONTROL_X",MainV2.comPort.MAV.param);
-                NUD_CONTROL_y.setup(-180, 180, 100, 1, ParamHead+"CONTROL_Y", MainV2.comPort.param);
+                NUD_CONTROL_y.setup(-180, 180, 100, 1, ParamHead+"CONTROL_Y", MainV2.comPort.MAV.param);
-                NUD_CONTROL_z.setup(-180, 180, 100, 1, ParamHead+"CONTROL_Z", MainV2.comPort.param);
+                NUD_CONTROL_z.setup(-180, 180, 100, 1, ParamHead+"CONTROL_Z", MainV2.comPort.MAV.param);
 
-                NUD_NEUTRAL_x.setup(-180, 180, 100, 1, ParamHead+"NEUTRAL_X", MainV2.comPort.param);
+                NUD_NEUTRAL_x.setup(-180, 180, 100, 1, ParamHead+"NEUTRAL_X", MainV2.comPort.MAV.param);
-                NUD_NEUTRAL_y.setup(-180, 180, 100, 1, ParamHead+"NEUTRAL_Y", MainV2.comPort.param);
+                NUD_NEUTRAL_y.setup(-180, 180, 100, 1, ParamHead+"NEUTRAL_Y", MainV2.comPort.MAV.param);
-                NUD_NEUTRAL_z.setup(-180, 180, 100, 1, ParamHead+"NEUTRAL_Z", MainV2.comPort.param);
+                NUD_NEUTRAL_z.setup(-180, 180, 100, 1, ParamHead+"NEUTRAL_Z", MainV2.comPort.MAV.param);
 
-                NUD_RETRACT_x.setup(-180, 180, 100, 1, ParamHead+"RETRACT_X", MainV2.comPort.param);
+                NUD_RETRACT_x.setup(-180, 180, 100, 1, ParamHead+"RETRACT_X", MainV2.comPort.MAV.param);
-                NUD_RETRACT_y.setup(-180, 180, 100, 1, ParamHead+"RETRACT_Y", MainV2.comPort.param);
+                NUD_RETRACT_y.setup(-180, 180, 100, 1, ParamHead+"RETRACT_Y", MainV2.comPort.MAV.param);
-                NUD_RETRACT_z.setup(-180, 180, 100, 1, ParamHead+"RETRACT_Z", MainV2.comPort.param);
+                NUD_RETRACT_z.setup(-180, 180, 100, 1, ParamHead+"RETRACT_Z", MainV2.comPort.MAV.param);
             }
             catch (Exception ex) { CustomMessageBox.Show("Failed to set Param\n" + ex.ToString()); this.Enabled = false; return; }
         }
@@ -149,8 +163,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         {
             foreach (string item in cmb.Items) 
             {
-                if (MainV2.comPort.param.ContainsKey(item+"_FUNCTION")) {
+                if (MainV2.comPort.MAV.param.ContainsKey(item+"_FUNCTION")) {
-                    float ans = (float)MainV2.comPort.param[item+"_FUNCTION"];
+                    float ans = (float)MainV2.comPort.MAV.param[item+"_FUNCTION"];
 
                     if (item == exclude)
                         continue;
@@ -163,6 +177,47 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             }
         }
 
+        void updateShutter()
+        {
+            // shutter
+            if (comboBox1.Text == "")
+                return;
+
+            if (comboBox1.Text != "Disable")
+            {
+                if (comboBox1.Text == ChannelCameraShutter.Relay.ToString())
+                {
+                    ensureDisabled(comboBox1, 10);  
+                    MainV2.comPort.setParam("CAM_TRIGG_TYPE", 1);
+                }
+                else if (comboBox1.Text == ChannelCameraShutter.Transistor.ToString())
+                {
+                    ensureDisabled(comboBox1, 10);  
+                    MainV2.comPort.setParam("CAM_TRIGG_TYPE", 4);
+                }
+                else
+                {
+                    MainV2.comPort.setParam(comboBox1.Text + "_FUNCTION", 10);
+                    // servo
+                    MainV2.comPort.setParam("CAM_TRIGG_TYPE", 0);
+                }
+            }
+            else
+            {
+                // servo
+                MainV2.comPort.setParam("CAM_TRIGG_TYPE", 0);
+                ensureDisabled(comboBox1, 10);
+            }
+
+
+            mavlinkNumericUpDownShutM.setup(800, 2200, 1, 1, comboBox1.Text + "_MIN", MainV2.comPort.MAV.param);
+            mavlinkNumericUpDownShutMX.setup(800, 2200, 1, 1, comboBox1.Text + "_MAX", MainV2.comPort.MAV.param);
+
+            mavlinkNumericUpDown1.setup(800, 2200, 1, 1, "CAM_SERVO_OFF", MainV2.comPort.MAV.param);
+            mavlinkNumericUpDown2.setup(800, 2200, 1, 1, "CAM_SERVO_ON", MainV2.comPort.MAV.param);
+            mavlinkNumericUpDown5.setup(1, 200, 1, 1,  "CAM_DURATION", MainV2.comPort.MAV.param);
+        }
+
         void updatePitch()
         {
             // pitch
@@ -181,12 +236,12 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             }
             
 
-            mavlinkNumericUpDownTSM.setup(800, 2200, 1, 1, mavlinkComboBoxTilt.Text +"_MIN", MainV2.comPort.param);
+            mavlinkNumericUpDownTSM.setup(800, 2200, 1, 1, mavlinkComboBoxTilt.Text +"_MIN", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDownTSMX.setup(800, 2200, 1, 1, mavlinkComboBoxTilt.Text + "_MAX", MainV2.comPort.param);
+            mavlinkNumericUpDownTSMX.setup(800, 2200, 1, 1, mavlinkComboBoxTilt.Text + "_MAX", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDownTAM.setup(-90, 0, 100, 1, ParamHead+"ANGMIN_TIL", MainV2.comPort.param);
+            mavlinkNumericUpDownTAM.setup(-90, 0, 100, 1, ParamHead+"ANGMIN_TIL", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDownTAMX.setup(0, 90, 100, 1, ParamHead+"ANGMAX_TIL", MainV2.comPort.param);
+            mavlinkNumericUpDownTAMX.setup(0, 90, 100, 1, ParamHead+"ANGMAX_TIL", MainV2.comPort.MAV.param);
-            mavlinkCheckBoxTR.setup(-1, 1, mavlinkComboBoxTilt.Text + "_REV", MainV2.comPort.param);
+            mavlinkCheckBoxTR.setup(-1, 1, mavlinkComboBoxTilt.Text + "_REV", MainV2.comPort.MAV.param);
-            CMB_inputch_tilt.setup(typeof(Channelinput), ParamHead+"RC_IN_TILT", MainV2.comPort.param);
+            CMB_inputch_tilt.setup(typeof(Channelinput), ParamHead+"RC_IN_TILT", MainV2.comPort.MAV.param);
         }
 
         void updateRoll()
@@ -206,12 +261,12 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 ensureDisabled(mavlinkComboBoxRoll,8);
             }
 
-            mavlinkNumericUpDownRSM.setup(800, 2200, 1, 1, mavlinkComboBoxRoll.Text +"_MIN", MainV2.comPort.param);
+            mavlinkNumericUpDownRSM.setup(800, 2200, 1, 1, mavlinkComboBoxRoll.Text +"_MIN", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDownRSMX.setup(800, 2200, 1, 1, mavlinkComboBoxRoll.Text + "_MAX", MainV2.comPort.param);
+            mavlinkNumericUpDownRSMX.setup(800, 2200, 1, 1, mavlinkComboBoxRoll.Text + "_MAX", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDownRAM.setup(-90, 0, 100, 1, ParamHead+"ANGMIN_ROL", MainV2.comPort.param);
+            mavlinkNumericUpDownRAM.setup(-90, 0, 100, 1, ParamHead+"ANGMIN_ROL", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDownRAMX.setup(0, 90, 100, 1, ParamHead+"ANGMAX_ROL", MainV2.comPort.param);
+            mavlinkNumericUpDownRAMX.setup(0, 90, 100, 1, ParamHead+"ANGMAX_ROL", MainV2.comPort.MAV.param);
-            mavlinkCheckBoxRR.setup(-1, 1, mavlinkComboBoxRoll.Text + "_REV", MainV2.comPort.param);
+            mavlinkCheckBoxRR.setup(-1, 1, mavlinkComboBoxRoll.Text + "_REV", MainV2.comPort.MAV.param);
-            CMB_inputch_roll.setup(typeof(Channelinput), ParamHead+"RC_IN_ROLL", MainV2.comPort.param);
+            CMB_inputch_roll.setup(typeof(Channelinput), ParamHead+"RC_IN_ROLL", MainV2.comPort.MAV.param);
         }
 
         void updateYaw()
@@ -231,12 +286,12 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 ensureDisabled(mavlinkComboBoxPan,6);
             }
 
-            mavlinkNumericUpDownPSM.setup(800, 2200, 1, 1, mavlinkComboBoxPan.Text + "_MIN", MainV2.comPort.param);
+            mavlinkNumericUpDownPSM.setup(800, 2200, 1, 1, mavlinkComboBoxPan.Text + "_MIN", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDownPSMX.setup(800, 2200, 1, 1, mavlinkComboBoxPan.Text + "_MAX", MainV2.comPort.param);
+            mavlinkNumericUpDownPSMX.setup(800, 2200, 1, 1, mavlinkComboBoxPan.Text + "_MAX", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDownPAM.setup(-90, 0, 100, 1, ParamHead+"ANGMIN_PAN", MainV2.comPort.param);
+            mavlinkNumericUpDownPAM.setup(-90, 0, 100, 1, ParamHead+"ANGMIN_PAN", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDownPAMX.setup(0, 90, 100, 1, ParamHead+"ANGMAX_PAN", MainV2.comPort.param);
+            mavlinkNumericUpDownPAMX.setup(0, 90, 100, 1, ParamHead+"ANGMAX_PAN", MainV2.comPort.MAV.param);
-            mavlinkCheckBoxPR.setup(-1, 1, mavlinkComboBoxPan.Text + "_REV", MainV2.comPort.param);
+            mavlinkCheckBoxPR.setup(-1, 1, mavlinkComboBoxPan.Text + "_REV", MainV2.comPort.MAV.param);
-            CMB_inputch_pan.setup(typeof(Channelinput), ParamHead+"RC_IN_PAN", MainV2.comPort.param);
+            CMB_inputch_pan.setup(typeof(Channelinput), ParamHead+"RC_IN_PAN", MainV2.comPort.MAV.param);
         }
 
         private void SetErrorMessageOpacity()
@@ -311,9 +366,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 ensureDisabled(cmb, 8, mavlinkComboBoxRoll.Text);
 
                 // enable 3 axis stabilize
-                if (MainV2.comPort.param.ContainsKey(ParamHead+"MODE"))
+                if (MainV2.comPort.MAV.param.ContainsKey(ParamHead+"MODE"))
                     MainV2.comPort.setParam(ParamHead+"MODE", 3);
 
+                updateShutter();
                 updatePitch();
                 updateRoll();
                 updateYaw();

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigMount.designer.cs

@@ -84,8 +84,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             this.mavlinkNumericUpDownRSM = new ArdupilotMega.Controls.MavlinkNumericUpDown();
             this.mavlinkNumericUpDownRSMX = new ArdupilotMega.Controls.MavlinkNumericUpDown();
             this.mavlinkCheckBoxRR = new ArdupilotMega.Controls.MavlinkCheckBox();
-            this.LBL_Error = new ArdupilotMega.Controls.LabelWithPseudoOpacity();
-            this.PBOX_WarningIcon = new ArdupilotMega.Controls.PictureBoxWithPseudoOpacity();
             this.groupBox4 = new System.Windows.Forms.GroupBox();
             this.label27 = new System.Windows.Forms.Label();
             this.NUD_RETRACT_z = new ArdupilotMega.Controls.MavlinkNumericUpDown();
@@ -110,6 +108,23 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             this.CHK_stab_tilt = new ArdupilotMega.Controls.MavlinkCheckBox();
             this.CHK_stab_roll = new ArdupilotMega.Controls.MavlinkCheckBox();
             this.CHK_stab_pan = new ArdupilotMega.Controls.MavlinkCheckBox();
+            this.comboBox1 = new System.Windows.Forms.ComboBox();
+            this.label35 = new System.Windows.Forms.Label();
+            this.label36 = new System.Windows.Forms.Label();
+            this.label37 = new System.Windows.Forms.Label();
+            this.label38 = new System.Windows.Forms.Label();
+            this.mavlinkNumericUpDown1 = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.mavlinkNumericUpDown2 = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.label39 = new System.Windows.Forms.Label();
+            this.label40 = new System.Windows.Forms.Label();
+            this.mavlinkNumericUpDownShutM = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.mavlinkNumericUpDownShutMX = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.label41 = new System.Windows.Forms.Label();
+            this.groupBox7 = new System.Windows.Forms.GroupBox();
+            this.pictureBox4 = new System.Windows.Forms.PictureBox();
+            this.label34 = new System.Windows.Forms.Label();
+            this.mavlinkNumericUpDown5 = new ArdupilotMega.Controls.MavlinkNumericUpDown();
+            this.label42 = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox3)).BeginInit();
@@ -125,7 +140,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownRAMX)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownRSM)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownRSMX)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.PBOX_WarningIcon)).BeginInit();
             this.groupBox4.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.NUD_RETRACT_z)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.NUD_RETRACT_y)).BeginInit();
@@ -138,6 +152,12 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             ((System.ComponentModel.ISupportInitialize)(this.NUD_CONTROL_z)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.NUD_CONTROL_y)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.NUD_CONTROL_x)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown1)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown2)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownShutM)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownShutMX)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBox4)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown5)).BeginInit();
             this.SuspendLayout();
             // 
             // pictureBox1
@@ -170,13 +190,11 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             // label5
             // 
             resources.ApplyResources(this.label5, "label5");
-            this.label5.ForeColor = System.Drawing.Color.WhiteSmoke;
             this.label5.Name = "label5";
             // 
             // label6
             // 
             resources.ApplyResources(this.label6, "label6");
-            this.label6.ForeColor = System.Drawing.Color.WhiteSmoke;
             this.label6.Name = "label6";
             // 
             // LNK_wiki
@@ -191,7 +209,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             // label15
             // 
             resources.ApplyResources(this.label15, "label15");
-            this.label15.ForeColor = System.Drawing.Color.WhiteSmoke;
             this.label15.Name = "label15";
             // 
             // groupBox3
@@ -741,21 +758,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             this.mavlinkCheckBoxRR.ParamName = null;
             this.mavlinkCheckBoxRR.UseVisualStyleBackColor = true;
             // 
-            // LBL_Error
-            // 
-            resources.ApplyResources(this.LBL_Error, "LBL_Error");
-            this.LBL_Error.DoubleBuffered = true;
-            this.LBL_Error.ForeColor = System.Drawing.Color.WhiteSmoke;
-            this.LBL_Error.Name = "LBL_Error";
-            // 
-            // PBOX_WarningIcon
-            // 
-            resources.ApplyResources(this.PBOX_WarningIcon, "PBOX_WarningIcon");
-            this.PBOX_WarningIcon.Image = global::ArdupilotMega.Properties.Resources.iconWarning32;
-            this.PBOX_WarningIcon.Name = "PBOX_WarningIcon";
-            this.PBOX_WarningIcon.Opacity = 0.5F;
-            this.PBOX_WarningIcon.TabStop = false;
-            // 
             // groupBox4
             // 
             this.groupBox4.Controls.Add(this.label27);
@@ -1083,9 +1085,226 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             this.CHK_stab_pan.ParamName = null;
             this.CHK_stab_pan.UseVisualStyleBackColor = true;
             // 
+            // comboBox1
+            // 
+            this.comboBox1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.comboBox1.FormattingEnabled = true;
+            resources.ApplyResources(this.comboBox1, "comboBox1");
+            this.comboBox1.Name = "comboBox1";
+            this.comboBox1.SelectedIndexChanged += new System.EventHandler(this.mavlinkComboBox_SelectedIndexChanged);
+            // 
+            // label35
+            // 
+            resources.ApplyResources(this.label35, "label35");
+            this.label35.Name = "label35";
+            // 
+            // label36
+            // 
+            resources.ApplyResources(this.label36, "label36");
+            this.label36.Name = "label36";
+            // 
+            // label37
+            // 
+            resources.ApplyResources(this.label37, "label37");
+            this.label37.Name = "label37";
+            // 
+            // label38
+            // 
+            resources.ApplyResources(this.label38, "label38");
+            this.label38.Name = "label38";
+            // 
+            // mavlinkNumericUpDown1
+            // 
+            resources.ApplyResources(this.mavlinkNumericUpDown1, "mavlinkNumericUpDown1");
+            this.mavlinkNumericUpDown1.Increment = new decimal(new int[] {
+            10,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDown1.Max = 1F;
+            this.mavlinkNumericUpDown1.Maximum = new decimal(new int[] {
+            2200,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDown1.Min = 0F;
+            this.mavlinkNumericUpDown1.Name = "mavlinkNumericUpDown1";
+            this.mavlinkNumericUpDown1.param = null;
+            this.mavlinkNumericUpDown1.ParamName = null;
+            this.mavlinkNumericUpDown1.Value = new decimal(new int[] {
+            1000,
+            0,
+            0,
+            0});
+            // 
+            // mavlinkNumericUpDown2
+            // 
+            resources.ApplyResources(this.mavlinkNumericUpDown2, "mavlinkNumericUpDown2");
+            this.mavlinkNumericUpDown2.Increment = new decimal(new int[] {
+            10,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDown2.Max = 1F;
+            this.mavlinkNumericUpDown2.Maximum = new decimal(new int[] {
+            2200,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDown2.Min = 0F;
+            this.mavlinkNumericUpDown2.Minimum = new decimal(new int[] {
+            800,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDown2.Name = "mavlinkNumericUpDown2";
+            this.mavlinkNumericUpDown2.param = null;
+            this.mavlinkNumericUpDown2.ParamName = null;
+            this.mavlinkNumericUpDown2.Value = new decimal(new int[] {
+            2000,
+            0,
+            0,
+            0});
+            // 
+            // label39
+            // 
+            resources.ApplyResources(this.label39, "label39");
+            this.label39.Name = "label39";
+            // 
+            // label40
+            // 
+            resources.ApplyResources(this.label40, "label40");
+            this.label40.Name = "label40";
+            // 
+            // mavlinkNumericUpDownShutM
+            // 
+            resources.ApplyResources(this.mavlinkNumericUpDownShutM, "mavlinkNumericUpDownShutM");
+            this.mavlinkNumericUpDownShutM.Increment = new decimal(new int[] {
+            10,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDownShutM.Max = 1F;
+            this.mavlinkNumericUpDownShutM.Maximum = new decimal(new int[] {
+            2200,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDownShutM.Min = 0F;
+            this.mavlinkNumericUpDownShutM.Minimum = new decimal(new int[] {
+            800,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDownShutM.Name = "mavlinkNumericUpDownShutM";
+            this.mavlinkNumericUpDownShutM.param = null;
+            this.mavlinkNumericUpDownShutM.ParamName = null;
+            this.mavlinkNumericUpDownShutM.Value = new decimal(new int[] {
+            1000,
+            0,
+            0,
+            0});
+            // 
+            // mavlinkNumericUpDownShutMX
+            // 
+            resources.ApplyResources(this.mavlinkNumericUpDownShutMX, "mavlinkNumericUpDownShutMX");
+            this.mavlinkNumericUpDownShutMX.Increment = new decimal(new int[] {
+            10,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDownShutMX.Max = 1F;
+            this.mavlinkNumericUpDownShutMX.Maximum = new decimal(new int[] {
+            2200,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDownShutMX.Min = 0F;
+            this.mavlinkNumericUpDownShutMX.Minimum = new decimal(new int[] {
+            800,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDownShutMX.Name = "mavlinkNumericUpDownShutMX";
+            this.mavlinkNumericUpDownShutMX.param = null;
+            this.mavlinkNumericUpDownShutMX.ParamName = null;
+            this.mavlinkNumericUpDownShutMX.Value = new decimal(new int[] {
+            2000,
+            0,
+            0,
+            0});
+            // 
+            // label41
+            // 
+            resources.ApplyResources(this.label41, "label41");
+            this.label41.Name = "label41";
+            // 
+            // groupBox7
+            // 
+            resources.ApplyResources(this.groupBox7, "groupBox7");
+            this.groupBox7.Name = "groupBox7";
+            this.groupBox7.TabStop = false;
+            // 
+            // pictureBox4
+            // 
+            this.pictureBox4.BackgroundImage = global::ArdupilotMega.Properties.Resources.cameraGimalYaw;
+            resources.ApplyResources(this.pictureBox4, "pictureBox4");
+            this.pictureBox4.Name = "pictureBox4";
+            this.pictureBox4.TabStop = false;
+            // 
+            // label34
+            // 
+            resources.ApplyResources(this.label34, "label34");
+            this.label34.Name = "label34";
+            // 
+            // mavlinkNumericUpDown5
+            // 
+            resources.ApplyResources(this.mavlinkNumericUpDown5, "mavlinkNumericUpDown5");
+            this.mavlinkNumericUpDown5.Increment = new decimal(new int[] {
+            10,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDown5.Max = 1F;
+            this.mavlinkNumericUpDown5.Min = 0F;
+            this.mavlinkNumericUpDown5.Minimum = new decimal(new int[] {
+            1,
+            0,
+            0,
+            0});
+            this.mavlinkNumericUpDown5.Name = "mavlinkNumericUpDown5";
+            this.mavlinkNumericUpDown5.param = null;
+            this.mavlinkNumericUpDown5.ParamName = null;
+            this.mavlinkNumericUpDown5.Value = new decimal(new int[] {
+            20,
+            0,
+            0,
+            0});
+            // 
+            // label42
+            // 
+            resources.ApplyResources(this.label42, "label42");
+            this.label42.Name = "label42";
+            // 
             // ConfigMount
             // 
-            this.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(43)))), ((int)(((byte)(44)))), ((int)(((byte)(45)))));
+            this.Controls.Add(this.label42);
+            this.Controls.Add(this.label34);
+            this.Controls.Add(this.mavlinkNumericUpDown5);
+            this.Controls.Add(this.comboBox1);
+            this.Controls.Add(this.label35);
+            this.Controls.Add(this.label36);
+            this.Controls.Add(this.label37);
+            this.Controls.Add(this.label38);
+            this.Controls.Add(this.mavlinkNumericUpDown1);
+            this.Controls.Add(this.mavlinkNumericUpDown2);
+            this.Controls.Add(this.label39);
+            this.Controls.Add(this.label40);
+            this.Controls.Add(this.mavlinkNumericUpDownShutM);
+            this.Controls.Add(this.mavlinkNumericUpDownShutMX);
+            this.Controls.Add(this.label41);
+            this.Controls.Add(this.groupBox7);
+            this.Controls.Add(this.pictureBox4);
             this.Controls.Add(this.CHK_stab_pan);
             this.Controls.Add(this.CHK_stab_roll);
             this.Controls.Add(this.CHK_stab_tilt);
@@ -1138,8 +1357,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             this.Controls.Add(this.groupBox3);
             this.Controls.Add(this.pictureBox3);
             this.Controls.Add(this.LNK_wiki);
-            this.Controls.Add(this.LBL_Error);
-            this.Controls.Add(this.PBOX_WarningIcon);
             this.Controls.Add(this.label6);
             this.Controls.Add(this.label5);
             this.Controls.Add(this.groupBox2);
@@ -1163,7 +1380,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownRAMX)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownRSM)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownRSMX)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.PBOX_WarningIcon)).EndInit();
             this.groupBox4.ResumeLayout(false);
             this.groupBox4.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.NUD_RETRACT_z)).EndInit();
@@ -1179,6 +1395,12 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             ((System.ComponentModel.ISupportInitialize)(this.NUD_CONTROL_z)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.NUD_CONTROL_y)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.NUD_CONTROL_x)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown1)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown2)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownShutM)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDownShutMX)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBox4)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.mavlinkNumericUpDown5)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -1192,8 +1414,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         private System.Windows.Forms.GroupBox groupBox2;
         private System.Windows.Forms.Label label6;
         private System.Windows.Forms.Label label5;
-        private PictureBoxWithPseudoOpacity PBOX_WarningIcon;
-        private LabelWithPseudoOpacity LBL_Error;
         private System.Windows.Forms.LinkLabel LNK_wiki;
         private System.Windows.Forms.Label label15;
         private System.Windows.Forms.GroupBox groupBox3;
@@ -1264,6 +1484,23 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         private MavlinkCheckBox CHK_stab_tilt;
         private MavlinkCheckBox CHK_stab_roll;
         private MavlinkCheckBox CHK_stab_pan;
+        private System.Windows.Forms.ComboBox comboBox1;
+        private System.Windows.Forms.Label label35;
+        private System.Windows.Forms.Label label36;
+        private System.Windows.Forms.Label label37;
+        private System.Windows.Forms.Label label38;
+        private MavlinkNumericUpDown mavlinkNumericUpDown1;
+        private MavlinkNumericUpDown mavlinkNumericUpDown2;
+        private System.Windows.Forms.Label label39;
+        private System.Windows.Forms.Label label40;
+        private MavlinkNumericUpDown mavlinkNumericUpDownShutM;
+        private MavlinkNumericUpDown mavlinkNumericUpDownShutMX;
+        private System.Windows.Forms.Label label41;
+        private System.Windows.Forms.GroupBox groupBox7;
+        private System.Windows.Forms.PictureBox pictureBox4;
+        private System.Windows.Forms.Label label34;
+        private MavlinkNumericUpDown mavlinkNumericUpDown5;
+        private System.Windows.Forms.Label label42;
 
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigPlanner.cs

@@ -332,10 +332,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             if (startup)
                 return;
             MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
-            MainV2.cs.rateattitude = byte.Parse(((ComboBox)sender).Text);
+            MainV2.comPort.MAV.cs.rateattitude = byte.Parse(((ComboBox)sender).Text);
 
-            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.cs.rateattitude); // request attitude
+            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.comPort.MAV.cs.rateattitude); // request attitude
-            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.cs.rateattitude); // request vfr
+            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.comPort.MAV.cs.rateattitude); // request vfr
         }
 
         private void CMB_rateposition_SelectedIndexChanged(object sender, EventArgs e)
@@ -343,9 +343,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             if (startup)
                 return;
             MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
-            MainV2.cs.rateposition = byte.Parse(((ComboBox)sender).Text);
+            MainV2.comPort.MAV.cs.rateposition = byte.Parse(((ComboBox)sender).Text);
 
-            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.cs.rateposition); // request gps
+            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.comPort.MAV.cs.rateposition); // request gps
         }
 
         private void CMB_ratestatus_SelectedIndexChanged(object sender, EventArgs e)
@@ -353,9 +353,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             if (startup)
                 return;
             MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
-            MainV2.cs.ratestatus = byte.Parse(((ComboBox)sender).Text);
+            MainV2.comPort.MAV.cs.ratestatus = byte.Parse(((ComboBox)sender).Text);
 
-            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.cs.ratestatus); // mode
+            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.comPort.MAV.cs.ratestatus); // mode
         }
 
         private void CMB_raterc_SelectedIndexChanged(object sender, EventArgs e)
@@ -363,9 +363,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             if (startup)
                 return;
             MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
-            MainV2.cs.raterc = byte.Parse(((ComboBox)sender).Text);
+            MainV2.comPort.MAV.cs.raterc = byte.Parse(((ComboBox)sender).Text);
 
-            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.cs.raterc); // request rc info 
+            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.comPort.MAV.cs.raterc); // request rc info 
         }
 
         private void CMB_ratesensors_SelectedIndexChanged(object sender, EventArgs e)
@@ -373,10 +373,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             if (startup)
                 return;
             MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
-            MainV2.cs.ratesensors = byte.Parse(((ComboBox)sender).Text);
+            MainV2.comPort.MAV.cs.ratesensors = byte.Parse(((ComboBox)sender).Text);
 
-            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.cs.ratesensors); // request extra stuff - tridge
+            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.comPort.MAV.cs.ratesensors); // request extra stuff - tridge
-            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
+            MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // request raw sensor
         }
 
         private void CHK_mavdebug_CheckedChanged(object sender, EventArgs e)
@@ -407,7 +407,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 if (MainV2.config["speechaltheight"] != null)
                     speechstring = MainV2.config["speechaltheight"].ToString();
                 Common.InputBox("Min Alt", "What altitude do you want to warn at? (relative to home)", ref speechstring);
-                MainV2.config["speechaltheight"] = (double.Parse(speechstring) / MainV2.cs.multiplierdist).ToString(); // save as m
+                MainV2.config["speechaltheight"] = (double.Parse(speechstring) / MainV2.comPort.MAV.cs.multiplierdist).ToString(); // save as m
 
             }
         }
@@ -555,11 +555,11 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             // setup other config state
             SetCheckboxFromConfig("CHK_resetapmonconnect", CHK_resetapmonconnect);
 
-            CMB_rateattitude.Text = MainV2.cs.rateattitude.ToString();
+            CMB_rateattitude.Text = MainV2.comPort.MAV.cs.rateattitude.ToString();
-            CMB_rateposition.Text = MainV2.cs.rateposition.ToString();
+            CMB_rateposition.Text = MainV2.comPort.MAV.cs.rateposition.ToString();
-            CMB_raterc.Text = MainV2.cs.raterc.ToString();
+            CMB_raterc.Text = MainV2.comPort.MAV.cs.raterc.ToString();
-            CMB_ratestatus.Text = MainV2.cs.ratestatus.ToString();
+            CMB_ratestatus.Text = MainV2.comPort.MAV.cs.ratestatus.ToString();
-            CMB_ratesensors.Text = MainV2.cs.ratesensors.ToString();
+            CMB_ratesensors.Text = MainV2.comPort.MAV.cs.ratesensors.ToString();
 
             SetCheckboxFromConfig("CHK_GDIPlus", CHK_GDIPlus);
             SetCheckboxFromConfig("CHK_maprotation", CHK_maprotation);

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRadioInput.cs

@@ -48,7 +48,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             // update all linked controls - 10hz
             try
             {
-                MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
+                MainV2.comPort.MAV.cs.UpdateCurrentSettings(currentStateBindingSource);
             }
             catch { }
         }
@@ -61,14 +61,14 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             startup = true;
 
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
             {
                 try
                 {
-                    CHK_mixmode.Checked = MainV2.comPort.param["ELEVON_MIXING"].ToString() == "1";
+                    CHK_mixmode.Checked = MainV2.comPort.MAV.param["ELEVON_MIXING"].ToString() == "1";
-                    CHK_elevonrev.Checked = MainV2.comPort.param["ELEVON_REVERSE"].ToString() == "1";
+                    CHK_elevonrev.Checked = MainV2.comPort.MAV.param["ELEVON_REVERSE"].ToString() == "1";
-                    CHK_elevonch1rev.Checked = MainV2.comPort.param["ELEVON_CH1_REV"].ToString() == "1";
+                    CHK_elevonch1rev.Checked = MainV2.comPort.MAV.param["ELEVON_CH1_REV"].ToString() == "1";
-                    CHK_elevonch2rev.Checked = MainV2.comPort.param["ELEVON_CH2_REV"].ToString() == "1";
+                    CHK_elevonch2rev.Checked = MainV2.comPort.MAV.param["ELEVON_CH2_REV"].ToString() == "1";
                 }
                 catch { } // this will fail on arducopter
             }
@@ -76,7 +76,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             {
                 groupBoxElevons.Visible = false;
 
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
                 {
                     CHK_revch1.Visible = false;
                     CHK_revch2.Visible = false;
@@ -86,10 +86,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             }
             try
             {
-                CHK_revch1.Checked = MainV2.comPort.param["RC1_REV"].ToString() == "-1";
+                CHK_revch1.Checked = MainV2.comPort.MAV.param["RC1_REV"].ToString() == "-1";
-                CHK_revch2.Checked = MainV2.comPort.param["RC2_REV"].ToString() == "-1";
+                CHK_revch2.Checked = MainV2.comPort.MAV.param["RC2_REV"].ToString() == "-1";
-                CHK_revch3.Checked = MainV2.comPort.param["RC3_REV"].ToString() == "-1";
+                CHK_revch3.Checked = MainV2.comPort.MAV.param["RC3_REV"].ToString() == "-1";
-                CHK_revch4.Checked = MainV2.comPort.param["RC4_REV"].ToString() == "-1";
+                CHK_revch4.Checked = MainV2.comPort.MAV.param["RC4_REV"].ToString() == "-1";
             }
             catch {}//(Exception ex) { CustomMessageBox.Show("Missing RC rev Param " + ex.ToString()); }
             startup = false;
@@ -106,15 +106,15 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             CustomMessageBox.Show("Ensure your transmitter is on and receiver is powered and connected\nEnsure your motor does not have power/no props!!!");
 
-            byte oldrc = MainV2.cs.raterc;
+            byte oldrc = MainV2.comPort.MAV.cs.raterc;
-            byte oldatt = MainV2.cs.rateattitude;
+            byte oldatt = MainV2.comPort.MAV.cs.rateattitude;
-            byte oldpos = MainV2.cs.rateposition;
+            byte oldpos = MainV2.comPort.MAV.cs.rateposition;
-            byte oldstatus = MainV2.cs.ratestatus;
+            byte oldstatus = MainV2.comPort.MAV.cs.ratestatus;
 
-            MainV2.cs.raterc = 10;
+            MainV2.comPort.MAV.cs.raterc = 10;
-            MainV2.cs.rateattitude = 0;
+            MainV2.comPort.MAV.cs.rateattitude = 0;
-            MainV2.cs.rateposition = 0;
+            MainV2.comPort.MAV.cs.rateposition = 0;
-            MainV2.cs.ratestatus = 0;
+            MainV2.comPort.MAV.cs.ratestatus = 0;
 
             try
             {
@@ -135,34 +135,34 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                 System.Threading.Thread.Sleep(5);
 
-                MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
+                MainV2.comPort.MAV.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
 
                 // check for non 0 values
-                if (MainV2.cs.ch1in > 800 && MainV2.cs.ch1in < 2200)
+                if (MainV2.comPort.MAV.cs.ch1in > 800 && MainV2.comPort.MAV.cs.ch1in < 2200)
                 {
-                    rcmin[0] = Math.Min(rcmin[0], MainV2.cs.ch1in);
+                    rcmin[0] = Math.Min(rcmin[0], MainV2.comPort.MAV.cs.ch1in);
-                    rcmax[0] = Math.Max(rcmax[0], MainV2.cs.ch1in);
+                    rcmax[0] = Math.Max(rcmax[0], MainV2.comPort.MAV.cs.ch1in);
 
-                    rcmin[1] = Math.Min(rcmin[1], MainV2.cs.ch2in);
+                    rcmin[1] = Math.Min(rcmin[1], MainV2.comPort.MAV.cs.ch2in);
-                    rcmax[1] = Math.Max(rcmax[1], MainV2.cs.ch2in);
+                    rcmax[1] = Math.Max(rcmax[1], MainV2.comPort.MAV.cs.ch2in);
 
-                    rcmin[2] = Math.Min(rcmin[2], MainV2.cs.ch3in);
+                    rcmin[2] = Math.Min(rcmin[2], MainV2.comPort.MAV.cs.ch3in);
-                    rcmax[2] = Math.Max(rcmax[2], MainV2.cs.ch3in);
+                    rcmax[2] = Math.Max(rcmax[2], MainV2.comPort.MAV.cs.ch3in);
 
-                    rcmin[3] = Math.Min(rcmin[3], MainV2.cs.ch4in);
+                    rcmin[3] = Math.Min(rcmin[3], MainV2.comPort.MAV.cs.ch4in);
-                    rcmax[3] = Math.Max(rcmax[3], MainV2.cs.ch4in);
+                    rcmax[3] = Math.Max(rcmax[3], MainV2.comPort.MAV.cs.ch4in);
 
-                    rcmin[4] = Math.Min(rcmin[4], MainV2.cs.ch5in);
+                    rcmin[4] = Math.Min(rcmin[4], MainV2.comPort.MAV.cs.ch5in);
-                    rcmax[4] = Math.Max(rcmax[4], MainV2.cs.ch5in);
+                    rcmax[4] = Math.Max(rcmax[4], MainV2.comPort.MAV.cs.ch5in);
 
-                    rcmin[5] = Math.Min(rcmin[5], MainV2.cs.ch6in);
+                    rcmin[5] = Math.Min(rcmin[5], MainV2.comPort.MAV.cs.ch6in);
-                    rcmax[5] = Math.Max(rcmax[5], MainV2.cs.ch6in);
+                    rcmax[5] = Math.Max(rcmax[5], MainV2.comPort.MAV.cs.ch6in);
 
-                    rcmin[6] = Math.Min(rcmin[6], MainV2.cs.ch7in);
+                    rcmin[6] = Math.Min(rcmin[6], MainV2.comPort.MAV.cs.ch7in);
-                    rcmax[6] = Math.Max(rcmax[6], MainV2.cs.ch7in);
+                    rcmax[6] = Math.Max(rcmax[6], MainV2.comPort.MAV.cs.ch7in);
 
-                    rcmin[7] = Math.Min(rcmin[7], MainV2.cs.ch8in);
+                    rcmin[7] = Math.Min(rcmin[7], MainV2.comPort.MAV.cs.ch8in);
-                    rcmax[7] = Math.Max(rcmax[7], MainV2.cs.ch8in);
+                    rcmax[7] = Math.Max(rcmax[7], MainV2.comPort.MAV.cs.ch8in);
 
                     BARroll.minline = (int)rcmin[0];
                     BARroll.maxline = (int)rcmax[0];
@@ -193,16 +193,16 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             CustomMessageBox.Show("Ensure all your sticks are centered and throttle is down, and click ok to continue");
 
-            MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
+            MainV2.comPort.MAV.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
 
-            rctrim[0] = MainV2.cs.ch1in;
+            rctrim[0] = MainV2.comPort.MAV.cs.ch1in;
-            rctrim[1] = MainV2.cs.ch2in;
+            rctrim[1] = MainV2.comPort.MAV.cs.ch2in;
-            rctrim[2] = MainV2.cs.ch3in;
+            rctrim[2] = MainV2.comPort.MAV.cs.ch3in;
-            rctrim[3] = MainV2.cs.ch4in;
+            rctrim[3] = MainV2.comPort.MAV.cs.ch4in;
-            rctrim[4] = MainV2.cs.ch5in;
+            rctrim[4] = MainV2.comPort.MAV.cs.ch5in;
-            rctrim[5] = MainV2.cs.ch6in;
+            rctrim[5] = MainV2.comPort.MAV.cs.ch6in;
-            rctrim[6] = MainV2.cs.ch7in;
+            rctrim[6] = MainV2.comPort.MAV.cs.ch7in;
-            rctrim[7] = MainV2.cs.ch8in;
+            rctrim[7] = MainV2.comPort.MAV.cs.ch8in;
 
             string data = "---------------\n";
 
@@ -225,10 +225,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 data = data + "CH" + (a + 1) + " " + rcmin[a] + " | " + rcmax[a] + "\n";
             }
 
-            MainV2.cs.raterc = oldrc;
+            MainV2.comPort.MAV.cs.raterc = oldrc;
-            MainV2.cs.rateattitude = oldatt;
+            MainV2.comPort.MAV.cs.rateattitude = oldatt;
-            MainV2.cs.rateposition = oldpos;
+            MainV2.comPort.MAV.cs.rateposition = oldpos;
-            MainV2.cs.ratestatus = oldstatus;
+            MainV2.comPort.MAV.cs.ratestatus = oldstatus;
 
             try
             {
@@ -249,9 +249,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["ELEVON_MIXING"] == null)
+                if (MainV2.comPort.MAV.param["ELEVON_MIXING"] == null)
                 {
-                    CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
+                    CustomMessageBox.Show("Not Available on " + MainV2.comPort.MAV.cs.firmware.ToString());
                 }
                 else
                 {
@@ -267,9 +267,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["ELEVON_REVERSE"] == null)
+                if (MainV2.comPort.MAV.param["ELEVON_REVERSE"] == null)
                 {
-                    CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
+                    CustomMessageBox.Show("Not Available on " + MainV2.comPort.MAV.cs.firmware.ToString());
                 }
                 else
                 {
@@ -285,9 +285,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["ELEVON_CH1_REV"] == null)
+                if (MainV2.comPort.MAV.param["ELEVON_CH1_REV"] == null)
                 {
-                    CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
+                    CustomMessageBox.Show("Not Available on " + MainV2.comPort.MAV.cs.firmware.ToString());
                 }
                 else
                 {
@@ -303,9 +303,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["ELEVON_CH2_REV"] == null)
+                if (MainV2.comPort.MAV.param["ELEVON_CH2_REV"] == null)
                 {
-                    CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
+                    CustomMessageBox.Show("Not Available on " + MainV2.comPort.MAV.cs.firmware.ToString());
                 }
                 else
                 {
@@ -352,7 +352,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             if (startup)
                 return;
-            if (MainV2.comPort.param["SWITCH_ENABLE"] != null && (float)MainV2.comPort.param["SWITCH_ENABLE"] == 1)
+            if (MainV2.comPort.MAV.param["SWITCH_ENABLE"] != null && (float)MainV2.comPort.MAV.param["SWITCH_ENABLE"] == 1)
             {
                 try
                 {

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

@@ -31,6 +31,7 @@
             this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(ConfigRawParams));
             System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
             System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
             this.BUT_compare = new ArdupilotMega.Controls.MyButton();
             this.BUT_rerequestparams = new ArdupilotMega.Controls.MyButton();
@@ -38,11 +39,13 @@
             this.BUT_save = new ArdupilotMega.Controls.MyButton();
             this.BUT_load = new ArdupilotMega.Controls.MyButton();
             this.Params = new System.Windows.Forms.DataGridView();
-            this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
-            this.label1 = new System.Windows.Forms.Label();
             this.Command = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Value = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Units = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Options = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Desc = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
+            this.label1 = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
             this.SuspendLayout();
             // 
@@ -86,6 +89,7 @@
             this.Params.AllowUserToAddRows = false;
             this.Params.AllowUserToDeleteRows = false;
             resources.ApplyResources(this.Params, "Params");
+            this.Params.AutoSizeRowsMode = System.Windows.Forms.DataGridViewAutoSizeRowsMode.AllCells;
             dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
             dataGridViewCellStyle1.BackColor = System.Drawing.Color.Maroon;
             dataGridViewCellStyle1.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
@@ -98,30 +102,22 @@
             this.Params.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
             this.Command,
             this.Value,
+            this.Units,
+            this.Options,
             this.Desc});
             this.Params.Name = "Params";
-            dataGridViewCellStyle2.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle3.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle2.BackColor = System.Drawing.SystemColors.ActiveCaption;
+            dataGridViewCellStyle3.BackColor = System.Drawing.SystemColors.ActiveCaption;
-            dataGridViewCellStyle2.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle3.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            dataGridViewCellStyle2.ForeColor = System.Drawing.SystemColors.WindowText;
+            dataGridViewCellStyle3.ForeColor = System.Drawing.SystemColors.WindowText;
-            dataGridViewCellStyle2.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle3.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle2.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle3.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            dataGridViewCellStyle2.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
+            dataGridViewCellStyle3.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
-            this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle2;
+            this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle3;
             this.Params.RowHeadersVisible = false;
+            this.Params.RowHeadersWidthSizeMode = System.Windows.Forms.DataGridViewRowHeadersWidthSizeMode.AutoSizeToDisplayedHeaders;
             this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged);
             // 
-            // toolTip1
-            // 
-            this.toolTip1.AutoPopDelay = 180000;
-            this.toolTip1.InitialDelay = 500;
-            this.toolTip1.ReshowDelay = 100;
-            // 
-            // label1
-            // 
-            resources.ApplyResources(this.label1, "label1");
-            this.label1.Name = "label1";
-            // 
             // Command
             // 
             resources.ApplyResources(this.Command, "Command");
@@ -133,13 +129,38 @@
             resources.ApplyResources(this.Value, "Value");
             this.Value.Name = "Value";
             // 
+            // Units
+            // 
+            resources.ApplyResources(this.Units, "Units");
+            this.Units.Name = "Units";
+            this.Units.ReadOnly = true;
+            // 
+            // Options
+            // 
+            resources.ApplyResources(this.Options, "Options");
+            this.Options.Name = "Options";
+            this.Options.ReadOnly = true;
+            // 
             // Desc
             // 
-            this.Desc.AutoSizeMode = System.Windows.Forms.DataGridViewAutoSizeColumnMode.AllCells;
+            this.Desc.AutoSizeMode = System.Windows.Forms.DataGridViewAutoSizeColumnMode.Fill;
+            dataGridViewCellStyle2.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
+            this.Desc.DefaultCellStyle = dataGridViewCellStyle2;
             resources.ApplyResources(this.Desc, "Desc");
             this.Desc.Name = "Desc";
             this.Desc.ReadOnly = true;
             // 
+            // toolTip1
+            // 
+            this.toolTip1.AutoPopDelay = 180000;
+            this.toolTip1.InitialDelay = 500;
+            this.toolTip1.ReshowDelay = 100;
+            // 
+            // label1
+            // 
+            resources.ApplyResources(this.label1, "label1");
+            this.label1.Name = "label1";
+            // 
             // ConfigRawParams
             // 
             resources.ApplyResources(this, "$this");
@@ -170,6 +191,8 @@
         private System.Windows.Forms.Label label1;
         private System.Windows.Forms.DataGridViewTextBoxColumn Command;
         private System.Windows.Forms.DataGridViewTextBoxColumn Value;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Units;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Options;
         private System.Windows.Forms.DataGridViewTextBoxColumn Desc;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.cs

@@ -172,7 +172,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             {
                 StreamWriter sw = new StreamWriter(sfd.OpenFile());
                 string input = DateTime.Now + " Frame : ";
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
                 {
                     input = DateTime.Now + " Plane: Skywalker";
                 }
@@ -254,7 +254,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             {
                 param2 = loadParamFile(ofd.FileName);
 
-                Form paramCompareForm = new ParamCompare(Params, MainV2.comPort.param, param2);
+                Form paramCompareForm = new ParamCompare(Params, MainV2.comPort.MAV.param, param2);
                 
                 ThemeManager.ApplyThemeTo(paramCompareForm);
                 paramCompareForm.ShowDialog();
@@ -385,7 +385,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             Params.Rows.Clear();
 
             // process hashdefines and update display
-            foreach (string value in MainV2.comPort.param.Keys)
+            foreach (string value in MainV2.comPort.MAV.param.Keys)
             {
                 if (value == null || value == "")
                     continue;
@@ -394,7 +394,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                 Params.Rows.Add();
                 Params.Rows[Params.RowCount - 1].Cells[Command.Index].Value = value;
-                Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = ((float)MainV2.comPort.param[value]).ToString("0.###");
+                Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = ((float)MainV2.comPort.MAV.param[value]).ToString("0.###");
                 try
                 {
                     string metaDataDescription = _parameterMetaDataRepository.GetParameterMetaData(value, ParameterMetaDataConstants.Description);
@@ -405,27 +405,20 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                         string range = _parameterMetaDataRepository.GetParameterMetaData(value, ParameterMetaDataConstants.Range);
                         string options = _parameterMetaDataRepository.GetParameterMetaData(value, ParameterMetaDataConstants.Values);
+                        string units = _parameterMetaDataRepository.GetParameterMetaData(value, ParameterMetaDataConstants.Units);
 
-                        if (!string.IsNullOrEmpty(range))
+                        Params.Rows[Params.RowCount - 1].Cells[Units.Index].Value = units;
-                        {
+                        Params.Rows[Params.RowCount - 1].Cells[Options.Index].Value = range + options;
-                            range = " Range: " + range;
+                        Params.Rows[Params.RowCount - 1].Cells[Desc.Index].Value = metaDataDescription;
-                        }
-
-                        if (!string.IsNullOrEmpty(options))
-                        {
-                            options = " Options: " + options;
-                        }
-
-                        Params.Rows[Params.RowCount - 1].Cells[Desc.Index].Value = range + options;
 
                     }
                     else if (tooltips[value] != null)
                     {
-                        Params.Rows[Params.RowCount - 1].Cells[Command.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
+                        //Params.Rows[Params.RowCount - 1].Cells[Command.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
                         //Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
-                        Params.Rows[Params.RowCount - 1].Cells[Value.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
+                       // Params.Rows[Params.RowCount - 1].Cells[Value.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
 
-                          Params.Rows[Params.RowCount - 1].Cells[Desc.Index].Value = "Old: "+((paramsettings)tooltips[value]).desc;
+                        //  Params.Rows[Params.RowCount - 1].Cells[Desc.Index].Value = "Old: "+((paramsettings)tooltips[value]).desc;
 
                         //Params.Rows[Params.RowCount - 1].Cells[Default.Index].Value = ((paramsettings)tooltips[value]).normalvalue;
                         //Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value = ((paramsettings)tooltips[value]).scale;

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.resx

@@ -126,7 +126,7 @@
   </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="BUT_compare.Location" type="System.Drawing.Point, System.Drawing">
-    <value>506, 119</value>
+    <value>631, 119</value>
   </data>
   <data name="BUT_compare.Size" type="System.Drawing.Size, System.Drawing">
     <value>103, 19</value>
@@ -142,7 +142,7 @@
     <value>BUT_compare</value>
   </data>
   <data name="&gt;&gt;BUT_compare.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4711.17948, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4724.30400, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_compare.Parent" xml:space="preserve">
     <value>$this</value>
@@ -157,7 +157,7 @@
     <value>NoControl</value>
   </data>
   <data name="BUT_rerequestparams.Location" type="System.Drawing.Point, System.Drawing">
-    <value>506, 94</value>
+    <value>631, 94</value>
   </data>
   <data name="BUT_rerequestparams.Size" type="System.Drawing.Size, System.Drawing">
     <value>103, 19</value>
@@ -172,7 +172,7 @@
     <value>BUT_rerequestparams</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4711.17948, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4724.30400, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.Parent" xml:space="preserve">
     <value>$this</value>
@@ -187,7 +187,7 @@
     <value>NoControl</value>
   </data>
   <data name="BUT_writePIDS.Location" type="System.Drawing.Point, System.Drawing">
-    <value>506, 69</value>
+    <value>631, 69</value>
   </data>
   <data name="BUT_writePIDS.Size" type="System.Drawing.Size, System.Drawing">
     <value>103, 19</value>
@@ -202,7 +202,7 @@
     <value>BUT_writePIDS</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4711.17948, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4724.30400, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.Parent" xml:space="preserve">
     <value>$this</value>
@@ -217,7 +217,7 @@
     <value>NoControl</value>
   </data>
   <data name="BUT_save.Location" type="System.Drawing.Point, System.Drawing">
-    <value>506, 35</value>
+    <value>631, 35</value>
   </data>
   <data name="BUT_save.Margin" type="System.Windows.Forms.Padding, System.Windows.Forms">
     <value>0, 0, 0, 0</value>
@@ -235,7 +235,7 @@
     <value>BUT_save</value>
   </data>
   <data name="&gt;&gt;BUT_save.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4711.17948, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4724.30400, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_save.Parent" xml:space="preserve">
     <value>$this</value>
@@ -250,7 +250,7 @@
     <value>NoControl</value>
   </data>
   <data name="BUT_load.Location" type="System.Drawing.Point, System.Drawing">
-    <value>506, 7</value>
+    <value>631, 7</value>
   </data>
   <data name="BUT_load.Margin" type="System.Windows.Forms.Padding, System.Windows.Forms">
     <value>0, 0, 0, 0</value>
@@ -268,7 +268,7 @@
     <value>BUT_load</value>
   </data>
   <data name="&gt;&gt;BUT_load.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4711.17948, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4724.30400, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_load.Parent" xml:space="preserve">
     <value>$this</value>
@@ -297,23 +297,32 @@
   <data name="Value.Width" type="System.Int32, mscorlib">
     <value>80</value>
   </data>
+  <metadata name="Units.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <data name="Units.HeaderText" xml:space="preserve">
+    <value>Units</value>
+  </data>
+  <data name="Units.Width" type="System.Int32, mscorlib">
+    <value>60</value>
+  </data>
+  <metadata name="Options.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <data name="Options.HeaderText" xml:space="preserve">
+    <value>Options</value>
+  </data>
   <metadata name="Desc.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
   <data name="Desc.HeaderText" xml:space="preserve">
     <value>Desc</value>
   </data>
-  <data name="Desc.Width" type="System.Int32, mscorlib">
-    <value>57</value>
-  </data>
   <data name="Params.Location" type="System.Drawing.Point, System.Drawing">
     <value>14, 3</value>
   </data>
-  <data name="Params.RowHeadersWidth" type="System.Int32, mscorlib">
-    <value>150</value>
-  </data>
   <data name="Params.Size" type="System.Drawing.Size, System.Drawing">
-    <value>486, 302</value>
+    <value>611, 302</value>
   </data>
   <data name="Params.TabIndex" type="System.Int32, mscorlib">
     <value>68</value>
@@ -340,7 +349,7 @@
     <value>True</value>
   </data>
   <data name="label1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>506, 169</value>
+    <value>631, 169</value>
   </data>
   <data name="label1.Size" type="System.Drawing.Size, System.Drawing">
     <value>109, 26</value>
@@ -374,13 +383,7 @@ format with no scaling</value>
     <value>6, 13</value>
   </data>
   <data name="$this.Size" type="System.Drawing.Size, System.Drawing">
-    <value>625, 305</value>
+    <value>750, 305</value>
-  </data>
-  <data name="&gt;&gt;toolTip1.Name" xml:space="preserve">
-    <value>toolTip1</value>
-  </data>
-  <data name="&gt;&gt;toolTip1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.ToolTip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;Command.Name" xml:space="preserve">
     <value>Command</value>
@@ -394,12 +397,30 @@ format with no scaling</value>
   <data name="&gt;&gt;Value.Type" xml:space="preserve">
     <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
+  <data name="&gt;&gt;Units.Name" xml:space="preserve">
+    <value>Units</value>
+  </data>
+  <data name="&gt;&gt;Units.Type" xml:space="preserve">
+    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;Options.Name" xml:space="preserve">
+    <value>Options</value>
+  </data>
+  <data name="&gt;&gt;Options.Type" xml:space="preserve">
+    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
   <data name="&gt;&gt;Desc.Name" xml:space="preserve">
     <value>Desc</value>
   </data>
   <data name="&gt;&gt;Desc.Type" xml:space="preserve">
     <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
+  <data name="&gt;&gt;toolTip1.Name" xml:space="preserve">
+    <value>toolTip1</value>
+  </data>
+  <data name="&gt;&gt;toolTip1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolTip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
   <data name="&gt;&gt;$this.Name" xml:space="preserve">
     <value>ConfigRawParams</value>
   </data>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigSignalization.cs

@@ -0,0 +1,287 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Data;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+using ArdupilotMega.Controls.BackstageView;
+using System.Reflection;
+
+namespace ArdupilotMega.GCSViews.ConfigurationView
+{
+    public partial class ConfigSignalization : UserControl, IActivate
+    {
+        [Flags]
+        public enum BeeperMode : byte
+        {
+            Startup = 1,
+            Arm = 2,
+            Disarm = 4,
+            Armed = 8,
+            GPS = 16,
+            Voltage = 32,
+            CH7 = 64,
+            Landing = 128
+        }
+
+        public enum LedStyle : byte
+        {
+            None = 0,
+            Legacy = 1,
+            Features = 2,
+            Disco = 3
+        }
+
+        [Flags]
+        public enum LedMode : byte
+        {
+            [Description("Motor, TODO: add description")]
+            Motor = 1,
+            [Description("GPS, TODO: add description")]
+            GPS = 2,
+            [Description("Aux, TODO: add description")]
+            Aux = 4,
+            [Description("Assign AN5 to LED (0) or beeper (1)")]
+            Beeper = 8,
+            [Description("Low battery - fast flash (0) / oscillate (1)")]
+            Voltage = 16,
+            [Description("Nav blink - motors")]
+            Nav_blink_motor = 32,
+            [Description("Nav blink - GPS")]
+            Nav_blink_GPS = 64
+        }
+
+        public enum LedModeX : byte
+        {
+            Off = 0,
+            On = 1,
+            Armed = 2,
+            GPS = 3,
+            Aux = 4,
+            [Description("Low battery - fast flash")]
+            Low_batt_fast = 5,
+            [Description("Low battery - oscillate")]
+            Low_batt_oscillate = 6,
+            [Description("Nav blink - motors")]
+            Nav_blink_motor = 7,
+            [Description("Nav blink - GPS")]
+            Nav_blink_GPS = 8
+        }
+
+        public ConfigSignalization()
+        {
+            InitializeComponent();
+        }
+
+        public void Activate()
+        {
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
+            {
+            }
+            else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
+            {
+            }
+            else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
+            {
+                Object value;
+                //read BEEPER_MODE
+                try
+                {
+                    value = MainV2.comPort.param["BEEPER_MODE"];
+                    if (value == null)
+                    {
+                        Setup.flashMessage.FadeInOut("Reading BEEPER_MODE failed", false);
+                    }
+                    else
+                    {
+                        BeeperMode beeper_mode = (BeeperMode)System.Convert.ToSByte(value);
+                        CB_beeper_0.Checked = (beeper_mode & BeeperMode.Startup) == BeeperMode.Startup;
+                        CB_beeper_1.Checked = (beeper_mode & BeeperMode.Arm) == BeeperMode.Arm;
+                        CB_beeper_2.Checked = (beeper_mode & BeeperMode.Disarm) == BeeperMode.Disarm;
+                        CB_beeper_3.Checked = (beeper_mode & BeeperMode.Armed) == BeeperMode.Armed;
+                        CB_beeper_4.Checked = (beeper_mode & BeeperMode.GPS) == BeeperMode.GPS;
+                        CB_beeper_5.Checked = (beeper_mode & BeeperMode.Voltage) == BeeperMode.Voltage;
+                        CB_beeper_6.Checked = (beeper_mode & BeeperMode.CH7) == BeeperMode.CH7;
+                        CB_beeper_7.Checked = (beeper_mode & BeeperMode.Landing) == BeeperMode.Landing;
+                        Setup.flashMessage.FadeInOut("Reading BEEPER_MODE succeed", true);
+                    }
+                }
+                catch {
+                    Setup.flashMessage.FadeInOut("Reading BEEPER_MODE failed", false);
+                }
+
+                //read LED_STYLE
+                try
+                {
+                    value = MainV2.comPort.param["LED_STYLE"];
+                    if (value == null)
+                    {
+                        Setup.flashMessage.FadeInOut("Reading LED_STYLE failed", false);
+                    }
+                    else
+                    {
+                        LedStyle led_style = (LedStyle)System.Convert.ToSByte(value);
+                        CMB_leds_style.DataSource = Enum.GetValues(typeof(LedStyle));
+                        CMB_leds_style.SelectedItem = led_style;
+                        Setup.flashMessage.FadeInOut("Reading LED_STYLE succeed", true);
+                    }
+                }
+                catch
+                {
+                    Setup.flashMessage.FadeInOut("Reading LED_STYLE failed", false);
+                }
+                CMB_led_1.DataSource = Enum.GetValues(typeof(LedMode));
+
+                //read LED_MODE
+                try
+                {
+                    value = MainV2.comPort.param["LED_MODE"];
+                    if (value == null)
+                    {
+                        Setup.flashMessage.FadeInOut("Reading LED_MODE failed", false);
+                    }
+                    else
+                    {
+                        LedMode led_mode = (LedMode)System.Convert.ToSByte(value);
+                        CB_leds_legacy_1.Checked = (led_mode & LedMode.Motor) == LedMode.Motor;
+                        CB_leds_legacy_2.Checked = (led_mode & LedMode.GPS) == LedMode.GPS;
+                        CB_leds_legacy_3.Checked = (led_mode & LedMode.Aux) == LedMode.Aux;
+                        CB_leds_legacy_4.Checked = (led_mode & LedMode.Beeper) == LedMode.Beeper;
+                        CB_leds_legacy_5.Checked = (led_mode & LedMode.Voltage) == LedMode.Voltage;
+                        CB_leds_legacy_6.Checked = (led_mode & LedMode.Nav_blink_motor) == LedMode.Nav_blink_motor;
+                        CB_leds_legacy_7.Checked = (led_mode & LedMode.Nav_blink_GPS) == LedMode.Nav_blink_GPS;
+                        Setup.flashMessage.FadeInOut("Reading LED_MODE succeed", true);
+                    }
+                }
+                catch
+                {
+                    Setup.flashMessage.FadeInOut("Reading LED_MODE failed", false);
+                }
+
+            }
+        }
+
+        private void B_beeper_write_Click(object sender, EventArgs e)
+        {
+            try
+            {
+                BeeperMode beeper_mode =
+                    (CB_beeper_0.Checked ? BeeperMode.Startup : 0) |
+                    (CB_beeper_1.Checked ? BeeperMode.Arm : 0) |
+                    (CB_beeper_2.Checked ? BeeperMode.Disarm : 0) |
+                    (CB_beeper_3.Checked ? BeeperMode.Armed : 0) |
+                    (CB_beeper_4.Checked ? BeeperMode.GPS : 0) |
+                    (CB_beeper_5.Checked ? BeeperMode.Voltage : 0) |
+                    (CB_beeper_6.Checked ? BeeperMode.CH7 : 0) |
+                    (CB_beeper_7.Checked ? BeeperMode.Landing : 0);
+                if (MainV2.comPort.setParam("BEEPER_MODE", (byte)beeper_mode))
+                {
+                    Setup.flashMessage.FadeInOut("Writing BEEPER_MODE succeed", true);
+                }
+                else
+                {
+                    Setup.flashMessage.FadeInOut("Writing BEEPER_MODE failed", false);
+                }
+            }
+            catch
+            {
+                Setup.flashMessage.FadeInOut("Writing BEEPER_MODE failed", false);
+            }
+        }
+
+        private void B_leds_write_Click(object sender, EventArgs e)
+        {
+            //write LED_STYLE
+            try
+            {
+                LedStyle led_style = (LedStyle)Enum.Parse(typeof(LedStyle), CMB_leds_style.SelectedItem.ToString());
+                if (MainV2.comPort.setParam("LED_STYLE", (byte)led_style))
+                {
+                    Setup.flashMessage.FadeInOut("Writing LED_STYLE succeed", true);
+                }
+                else
+                {
+                    Setup.flashMessage.FadeInOut("Writing LED_STYLE failed", false);
+                }
+            }
+            catch
+            {
+                Setup.flashMessage.FadeInOut("Writing LED_STYLE failed", false);
+            }
+
+            //write LED_MODE
+            try
+            {
+                LedMode led_mode =
+                    (CB_leds_legacy_1.Checked ? LedMode.Motor : 0) |
+                    (CB_leds_legacy_2.Checked ? LedMode.GPS : 0) |
+                    (CB_leds_legacy_3.Checked ? LedMode.Aux : 0) |
+                    (CB_leds_legacy_4.Checked ? LedMode.Beeper : 0) |
+                    (CB_leds_legacy_5.Checked ? LedMode.Voltage : 0) |
+                    (CB_leds_legacy_6.Checked ? LedMode.Nav_blink_motor : 0) |
+                    (CB_leds_legacy_7.Checked ? LedMode.Nav_blink_GPS : 0);
+                if (MainV2.comPort.setParam("LED_MODE", (byte)led_mode))
+                {
+                    Setup.flashMessage.FadeInOut("Writing LED_MODE succeed", true);
+                }
+                else
+                {
+                    Setup.flashMessage.FadeInOut("Writing LED_MODE failed", false);
+                }
+            }
+            catch
+            {
+                Setup.flashMessage.FadeInOut("Writing LED_MODE failed", false);
+            }
+
+        }
+
+        private void CMB_leds_style_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            LedStyle led_style = (LedStyle)Enum.Parse(typeof(LedStyle), ((ComboBox)sender).SelectedItem.ToString());
+            switch (led_style)
+	        {
+                case LedStyle.None:
+                    P_leds_mode_combo.Visible = false;
+                    P_leds_mode_legacy.Visible = false;
+                    break;
+                case LedStyle.Legacy:
+                    P_leds_mode_combo.Visible = false;
+                    P_leds_mode_legacy.Visible = true;
+                    break;
+                case LedStyle.Features:
+                    P_leds_mode_combo.Visible = true;
+                    P_leds_mode_legacy.Visible = false;
+                    break;
+                case LedStyle.Disco:
+                    P_leds_mode_combo.Visible = false;
+                    P_leds_mode_legacy.Visible = false;
+                    break;
+            }
+        }
+
+        private void CMB_Format(object sender, ListControlConvertEventArgs e)
+        {
+            LedMode item = (LedMode)e.ListItem;
+            e.Value = GetEnumDescription((LedMode)item);
+        }
+
+        public static string GetEnumDescription(Enum value)
+        {
+            FieldInfo fi = value.GetType().GetField(value.ToString());
+
+            DescriptionAttribute[] attributes = (DescriptionAttribute[])fi.GetCustomAttributes(typeof(DescriptionAttribute), false);
+
+            if (attributes != null && attributes.Length > 0)
+            {
+                return attributes[0].Description;
+            }
+            else
+            {
+                return value.ToString();
+            }
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigSignalization.designer.cs

@@ -0,0 +1,623 @@
+namespace ArdupilotMega.GCSViews.ConfigurationView
+{
+    partial class ConfigSignalization
+    {
+        /// <summary> 
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary> 
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Component Designer generated code
+
+        /// <summary> 
+        /// Required method for Designer support - do not modify 
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.L_beeper_pin = new System.Windows.Forms.Label();
+            this.L_beeper_functions = new System.Windows.Forms.Label();
+            this.CB_beeper_0 = new System.Windows.Forms.CheckBox();
+            this.CB_beeper_1 = new System.Windows.Forms.CheckBox();
+            this.CB_beeper_2 = new System.Windows.Forms.CheckBox();
+            this.CB_beeper_3 = new System.Windows.Forms.CheckBox();
+            this.CB_beeper_4 = new System.Windows.Forms.CheckBox();
+            this.CB_beeper_5 = new System.Windows.Forms.CheckBox();
+            this.CB_beeper_6 = new System.Windows.Forms.CheckBox();
+            this.CB_beeper_7 = new System.Windows.Forms.CheckBox();
+            this.CMB_beeper_pin = new System.Windows.Forms.ComboBox();
+            this.GB_leds = new System.Windows.Forms.GroupBox();
+            this.P_leds_mode_legacy = new System.Windows.Forms.Panel();
+            this.CB_leds_legacy_1 = new System.Windows.Forms.CheckBox();
+            this.CB_leds_legacy_2 = new System.Windows.Forms.CheckBox();
+            this.CB_leds_legacy_3 = new System.Windows.Forms.CheckBox();
+            this.CB_leds_legacy_4 = new System.Windows.Forms.CheckBox();
+            this.CB_leds_legacy_5 = new System.Windows.Forms.CheckBox();
+            this.CB_leds_legacy_6 = new System.Windows.Forms.CheckBox();
+            this.CB_leds_legacy_7 = new System.Windows.Forms.CheckBox();
+            this.CB_leds_legacy_8 = new System.Windows.Forms.CheckBox();
+            this.L_leds_type = new System.Windows.Forms.Label();
+            this.CMB_leds_style = new System.Windows.Forms.ComboBox();
+            this.P_leds_mode_combo = new System.Windows.Forms.Panel();
+            this.L_led_1 = new System.Windows.Forms.Label();
+            this.CMB_led_1 = new System.Windows.Forms.ComboBox();
+            this.L_led_2 = new System.Windows.Forms.Label();
+            this.CMB_led_2 = new System.Windows.Forms.ComboBox();
+            this.L_led_3 = new System.Windows.Forms.Label();
+            this.CMB_led_3 = new System.Windows.Forms.ComboBox();
+            this.L_led_4 = new System.Windows.Forms.Label();
+            this.CMB_led_4 = new System.Windows.Forms.ComboBox();
+            this.L_led_5 = new System.Windows.Forms.Label();
+            this.CMB_led_5 = new System.Windows.Forms.ComboBox();
+            this.L_led_6 = new System.Windows.Forms.Label();
+            this.CMB_led_6 = new System.Windows.Forms.ComboBox();
+            this.L_led_7 = new System.Windows.Forms.Label();
+            this.CMB_led_7 = new System.Windows.Forms.ComboBox();
+            this.L_led_8 = new System.Windows.Forms.Label();
+            this.CMB_led_8 = new System.Windows.Forms.ComboBox();
+            this.GB_beeper = new System.Windows.Forms.GroupBox();
+            this.B_beeper_write = new ArdupilotMega.Controls.MyButton();
+            this.B_leds_write = new ArdupilotMega.Controls.MyButton();
+            this.GB_leds.SuspendLayout();
+            this.P_leds_mode_legacy.SuspendLayout();
+            this.P_leds_mode_combo.SuspendLayout();
+            this.GB_beeper.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // L_beeper_pin
+            // 
+            this.L_beeper_pin.AutoSize = true;
+            this.L_beeper_pin.Location = new System.Drawing.Point(6, 31);
+            this.L_beeper_pin.Name = "L_beeper_pin";
+            this.L_beeper_pin.Size = new System.Drawing.Size(186, 13);
+            this.L_beeper_pin.TabIndex = 4;
+            this.L_beeper_pin.Text = "Select pin where beeper is connected\r\n";
+            // 
+            // L_beeper_functions
+            // 
+            this.L_beeper_functions.AutoSize = true;
+            this.L_beeper_functions.Location = new System.Drawing.Point(6, 75);
+            this.L_beeper_functions.Name = "L_beeper_functions";
+            this.L_beeper_functions.Size = new System.Drawing.Size(105, 13);
+            this.L_beeper_functions.TabIndex = 5;
+            this.L_beeper_functions.Text = "Select when to beep";
+            // 
+            // CB_beeper_0
+            // 
+            this.CB_beeper_0.AutoSize = true;
+            this.CB_beeper_0.Location = new System.Drawing.Point(9, 91);
+            this.CB_beeper_0.Name = "CB_beeper_0";
+            this.CB_beeper_0.Size = new System.Drawing.Size(75, 17);
+            this.CB_beeper_0.TabIndex = 2;
+            this.CB_beeper_0.Text = "On startup";
+            this.CB_beeper_0.UseVisualStyleBackColor = true;
+            // 
+            // CB_beeper_1
+            // 
+            this.CB_beeper_1.AutoSize = true;
+            this.CB_beeper_1.Location = new System.Drawing.Point(9, 114);
+            this.CB_beeper_1.Name = "CB_beeper_1";
+            this.CB_beeper_1.Size = new System.Drawing.Size(74, 17);
+            this.CB_beeper_1.TabIndex = 3;
+            this.CB_beeper_1.Text = "On arming";
+            this.CB_beeper_1.UseVisualStyleBackColor = true;
+            // 
+            // CB_beeper_2
+            // 
+            this.CB_beeper_2.AutoSize = true;
+            this.CB_beeper_2.Location = new System.Drawing.Point(9, 137);
+            this.CB_beeper_2.Name = "CB_beeper_2";
+            this.CB_beeper_2.Size = new System.Drawing.Size(87, 17);
+            this.CB_beeper_2.TabIndex = 4;
+            this.CB_beeper_2.Text = "On disarming";
+            this.CB_beeper_2.UseVisualStyleBackColor = true;
+            // 
+            // CB_beeper_3
+            // 
+            this.CB_beeper_3.AutoSize = true;
+            this.CB_beeper_3.Location = new System.Drawing.Point(9, 160);
+            this.CB_beeper_3.Name = "CB_beeper_3";
+            this.CB_beeper_3.Size = new System.Drawing.Size(159, 17);
+            this.CB_beeper_3.TabIndex = 5;
+            this.CB_beeper_3.Text = "When armed and on ground";
+            this.CB_beeper_3.UseVisualStyleBackColor = true;
+            // 
+            // CB_beeper_4
+            // 
+            this.CB_beeper_4.AutoSize = true;
+            this.CB_beeper_4.Location = new System.Drawing.Point(9, 181);
+            this.CB_beeper_4.Name = "CB_beeper_4";
+            this.CB_beeper_4.Size = new System.Drawing.Size(111, 17);
+            this.CB_beeper_4.TabIndex = 6;
+            this.CB_beeper_4.Text = "On GPS home set";
+            this.CB_beeper_4.UseVisualStyleBackColor = true;
+            // 
+            // CB_beeper_5
+            // 
+            this.CB_beeper_5.AutoSize = true;
+            this.CB_beeper_5.Location = new System.Drawing.Point(9, 204);
+            this.CB_beeper_5.Name = "CB_beeper_5";
+            this.CB_beeper_5.Size = new System.Drawing.Size(97, 17);
+            this.CB_beeper_5.TabIndex = 7;
+            this.CB_beeper_5.Text = "On low voltage";
+            this.CB_beeper_5.UseVisualStyleBackColor = true;
+            // 
+            // CB_beeper_6
+            // 
+            this.CB_beeper_6.AutoSize = true;
+            this.CB_beeper_6.Location = new System.Drawing.Point(9, 227);
+            this.CB_beeper_6.Name = "CB_beeper_6";
+            this.CB_beeper_6.Size = new System.Drawing.Size(112, 17);
+            this.CB_beeper_6.TabIndex = 8;
+            this.CB_beeper_6.Text = "When CH7 is high";
+            this.CB_beeper_6.UseVisualStyleBackColor = true;
+            // 
+            // CB_beeper_7
+            // 
+            this.CB_beeper_7.AutoSize = true;
+            this.CB_beeper_7.Location = new System.Drawing.Point(9, 250);
+            this.CB_beeper_7.Name = "CB_beeper_7";
+            this.CB_beeper_7.Size = new System.Drawing.Size(142, 17);
+            this.CB_beeper_7.TabIndex = 9;
+            this.CB_beeper_7.Text = "When in auto land mode";
+            this.CB_beeper_7.UseVisualStyleBackColor = true;
+            // 
+            // CMB_beeper_pin
+            // 
+            this.CMB_beeper_pin.AutoCompleteMode = System.Windows.Forms.AutoCompleteMode.SuggestAppend;
+            this.CMB_beeper_pin.AutoCompleteSource = System.Windows.Forms.AutoCompleteSource.ListItems;
+            this.CMB_beeper_pin.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_beeper_pin.Enabled = false;
+            this.CMB_beeper_pin.FormattingEnabled = true;
+            this.CMB_beeper_pin.Items.AddRange(new object[] {
+            "AN0",
+            "AN1",
+            "AN2",
+            "AN3",
+            "AN4",
+            "AN5",
+            "AN6",
+            "AN7",
+            "AN8",
+            "AN9",
+            "AN10",
+            "AN11",
+            "AN12",
+            "AN13",
+            "AN14",
+            "AN15"});
+            this.CMB_beeper_pin.Location = new System.Drawing.Point(6, 47);
+            this.CMB_beeper_pin.Name = "CMB_beeper_pin";
+            this.CMB_beeper_pin.Size = new System.Drawing.Size(121, 21);
+            this.CMB_beeper_pin.TabIndex = 1;
+            // 
+            // GB_leds
+            // 
+            this.GB_leds.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
+                        | System.Windows.Forms.AnchorStyles.Left)));
+            this.GB_leds.Controls.Add(this.P_leds_mode_legacy);
+            this.GB_leds.Controls.Add(this.B_leds_write);
+            this.GB_leds.Controls.Add(this.L_leds_type);
+            this.GB_leds.Controls.Add(this.CMB_leds_style);
+            this.GB_leds.Controls.Add(this.P_leds_mode_combo);
+            this.GB_leds.Location = new System.Drawing.Point(253, 0);
+            this.GB_leds.Name = "GB_leds";
+            this.GB_leds.Size = new System.Drawing.Size(252, 347);
+            this.GB_leds.TabIndex = 10;
+            this.GB_leds.TabStop = false;
+            this.GB_leds.Text = "LEDs settings";
+            // 
+            // P_leds_mode_legacy
+            // 
+            this.P_leds_mode_legacy.Controls.Add(this.CB_leds_legacy_1);
+            this.P_leds_mode_legacy.Controls.Add(this.CB_leds_legacy_2);
+            this.P_leds_mode_legacy.Controls.Add(this.CB_leds_legacy_3);
+            this.P_leds_mode_legacy.Controls.Add(this.CB_leds_legacy_4);
+            this.P_leds_mode_legacy.Controls.Add(this.CB_leds_legacy_5);
+            this.P_leds_mode_legacy.Controls.Add(this.CB_leds_legacy_6);
+            this.P_leds_mode_legacy.Controls.Add(this.CB_leds_legacy_7);
+            this.P_leds_mode_legacy.Controls.Add(this.CB_leds_legacy_8);
+            this.P_leds_mode_legacy.Location = new System.Drawing.Point(2, 73);
+            this.P_leds_mode_legacy.Name = "P_leds_mode_legacy";
+            this.P_leds_mode_legacy.Size = new System.Drawing.Size(247, 214);
+            this.P_leds_mode_legacy.TabIndex = 23;
+            // 
+            // CB_leds_legacy_1
+            // 
+            this.CB_leds_legacy_1.AutoSize = true;
+            this.CB_leds_legacy_1.Location = new System.Drawing.Point(7, 2);
+            this.CB_leds_legacy_1.Name = "CB_leds_legacy_1";
+            this.CB_leds_legacy_1.Size = new System.Drawing.Size(53, 17);
+            this.CB_leds_legacy_1.TabIndex = 0;
+            this.CB_leds_legacy_1.Text = "Motor";
+            this.CB_leds_legacy_1.UseVisualStyleBackColor = true;
+            // 
+            // CB_leds_legacy_2
+            // 
+            this.CB_leds_legacy_2.AutoSize = true;
+            this.CB_leds_legacy_2.Location = new System.Drawing.Point(7, 23);
+            this.CB_leds_legacy_2.Name = "CB_leds_legacy_2";
+            this.CB_leds_legacy_2.Size = new System.Drawing.Size(48, 17);
+            this.CB_leds_legacy_2.TabIndex = 1;
+            this.CB_leds_legacy_2.Text = "GPS";
+            this.CB_leds_legacy_2.UseVisualStyleBackColor = true;
+            // 
+            // CB_leds_legacy_3
+            // 
+            this.CB_leds_legacy_3.AutoSize = true;
+            this.CB_leds_legacy_3.Location = new System.Drawing.Point(7, 46);
+            this.CB_leds_legacy_3.Name = "CB_leds_legacy_3";
+            this.CB_leds_legacy_3.Size = new System.Drawing.Size(44, 17);
+            this.CB_leds_legacy_3.TabIndex = 2;
+            this.CB_leds_legacy_3.Text = "Aux";
+            this.CB_leds_legacy_3.UseVisualStyleBackColor = true;
+            // 
+            // CB_leds_legacy_4
+            // 
+            this.CB_leds_legacy_4.AutoSize = true;
+            this.CB_leds_legacy_4.Location = new System.Drawing.Point(7, 69);
+            this.CB_leds_legacy_4.Name = "CB_leds_legacy_4";
+            this.CB_leds_legacy_4.Size = new System.Drawing.Size(60, 17);
+            this.CB_leds_legacy_4.TabIndex = 3;
+            this.CB_leds_legacy_4.Text = "Beeper";
+            this.CB_leds_legacy_4.UseVisualStyleBackColor = true;
+            // 
+            // CB_leds_legacy_5
+            // 
+            this.CB_leds_legacy_5.AutoSize = true;
+            this.CB_leds_legacy_5.Location = new System.Drawing.Point(7, 92);
+            this.CB_leds_legacy_5.Name = "CB_leds_legacy_5";
+            this.CB_leds_legacy_5.Size = new System.Drawing.Size(219, 17);
+            this.CB_leds_legacy_5.TabIndex = 4;
+            this.CB_leds_legacy_5.Text = "Fast flash (0) / oscillate (1) on low battery";
+            this.CB_leds_legacy_5.UseVisualStyleBackColor = true;
+            // 
+            // CB_leds_legacy_6
+            // 
+            this.CB_leds_legacy_6.AutoSize = true;
+            this.CB_leds_legacy_6.Location = new System.Drawing.Point(7, 115);
+            this.CB_leds_legacy_6.Name = "CB_leds_legacy_6";
+            this.CB_leds_legacy_6.Size = new System.Drawing.Size(99, 17);
+            this.CB_leds_legacy_6.TabIndex = 5;
+            this.CB_leds_legacy_6.Text = "Motor nav blink";
+            this.CB_leds_legacy_6.UseVisualStyleBackColor = true;
+            // 
+            // CB_leds_legacy_7
+            // 
+            this.CB_leds_legacy_7.AutoSize = true;
+            this.CB_leds_legacy_7.Location = new System.Drawing.Point(7, 138);
+            this.CB_leds_legacy_7.Name = "CB_leds_legacy_7";
+            this.CB_leds_legacy_7.Size = new System.Drawing.Size(94, 17);
+            this.CB_leds_legacy_7.TabIndex = 6;
+            this.CB_leds_legacy_7.Text = "GPS nav blink";
+            this.CB_leds_legacy_7.UseVisualStyleBackColor = true;
+            // 
+            // CB_leds_legacy_8
+            // 
+            this.CB_leds_legacy_8.AutoSize = true;
+            this.CB_leds_legacy_8.Enabled = false;
+            this.CB_leds_legacy_8.Location = new System.Drawing.Point(7, 161);
+            this.CB_leds_legacy_8.Name = "CB_leds_legacy_8";
+            this.CB_leds_legacy_8.Size = new System.Drawing.Size(63, 17);
+            this.CB_leds_legacy_8.TabIndex = 7;
+            this.CB_leds_legacy_8.Text = "Unused";
+            this.CB_leds_legacy_8.UseVisualStyleBackColor = true;
+            // 
+            // L_leds_type
+            // 
+            this.L_leds_type.AutoSize = true;
+            this.L_leds_type.Location = new System.Drawing.Point(6, 31);
+            this.L_leds_type.Name = "L_leds_type";
+            this.L_leds_type.Size = new System.Drawing.Size(139, 13);
+            this.L_leds_type.TabIndex = 10;
+            this.L_leds_type.Text = "Select type of LEDs handler";
+            // 
+            // CMB_leds_style
+            // 
+            this.CMB_leds_style.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_leds_style.Enabled = false;
+            this.CMB_leds_style.FormattingEnabled = true;
+            this.CMB_leds_style.Location = new System.Drawing.Point(7, 46);
+            this.CMB_leds_style.Name = "CMB_leds_style";
+            this.CMB_leds_style.Size = new System.Drawing.Size(121, 21);
+            this.CMB_leds_style.TabIndex = 21;
+            this.CMB_leds_style.SelectedIndexChanged += new System.EventHandler(this.CMB_leds_style_SelectedIndexChanged);
+            // 
+            // P_leds_mode_combo
+            // 
+            this.P_leds_mode_combo.Controls.Add(this.L_led_1);
+            this.P_leds_mode_combo.Controls.Add(this.CMB_led_1);
+            this.P_leds_mode_combo.Controls.Add(this.L_led_2);
+            this.P_leds_mode_combo.Controls.Add(this.CMB_led_2);
+            this.P_leds_mode_combo.Controls.Add(this.L_led_3);
+            this.P_leds_mode_combo.Controls.Add(this.CMB_led_3);
+            this.P_leds_mode_combo.Controls.Add(this.L_led_4);
+            this.P_leds_mode_combo.Controls.Add(this.CMB_led_4);
+            this.P_leds_mode_combo.Controls.Add(this.L_led_5);
+            this.P_leds_mode_combo.Controls.Add(this.CMB_led_5);
+            this.P_leds_mode_combo.Controls.Add(this.L_led_6);
+            this.P_leds_mode_combo.Controls.Add(this.CMB_led_6);
+            this.P_leds_mode_combo.Controls.Add(this.L_led_7);
+            this.P_leds_mode_combo.Controls.Add(this.CMB_led_7);
+            this.P_leds_mode_combo.Controls.Add(this.L_led_8);
+            this.P_leds_mode_combo.Controls.Add(this.CMB_led_8);
+            this.P_leds_mode_combo.Location = new System.Drawing.Point(2, 73);
+            this.P_leds_mode_combo.Name = "P_leds_mode_combo";
+            this.P_leds_mode_combo.Size = new System.Drawing.Size(247, 214);
+            this.P_leds_mode_combo.TabIndex = 23;
+            // 
+            // L_led_1
+            // 
+            this.L_led_1.AutoSize = true;
+            this.L_led_1.Location = new System.Drawing.Point(6, 7);
+            this.L_led_1.Name = "L_led_1";
+            this.L_led_1.Size = new System.Drawing.Size(34, 13);
+            this.L_led_1.TabIndex = 23;
+            this.L_led_1.Text = "LED1";
+            // 
+            // CMB_led_1
+            // 
+            this.CMB_led_1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_led_1.FormattingEnabled = true;
+            this.CMB_led_1.Location = new System.Drawing.Point(46, 5);
+            this.CMB_led_1.Name = "CMB_led_1";
+            this.CMB_led_1.Size = new System.Drawing.Size(166, 21);
+            this.CMB_led_1.TabIndex = 24;
+            this.CMB_led_1.Format += new System.Windows.Forms.ListControlConvertEventHandler(this.CMB_Format);
+            // 
+            // L_led_2
+            // 
+            this.L_led_2.AutoSize = true;
+            this.L_led_2.Location = new System.Drawing.Point(6, 34);
+            this.L_led_2.Name = "L_led_2";
+            this.L_led_2.Size = new System.Drawing.Size(34, 13);
+            this.L_led_2.TabIndex = 25;
+            this.L_led_2.Text = "LED2";
+            // 
+            // CMB_led_2
+            // 
+            this.CMB_led_2.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_led_2.FormattingEnabled = true;
+            this.CMB_led_2.Location = new System.Drawing.Point(46, 31);
+            this.CMB_led_2.Name = "CMB_led_2";
+            this.CMB_led_2.Size = new System.Drawing.Size(166, 21);
+            this.CMB_led_2.TabIndex = 26;
+            this.CMB_led_2.Format += new System.Windows.Forms.ListControlConvertEventHandler(this.CMB_Format);
+            // 
+            // L_led_3
+            // 
+            this.L_led_3.AutoSize = true;
+            this.L_led_3.Location = new System.Drawing.Point(6, 61);
+            this.L_led_3.Name = "L_led_3";
+            this.L_led_3.Size = new System.Drawing.Size(34, 13);
+            this.L_led_3.TabIndex = 27;
+            this.L_led_3.Text = "LED3";
+            // 
+            // CMB_led_3
+            // 
+            this.CMB_led_3.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_led_3.FormattingEnabled = true;
+            this.CMB_led_3.Location = new System.Drawing.Point(46, 57);
+            this.CMB_led_3.Name = "CMB_led_3";
+            this.CMB_led_3.Size = new System.Drawing.Size(166, 21);
+            this.CMB_led_3.TabIndex = 28;
+            this.CMB_led_3.Format += new System.Windows.Forms.ListControlConvertEventHandler(this.CMB_Format);
+            // 
+            // L_led_4
+            // 
+            this.L_led_4.AutoSize = true;
+            this.L_led_4.Location = new System.Drawing.Point(6, 88);
+            this.L_led_4.Name = "L_led_4";
+            this.L_led_4.Size = new System.Drawing.Size(34, 13);
+            this.L_led_4.TabIndex = 29;
+            this.L_led_4.Text = "LED4";
+            // 
+            // CMB_led_4
+            // 
+            this.CMB_led_4.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_led_4.FormattingEnabled = true;
+            this.CMB_led_4.Location = new System.Drawing.Point(46, 83);
+            this.CMB_led_4.Name = "CMB_led_4";
+            this.CMB_led_4.Size = new System.Drawing.Size(166, 21);
+            this.CMB_led_4.TabIndex = 30;
+            this.CMB_led_4.Format += new System.Windows.Forms.ListControlConvertEventHandler(this.CMB_Format);
+            // 
+            // L_led_5
+            // 
+            this.L_led_5.AutoSize = true;
+            this.L_led_5.Location = new System.Drawing.Point(6, 115);
+            this.L_led_5.Name = "L_led_5";
+            this.L_led_5.Size = new System.Drawing.Size(34, 13);
+            this.L_led_5.TabIndex = 31;
+            this.L_led_5.Text = "LED5";
+            // 
+            // CMB_led_5
+            // 
+            this.CMB_led_5.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_led_5.FormattingEnabled = true;
+            this.CMB_led_5.Location = new System.Drawing.Point(46, 109);
+            this.CMB_led_5.Name = "CMB_led_5";
+            this.CMB_led_5.Size = new System.Drawing.Size(166, 21);
+            this.CMB_led_5.TabIndex = 32;
+            this.CMB_led_5.Format += new System.Windows.Forms.ListControlConvertEventHandler(this.CMB_Format);
+            // 
+            // L_led_6
+            // 
+            this.L_led_6.AutoSize = true;
+            this.L_led_6.Location = new System.Drawing.Point(6, 142);
+            this.L_led_6.Name = "L_led_6";
+            this.L_led_6.Size = new System.Drawing.Size(34, 13);
+            this.L_led_6.TabIndex = 33;
+            this.L_led_6.Text = "LED6";
+            // 
+            // CMB_led_6
+            // 
+            this.CMB_led_6.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_led_6.FormattingEnabled = true;
+            this.CMB_led_6.Location = new System.Drawing.Point(46, 135);
+            this.CMB_led_6.Name = "CMB_led_6";
+            this.CMB_led_6.Size = new System.Drawing.Size(166, 21);
+            this.CMB_led_6.TabIndex = 34;
+            this.CMB_led_6.Format += new System.Windows.Forms.ListControlConvertEventHandler(this.CMB_Format);
+            // 
+            // L_led_7
+            // 
+            this.L_led_7.AutoSize = true;
+            this.L_led_7.Location = new System.Drawing.Point(6, 169);
+            this.L_led_7.Name = "L_led_7";
+            this.L_led_7.Size = new System.Drawing.Size(34, 13);
+            this.L_led_7.TabIndex = 35;
+            this.L_led_7.Text = "LED7";
+            // 
+            // CMB_led_7
+            // 
+            this.CMB_led_7.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_led_7.FormattingEnabled = true;
+            this.CMB_led_7.Location = new System.Drawing.Point(46, 161);
+            this.CMB_led_7.Name = "CMB_led_7";
+            this.CMB_led_7.Size = new System.Drawing.Size(166, 21);
+            this.CMB_led_7.TabIndex = 36;
+            this.CMB_led_7.Format += new System.Windows.Forms.ListControlConvertEventHandler(this.CMB_Format);
+            // 
+            // L_led_8
+            // 
+            this.L_led_8.AutoSize = true;
+            this.L_led_8.Location = new System.Drawing.Point(6, 196);
+            this.L_led_8.Name = "L_led_8";
+            this.L_led_8.Size = new System.Drawing.Size(34, 13);
+            this.L_led_8.TabIndex = 37;
+            this.L_led_8.Text = "LED8";
+            // 
+            // CMB_led_8
+            // 
+            this.CMB_led_8.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_led_8.FormattingEnabled = true;
+            this.CMB_led_8.Location = new System.Drawing.Point(46, 187);
+            this.CMB_led_8.Name = "CMB_led_8";
+            this.CMB_led_8.Size = new System.Drawing.Size(166, 21);
+            this.CMB_led_8.TabIndex = 38;
+            this.CMB_led_8.Format += new System.Windows.Forms.ListControlConvertEventHandler(this.CMB_Format);
+            // 
+            // GB_beeper
+            // 
+            this.GB_beeper.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
+                        | System.Windows.Forms.AnchorStyles.Left)));
+            this.GB_beeper.Controls.Add(this.B_beeper_write);
+            this.GB_beeper.Controls.Add(this.L_beeper_pin);
+            this.GB_beeper.Controls.Add(this.CB_beeper_0);
+            this.GB_beeper.Controls.Add(this.CB_beeper_4);
+            this.GB_beeper.Controls.Add(this.CMB_beeper_pin);
+            this.GB_beeper.Controls.Add(this.CB_beeper_5);
+            this.GB_beeper.Controls.Add(this.L_beeper_functions);
+            this.GB_beeper.Controls.Add(this.CB_beeper_6);
+            this.GB_beeper.Controls.Add(this.CB_beeper_1);
+            this.GB_beeper.Controls.Add(this.CB_beeper_7);
+            this.GB_beeper.Controls.Add(this.CB_beeper_3);
+            this.GB_beeper.Controls.Add(this.CB_beeper_2);
+            this.GB_beeper.Location = new System.Drawing.Point(0, 0);
+            this.GB_beeper.Name = "GB_beeper";
+            this.GB_beeper.Size = new System.Drawing.Size(252, 347);
+            this.GB_beeper.TabIndex = 11;
+            this.GB_beeper.TabStop = false;
+            this.GB_beeper.Text = "Beeper settings";
+            // 
+            // B_beeper_write
+            // 
+            this.B_beeper_write.Location = new System.Drawing.Point(83, 318);
+            this.B_beeper_write.Name = "B_beeper_write";
+            this.B_beeper_write.Size = new System.Drawing.Size(85, 23);
+            this.B_beeper_write.TabIndex = 10;
+            this.B_beeper_write.Text = "Write changes";
+            this.B_beeper_write.UseVisualStyleBackColor = true;
+            this.B_beeper_write.Click += new System.EventHandler(this.B_beeper_write_Click);
+            // 
+            // B_leds_write
+            // 
+            this.B_leds_write.Location = new System.Drawing.Point(82, 318);
+            this.B_leds_write.Name = "B_leds_write";
+            this.B_leds_write.Size = new System.Drawing.Size(85, 23);
+            this.B_leds_write.TabIndex = 22;
+            this.B_leds_write.Text = "Write changes";
+            this.B_leds_write.UseVisualStyleBackColor = true;
+            this.B_leds_write.Click += new System.EventHandler(this.B_leds_write_Click);
+            // 
+            // ConfigSignalization
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.GB_beeper);
+            this.Controls.Add(this.GB_leds);
+            this.Name = "ConfigSignalization";
+            this.Size = new System.Drawing.Size(506, 350);
+            this.GB_leds.ResumeLayout(false);
+            this.GB_leds.PerformLayout();
+            this.P_leds_mode_legacy.ResumeLayout(false);
+            this.P_leds_mode_legacy.PerformLayout();
+            this.P_leds_mode_combo.ResumeLayout(false);
+            this.P_leds_mode_combo.PerformLayout();
+            this.GB_beeper.ResumeLayout(false);
+            this.GB_beeper.PerformLayout();
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.ComboBox CMB_beeper_pin;
+        private System.Windows.Forms.Label L_beeper_pin;
+        private System.Windows.Forms.Label L_beeper_functions;
+        private System.Windows.Forms.CheckBox CB_beeper_0;
+        private System.Windows.Forms.CheckBox CB_beeper_1;
+        private System.Windows.Forms.CheckBox CB_beeper_2;
+        private System.Windows.Forms.CheckBox CB_beeper_3;
+        private System.Windows.Forms.CheckBox CB_beeper_4;
+        private System.Windows.Forms.CheckBox CB_beeper_5;
+        private System.Windows.Forms.CheckBox CB_beeper_6;
+        private System.Windows.Forms.CheckBox CB_beeper_7;
+        private System.Windows.Forms.GroupBox GB_leds;
+        private System.Windows.Forms.GroupBox GB_beeper;
+        private System.Windows.Forms.Label L_leds_type;
+        private System.Windows.Forms.ComboBox CMB_leds_style;
+        private Controls.MyButton B_leds_write;
+        private Controls.MyButton B_beeper_write;
+        private System.Windows.Forms.Panel P_leds_mode_combo;
+        private System.Windows.Forms.Panel P_leds_mode_legacy;
+        private System.Windows.Forms.Label L_led_1;
+        private System.Windows.Forms.ComboBox CMB_led_1;
+        private System.Windows.Forms.Label L_led_2;
+        private System.Windows.Forms.ComboBox CMB_led_2;
+        private System.Windows.Forms.Label L_led_3;
+        private System.Windows.Forms.ComboBox CMB_led_3;
+        private System.Windows.Forms.Label L_led_4;
+        private System.Windows.Forms.ComboBox CMB_led_4;
+        private System.Windows.Forms.Label L_led_5;
+        private System.Windows.Forms.ComboBox CMB_led_5;
+        private System.Windows.Forms.Label L_led_6;
+        private System.Windows.Forms.ComboBox CMB_led_6;
+        private System.Windows.Forms.Label L_led_7;
+        private System.Windows.Forms.ComboBox CMB_led_7;
+        private System.Windows.Forms.Label L_led_8;
+        private System.Windows.Forms.ComboBox CMB_led_8;
+        private System.Windows.Forms.CheckBox CB_leds_legacy_8;
+        private System.Windows.Forms.CheckBox CB_leds_legacy_7;
+        private System.Windows.Forms.CheckBox CB_leds_legacy_6;
+        private System.Windows.Forms.CheckBox CB_leds_legacy_5;
+        private System.Windows.Forms.CheckBox CB_leds_legacy_4;
+        private System.Windows.Forms.CheckBox CB_leds_legacy_3;
+        private System.Windows.Forms.CheckBox CB_leds_legacy_2;
+        private System.Windows.Forms.CheckBox CB_leds_legacy_1;
+    }
+}

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigSignalization.resx

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

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigTradHeli.cs

@@ -29,9 +29,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             try
             {
-                if (MainV2.comPort.param["H_SWASH_TYPE"] == null)
+                if (MainV2.comPort.MAV.param["H_SWASH_TYPE"] == null)
                 {
-                    CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
+                    CustomMessageBox.Show("Not Available on " + MainV2.comPort.MAV.cs.firmware.ToString());
                 }
                 else
                 {
@@ -45,7 +45,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         {
             try
             {
-                if (MainV2.comPort.param["H_SV_MAN"].ToString() == "1")
+                if (MainV2.comPort.MAV.param["H_SV_MAN"].ToString() == "1")
                 {
                     MainV2.comPort.setParam("H_COL_MIN", int.Parse(H_COL_MIN.Text));
                     MainV2.comPort.setParam("H_COL_MAX", int.Parse(H_COL_MAX.Text));
@@ -77,7 +77,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         {
             try
             {
-                if (MainV2.comPort.param["H_SV_MAN"].ToString() == "1")
+                if (MainV2.comPort.MAV.param["H_SV_MAN"].ToString() == "1")
                 {
                     MainV2.comPort.setParam("HS4_MIN", int.Parse(HS4_MIN.Text));
                     MainV2.comPort.setParam("HS4_MAX", int.Parse(HS4_MAX.Text));
@@ -255,9 +255,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             try
             {
 
-                MainV2.comPort.setParam("H_COL_MID", MainV2.cs.ch3in);
+                MainV2.comPort.setParam("H_COL_MID", MainV2.comPort.MAV.cs.ch3in);
 
-                H_COL_MID.Text = MainV2.comPort.param["H_COL_MID"].ToString();
+                H_COL_MID.Text = MainV2.comPort.MAV.param["H_COL_MID"].ToString();
             }
             catch { CustomMessageBox.Show("Set H_COL_MID failed"); }
         }
@@ -371,7 +371,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         public void Activate()
         {
 
-            if (MainV2.comPort.param["H_GYR_ENABLE"] == null)
+            if (MainV2.comPort.MAV.param["H_GYR_ENABLE"] == null)
             {
                 this.Enabled = false;
                 return;
@@ -383,26 +383,26 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             timer.Interval = 100;
             timer.Start();
 
-            mavlinkNumericUpDown1min.setup(800,1400,1,1,"HS1_MIN",MainV2.comPort.param);
+            mavlinkNumericUpDown1min.setup(800,1400,1,1,"HS1_MIN",MainV2.comPort.MAV.param);
-            mavlinkNumericUpDown1max.setup(1600,2200,1,1,"HS1_MAX",MainV2.comPort.param);
+            mavlinkNumericUpDown1max.setup(1600,2200,1,1,"HS1_MAX",MainV2.comPort.MAV.param);
-            mavlinkNumericUpDown2min.setup(800, 1400, 1, 1, "HS2_MIN", MainV2.comPort.param);
+            mavlinkNumericUpDown2min.setup(800, 1400, 1, 1, "HS2_MIN", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDown2max.setup(1600, 2200, 1, 1, "HS2_MAX", MainV2.comPort.param);
+            mavlinkNumericUpDown2max.setup(1600, 2200, 1, 1, "HS2_MAX", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDown3min.setup(800, 1400, 1, 1, "HS3_MIN", MainV2.comPort.param);
+            mavlinkNumericUpDown3min.setup(800, 1400, 1, 1, "HS3_MIN", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDown3max.setup(1600, 2200, 1, 1, "HS3_MAX", MainV2.comPort.param);
+            mavlinkNumericUpDown3max.setup(1600, 2200, 1, 1, "HS3_MAX", MainV2.comPort.MAV.param);
 
-            mavlinkNumericUpDownpitchmax.setup(10, 65, 100, 1, "H_PIT_MAX", MainV2.comPort.param);
+            mavlinkNumericUpDownpitchmax.setup(10, 65, 100, 1, "H_PIT_MAX", MainV2.comPort.MAV.param);
-            mavlinkNumericUpDownrollmax.setup(10, 65, 100, 1, "H_ROL_MAX", MainV2.comPort.param);
+            mavlinkNumericUpDownrollmax.setup(10, 65, 100, 1, "H_ROL_MAX", MainV2.comPort.MAV.param);
 
             startup = true;
             try
             {
-                if (MainV2.comPort.param.ContainsKey("H_SWASH_TYPE"))
+                if (MainV2.comPort.MAV.param.ContainsKey("H_SWASH_TYPE"))
                 {
-                    CCPM.Checked = MainV2.comPort.param["H_SWASH_TYPE"].ToString() == "0" ? true : false;
+                    CCPM.Checked = MainV2.comPort.MAV.param["H_SWASH_TYPE"].ToString() == "0" ? true : false;
                     H_SWASH_TYPE.Checked = !CCPM.Checked;
                 }
 
-                foreach (string value in MainV2.comPort.param.Keys)
+                foreach (string value in MainV2.comPort.MAV.param.Keys)
                 {
                     if (value == "")
                         continue;
@@ -413,34 +413,34 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                         if (control[0].GetType() == typeof(TextBox))
                         {
                             TextBox temp = (TextBox)control[0];
-                            string option = MainV2.comPort.param[value].ToString();
+                            string option = MainV2.comPort.MAV.param[value].ToString();
                             temp.Text = option;
                         }
                         if (control[0].GetType() == typeof(NumericUpDown))
                         {
                             NumericUpDown temp = (NumericUpDown)control[0];
-                            string option = MainV2.comPort.param[value].ToString();
+                            string option = MainV2.comPort.MAV.param[value].ToString();
                             temp.Text = option;
                         }
                         if (control[0].GetType() == typeof(CheckBox))
                         {
                             CheckBox temp = (CheckBox)control[0];
-                            string option = MainV2.comPort.param[value].ToString();
+                            string option = MainV2.comPort.MAV.param[value].ToString();
                             temp.Checked = option == "1" ? true : false;
                         }
                         if (control[0].GetType() == typeof(MyTrackBar))
                         {
                             ArdupilotMega.Controls.MyTrackBar temp = (MyTrackBar)control[0];
-                            string option = MainV2.comPort.param[value].ToString();
+                            string option = MainV2.comPort.MAV.param[value].ToString();
                             temp.Value = int.Parse(option);
                         }
                     }
                 }
 
-                HS1_REV.Checked = MainV2.comPort.param["HS1_REV"].ToString() == "-1";
+                HS1_REV.Checked = MainV2.comPort.MAV.param["HS1_REV"].ToString() == "-1";
-                HS2_REV.Checked = MainV2.comPort.param["HS2_REV"].ToString() == "-1";
+                HS2_REV.Checked = MainV2.comPort.MAV.param["HS2_REV"].ToString() == "-1";
-                HS3_REV.Checked = MainV2.comPort.param["HS3_REV"].ToString() == "-1";
+                HS3_REV.Checked = MainV2.comPort.MAV.param["HS3_REV"].ToString() == "-1";
-                HS4_REV.Checked = MainV2.comPort.param["HS4_REV"].ToString() == "-1";
+                HS4_REV.Checked = MainV2.comPort.MAV.param["HS4_REV"].ToString() == "-1";
 
             }
             catch { }
@@ -451,11 +451,11 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         {
             try
             {
-                MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
+                MainV2.comPort.MAV.cs.UpdateCurrentSettings(currentStateBindingSource);
             }
             catch { }
 
-            if (MainV2.comPort.param["H_SV_MAN"] == null || MainV2.comPort.param["H_SV_MAN"].ToString() == "0")
+            if (MainV2.comPort.MAV.param["H_SV_MAN"] == null || MainV2.comPort.MAV.param["H_SV_MAN"].ToString() == "0")
                 return;
 
             if (HS3.minline == 0)
@@ -464,11 +464,11 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             if (HS4.minline == 0)
                 HS4.minline = 2200;
 
-            HS3.minline = Math.Min(HS3.minline, (int)MainV2.cs.ch3in);
+            HS3.minline = Math.Min(HS3.minline, (int)MainV2.comPort.MAV.cs.ch3in);
-            HS3.maxline = Math.Max(HS3.maxline, (int)MainV2.cs.ch3in);
+            HS3.maxline = Math.Max(HS3.maxline, (int)MainV2.comPort.MAV.cs.ch3in);
 
-            HS4.minline = Math.Min(HS4.minline, (int)MainV2.cs.ch4in);
+            HS4.minline = Math.Min(HS4.minline, (int)MainV2.comPort.MAV.cs.ch4in);
-            HS4.maxline = Math.Max(HS4.maxline, (int)MainV2.cs.ch4in);
+            HS4.maxline = Math.Max(HS4.maxline, (int)MainV2.comPort.MAV.cs.ch4in);
 
             if (!inpwmdetect)
             {

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Setup.cs

@@ -15,6 +15,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
     {
         // remember the last page accessed
         static string lastpagename = "";
+        public static Controls.FlashMessage flashMessage = new Controls.FlashMessage();
 
         BackstageView.BackstageViewPage hardware;
         BackstageView.BackstageViewPage standardpage;
@@ -24,6 +25,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         {
             InitializeComponent();
             ThemeManager.ApplyThemeTo(this);
+            this.Controls.Add(flashMessage);
         }
 
         private void Setup_Load(object sender, EventArgs e)
@@ -70,7 +72,7 @@ If you are just setting up 3DR radios, you may continue without connecting.");
         {
             /****************************** Common  **************************/
 
-            if ((MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) || (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) || (MainV2.cs.firmware == MainV2.Firmwares.ArduRover))
+            if ((MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2) || (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane) || (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover))
             {
                 AddBackstageViewPage(new ConfigRadioInput(), "Radio Calibration");
                 AddBackstageViewPage(new ConfigFlightModes(), "Flight Modes");
@@ -79,7 +81,7 @@ If you are just setting up 3DR radios, you may continue without connecting.");
                 AddBackstageViewPage(new ConfigBatteryMonitoring(), "Battery Monitor", hardware);
             }
 
-            if ((MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) || (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) || (MainV2.cs.firmware == MainV2.Firmwares.ArduRover))
+            if ((MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2) || (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane) || (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover))
             {
                 standardpage = AddBackstageViewPage(new ConfigFriendlyParams { ParameterMode = ParameterMetaDataConstants.Standard }, "Standard Params");
                 advancedpage = AddBackstageViewPage(new ConfigFriendlyParams { ParameterMode = ParameterMetaDataConstants.Advanced }, "Advanced Params");
@@ -87,8 +89,10 @@ If you are just setting up 3DR radios, you may continue without connecting.");
             AddBackstageViewPage(new ConfigRawParams(), "Adv Parameter List", advancedpage);
 
             /******************************HELI **************************/
-            if (MainV2.comPort.param["H_GYR_ENABLE"] != null) // heli
+            if (MainV2.comPort.MAV.param["H_GYR_ENABLE"] != null) // heli
             {
+              //  AddBackstageViewPage(new ConfigSignalization(), "Signalization", hardware);
+
                 AddBackstageViewPage(new ConfigMount(), "Camera Gimbal", hardware);
 
                 AddBackstageViewPage(new ConfigAccelerometerCalibrationQuad(), "ArduCopter Level");
@@ -102,8 +106,10 @@ If you are just setting up 3DR radios, you may continue without connecting.");
                // AddBackstageViewPage(new ConfigAP_Limits(), "GeoFence");
             }
                 /****************************** ArduCopter **************************/
-            else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+            else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
             {
+              //  AddBackstageViewPage(new ConfigSignalization(), "Signalization", hardware);
+
                 AddBackstageViewPage(new ConfigMount(), "Camera Gimbal", hardware);
 
                 AddBackstageViewPage(new ConfigAccelerometerCalibrationQuad(), "ArduCopter Level");
@@ -115,7 +121,7 @@ If you are just setting up 3DR radios, you may continue without connecting.");
                 AddBackstageViewPage(new ConfigAP_Limits(), "GeoFence");
             }
                 /****************************** ArduPlane **************************/
-            else if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+            else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
             {
                 AddBackstageViewPage(new ConfigMount(), "Camera Gimbal", hardware);
 
@@ -123,12 +129,12 @@ If you are just setting up 3DR radios, you may continue without connecting.");
                 AddBackstageViewPage(new ConfigArduplane(), "ArduPlane Pids", standardpage);
             }
                 /****************************** ArduRover **************************/
-            else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
+            else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
             {
                 //AddBackstageViewPage(new ConfigAccelerometerCalibrationPlane(), "ArduRover Level"));
                 AddBackstageViewPage(new ConfigArdurover(), "ArduRover Pids", standardpage);
             }
-            else if (MainV2.cs.firmware == MainV2.Firmwares.Ateryx)
+            else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.Ateryx)
             {
 
                 AddBackstageViewPage(new ConfigAteryxSensors(), "Ateryx Zero Sensors");

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -34,7 +34,7 @@ namespace ArdupilotMega.GCSViews
         //"http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex"
         readonly string oldurl = ("https://meee146-planner.googlecode.com/git-history/!Hash!/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml");
         readonly string oldfirmwareurl = ("https://meee146-planner.googlecode.com/git-history/!Hash!/Tools/ArdupilotMegaPlanner/Firmware/!Firmware!");
-        string[] oldurls = new string[] { "55ec5eaf662a56044ea25c894d235d17185f0660", "cb5b736976c7ed791ea45675c31f588ecb8228d4", "bcd5239322df38db011f183e48d596f215803838", "8709cc418e00326295abc562530413c0089807a7", "06a64192df594b0f81233dfb1f0214aab2cb2603", "7853ef3fad98e5053f228b7c1748c76858c4d282", "abe930ce723267697542388ef181328f00371f40", "26305d5790333f730cd396afcd08c165cde33ed7", "bc1f26ca40b076e3d06f173adad772fb25aa6512", "dfc5737c5efc1e7b78e908829a097624c273d9d7", "682065db449b6c79d89717908ed8beea1ed6a03a", "b21116847d35472b9ab770408cbeb88ed2ed0a95", "511e00bc89a554aea8768a274bff28af532cd335", "1da56714aa1ed88dcdb078a90d33bcef4eb4315f", "8aa4c7a1ed07648f31335926cc6bcc06c87dc536" };
+        string[] oldurls = new string[] { "bb5ee0e1c3e643e7e359ffb4c8bde34aa7d4f996", "55ec5eaf662a56044ea25c894d235d17185f0660", "cb5b736976c7ed791ea45675c31f588ecb8228d4", "bcd5239322df38db011f183e48d596f215803838", "8709cc418e00326295abc562530413c0089807a7", "06a64192df594b0f81233dfb1f0214aab2cb2603", "7853ef3fad98e5053f228b7c1748c76858c4d282", "abe930ce723267697542388ef181328f00371f40", "26305d5790333f730cd396afcd08c165cde33ed7", "bc1f26ca40b076e3d06f173adad772fb25aa6512", "dfc5737c5efc1e7b78e908829a097624c273d9d7", "682065db449b6c79d89717908ed8beea1ed6a03a", "b21116847d35472b9ab770408cbeb88ed2ed0a95", "511e00bc89a554aea8768a274bff28af532cd335", "1da56714aa1ed88dcdb078a90d33bcef4eb4315f", "8aa4c7a1ed07648f31335926cc6bcc06c87dc536" };
 
         List<software> softwares = new List<software>();
         bool flashing = false;

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs

@@ -1116,12 +1116,12 @@
             // splitContainer1.Panel2
             // 
             this.splitContainer1.Panel2.ContextMenuStrip = this.contextMenuStripMap;
-            this.splitContainer1.Panel2.Controls.Add(this.gMapControl1);
-            this.splitContainer1.Panel2.Controls.Add(this.TRK_zoom);
             this.splitContainer1.Panel2.Controls.Add(this.lbl_winddir);
             this.splitContainer1.Panel2.Controls.Add(this.lbl_windvel);
             this.splitContainer1.Panel2.Controls.Add(this.lbl_hdop);
             this.splitContainer1.Panel2.Controls.Add(this.lbl_sats);
+            this.splitContainer1.Panel2.Controls.Add(this.gMapControl1);
+            this.splitContainer1.Panel2.Controls.Add(this.TRK_zoom);
             // 
             // zg1
             // 

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -235,7 +235,7 @@ namespace ArdupilotMega.GCSViews
             int x = 10;
             int y = 10;
 
-            object thisBoxed = MainV2.cs;
+            object thisBoxed = MainV2.comPort.MAV.cs;
             Type test = thisBoxed.GetType();
 
             foreach (var field in test.GetProperties())
@@ -336,7 +336,7 @@ namespace ArdupilotMega.GCSViews
                     if (ctls.Length > 0)
                     {
                         // set description
-                        ((QuickView)ctls[0]).desc = MainV2.cs.GetNameandUnit(MainV2.config["quickView" + f].ToString());
+                        ((QuickView)ctls[0]).desc = MainV2.comPort.MAV.cs.GetNameandUnit(MainV2.config["quickView" + f].ToString());
 
                         // set databinding for value
                         ((QuickView)ctls[0]).DataBindings.Clear();
@@ -351,14 +351,14 @@ namespace ArdupilotMega.GCSViews
                           Control[] ctls = this.Controls.Find("quickView" + f, true);
                           if (ctls.Length > 0)
                           {
-                              ((QuickView)ctls[0]).desc = MainV2.cs.GetNameandUnit(((QuickView)ctls[0]).desc);
+                              ((QuickView)ctls[0]).desc = MainV2.comPort.MAV.cs.GetNameandUnit(((QuickView)ctls[0]).desc);
                           }
                     }
                     catch { }
                 }
             }
 
-            if (MainV2.comPort.param.ContainsKey("BATT_MONITOR") && (float)MainV2.comPort.param["BATT_MONITOR"] != 0)
+            if (MainV2.comPort.MAV.param.ContainsKey("BATT_MONITOR") && (float)MainV2.comPort.MAV.param["BATT_MONITOR"] != 0)
             {
                 hud1.batteryon = true;
             }
@@ -490,13 +490,13 @@ namespace ArdupilotMega.GCSViews
                         //System.Threading.Thread.Sleep(1000);
 
                         //comPort.requestDatastream((byte)ArdupilotMega.MAVLink09.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
-                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.cs.ratestatus); // mode
+                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.comPort.MAV.cs.ratestatus); // mode
-                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.cs.rateposition); // request gps
+                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.comPort.MAV.cs.rateposition); // request gps
-                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.cs.rateattitude); // request attitude
+                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.comPort.MAV.cs.rateattitude); // request attitude
-                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.cs.rateattitude); // request vfr
+                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.comPort.MAV.cs.rateattitude); // request vfr
-                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.cs.ratesensors); // request extra stuff - tridge
+                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.comPort.MAV.cs.ratesensors); // request extra stuff - tridge
-                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
+                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // request raw sensor
-                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.cs.raterc); // request rc info
+                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.comPort.MAV.cs.raterc); // request rc info
                     }
                     catch { log.Error("Failed to request rates"); }
                     lastdata = DateTime.Now.AddSeconds(120); // prevent flooding
@@ -643,8 +643,8 @@ namespace ArdupilotMega.GCSViews
 
                     if (ArdupilotMega.Controls.OpenGLtest.instance != null)
                     {
-                        ArdupilotMega.Controls.OpenGLtest.instance.rpy = new OpenTK.Vector3(MainV2.cs.roll, MainV2.cs.pitch, MainV2.cs.yaw);
+                        ArdupilotMega.Controls.OpenGLtest.instance.rpy = new OpenTK.Vector3(MainV2.comPort.MAV.cs.roll, MainV2.comPort.MAV.cs.pitch, MainV2.comPort.MAV.cs.yaw);
-                        ArdupilotMega.Controls.OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.cs.lat, MainV2.cs.lng, MainV2.cs.alt, "here");
+                        ArdupilotMega.Controls.OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng, MainV2.comPort.MAV.cs.alt, "here");
                     }
 
                     if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked == true)
@@ -652,25 +652,25 @@ namespace ArdupilotMega.GCSViews
 
                         double time = (Environment.TickCount - tickStart) / 1000.0;
                         if (list1item != null)
-                            list1.Add(time, (float)list1item.GetValue((object)MainV2.cs, null));
+                            list1.Add(time, (float)list1item.GetValue((object)MainV2.comPort.MAV.cs, null));
                         if (list2item != null)
-                            list2.Add(time, (float)list2item.GetValue((object)MainV2.cs, null));
+                            list2.Add(time, (float)list2item.GetValue((object)MainV2.comPort.MAV.cs, null));
                         if (list3item != null)
-                            list3.Add(time, (float)list3item.GetValue((object)MainV2.cs, null));
+                            list3.Add(time, (float)list3item.GetValue((object)MainV2.comPort.MAV.cs, null));
                         if (list4item != null)
-                            list4.Add(time, (float)list4item.GetValue((object)MainV2.cs, null));
+                            list4.Add(time, (float)list4item.GetValue((object)MainV2.comPort.MAV.cs, null));
                         if (list5item != null)
-                            list5.Add(time, (float)list5item.GetValue((object)MainV2.cs, null));
+                            list5.Add(time, (float)list5item.GetValue((object)MainV2.comPort.MAV.cs, null));
                         if (list6item != null)
-                            list6.Add(time, (float)list6item.GetValue((object)MainV2.cs, null));
+                            list6.Add(time, (float)list6item.GetValue((object)MainV2.comPort.MAV.cs, null));
                         if (list7item != null)
-                            list7.Add(time, (float)list7item.GetValue((object)MainV2.cs, null));
+                            list7.Add(time, (float)list7item.GetValue((object)MainV2.comPort.MAV.cs, null));
                         if (list8item != null)
-                            list8.Add(time, (float)list8item.GetValue((object)MainV2.cs, null));
+                            list8.Add(time, (float)list8item.GetValue((object)MainV2.comPort.MAV.cs, null));
                         if (list9item != null)
-                            list9.Add(time, (float)list9item.GetValue((object)MainV2.cs, null));
+                            list9.Add(time, (float)list9item.GetValue((object)MainV2.comPort.MAV.cs, null));
                         if (list10item != null)
-                            list10.Add(time, (float)list10item.GetValue((object)MainV2.cs, null));
+                            list10.Add(time, (float)list10item.GetValue((object)MainV2.comPort.MAV.cs, null));
                     }
 
                     if (tracklast.AddSeconds(1) < DateTime.Now)
@@ -687,7 +687,7 @@ namespace ArdupilotMega.GCSViews
                             routes.Routes.Add(route);
                         }
 
-                        PointLatLng currentloc = new PointLatLng(MainV2.cs.lat, MainV2.cs.lng);
+                        PointLatLng currentloc = new PointLatLng(MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng);
 
                         gMapControl1.HoldInvalidation = true;
 
@@ -704,7 +704,7 @@ namespace ArdupilotMega.GCSViews
                             //  trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
                             route.Points.RemoveRange(0, route.Points.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
                         }
-                        if (MainV2.cs.lat != 0)
+                        if (MainV2.comPort.MAV.cs.lat != 0)
                         {
                             // trackPoints.Add(currentloc);
                             route.Points.Add(currentloc);
@@ -734,7 +734,7 @@ namespace ArdupilotMega.GCSViews
                                 //Console.WriteLine("Doing FD WP's");
                                 updateMissionRouteMarkers();
 
-                                foreach (MAVLink.mavlink_mission_item_t plla in MainV2.comPort.wps.Values)
+                                foreach (MAVLink.mavlink_mission_item_t plla in MainV2.comPort.MAV.wps.Values)
                                 {
                                     if (plla.x == 0 || plla.y == 0)
                                         continue;
@@ -774,22 +774,22 @@ namespace ArdupilotMega.GCSViews
                                     routes.Markers.Add(new GMapMarkerCross(currentloc));
                                 }
 
-                                if (MainV2.cs.mode.ToLower() == "guided" && MainV2.comPort.GuidedMode.x != 0)
+                                if (MainV2.comPort.MAV.cs.mode.ToLower() == "guided" && MainV2.comPort.MAV.GuidedMode.x != 0)
                                 {
-                                    addpolygonmarker("Guided Mode", MainV2.comPort.GuidedMode.y, MainV2.comPort.GuidedMode.x, (int)MainV2.comPort.GuidedMode.z, Color.Blue, routes);
+                                    addpolygonmarker("Guided Mode", MainV2.comPort.MAV.GuidedMode.y, MainV2.comPort.MAV.GuidedMode.x, (int)MainV2.comPort.MAV.GuidedMode.z, Color.Blue, routes);
                                 }
 
-                                if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+                                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
                                 {
-                                    routes.Markers[0] = (new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, gMapControl1) { ToolTipText = MainV2.cs.alt.ToString("0"), ToolTipMode = MarkerTooltipMode.Always });
+                                    routes.Markers[0] = (new GMapMarkerPlane(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing, MainV2.comPort.MAV.cs.target_bearing, gMapControl1) { ToolTipText = MainV2.comPort.MAV.cs.alt.ToString("0"), ToolTipMode = MarkerTooltipMode.Always });
                                 }
-                                else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
+                                else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
                                 {
-                                    routes.Markers[0] = (new GMapMarkerRover(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, gMapControl1));
+                                    routes.Markers[0] = (new GMapMarkerRover(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing, MainV2.comPort.MAV.cs.target_bearing, gMapControl1));
                                 }
                                 else
                                 {
-                                    routes.Markers[0] = (new GMapMarkerQuad(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing));
+                                    routes.Markers[0] = (new GMapMarkerQuad(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing));
                                 }
 
                                 if (route.Points[route.Points.Count - 1].Lat != 0 && (mapupdate.AddSeconds(3) < DateTime.Now) && CHK_autopan.Checked)
@@ -823,7 +823,7 @@ namespace ArdupilotMega.GCSViews
         {
             this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
             {
-                gMapControl1.Bearing = (int)MainV2.cs.yaw;
+                gMapControl1.Bearing = (int)MainV2.comPort.MAV.cs.yaw;
             });
         }
 
@@ -889,7 +889,7 @@ namespace ArdupilotMega.GCSViews
             {
                 try
                 {
-                    MainV2.cs.UpdateCurrentSettings(bindingSource1);
+                    MainV2.comPort.MAV.cs.UpdateCurrentSettings(bindingSource1);
                 }
                 catch { }
             });
@@ -951,7 +951,7 @@ namespace ArdupilotMega.GCSViews
                     mBorders.InnerMarker = m;
                     try
                     {
-                        mBorders.wprad = (int)(float.Parse(ArdupilotMega.MainV2.config["TXT_WPRad"].ToString()) / MainV2.cs.multiplierdist);
+                        mBorders.wprad = (int)(float.Parse(ArdupilotMega.MainV2.config["TXT_WPRad"].ToString()) / MainV2.comPort.MAV.cs.multiplierdist);
                     }
                     catch { }
                     mBorders.MainMap = gMapControl1;
@@ -1243,11 +1243,11 @@ namespace ArdupilotMega.GCSViews
                 return;
             }
 
-            if (MainV2.comPort.GuidedMode.z == 0)
+            if (MainV2.comPort.MAV.GuidedMode.z == 0)
             {
                 flyToHereAltToolStripMenuItem_Click(null, null);
 
-                if (MainV2.comPort.GuidedMode.z == 0)
+                if (MainV2.comPort.MAV.GuidedMode.z == 0)
                     return;
             }
 
@@ -1260,7 +1260,7 @@ namespace ArdupilotMega.GCSViews
             Locationwp gotohere = new Locationwp();
 
             gotohere.id = (byte)MAVLink.MAV_CMD.WAYPOINT;
-            gotohere.alt = (float)(MainV2.comPort.GuidedMode.z); // back to m
+            gotohere.alt = (float)(MainV2.comPort.MAV.GuidedMode.z); // back to m
             gotohere.lat = (float)(gotolocation.Lat);
             gotohere.lng = (float)(gotolocation.Lng);
 
@@ -1317,7 +1317,7 @@ namespace ArdupilotMega.GCSViews
                     marker = new GMapMarkerRect(point);
                     marker.ToolTip = new GMapToolTip(marker);
                     marker.ToolTipMode = MarkerTooltipMode.Always;
-                    marker.ToolTipText = "Dist to Home: " + ((gMapControl1.Manager.GetDistance(point, MainV2.cs.HomeLocation.Point()) * 1000) * MainV2.cs.multiplierdist).ToString("0");
+                    marker.ToolTipText = "Dist to Home: " + ((gMapControl1.Manager.GetDistance(point, MainV2.comPort.MAV.cs.HomeLocation.Point()) * 1000) * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
 
                     routes.Markers.Add(marker);
                 }
@@ -1332,20 +1332,20 @@ namespace ArdupilotMega.GCSViews
             }
 
             // QUAD
-            if (MainV2.comPort.param.ContainsKey("WP_SPEED_MAX"))
+            if (MainV2.comPort.MAV.param.ContainsKey("WP_SPEED_MAX"))
             {
-                modifyandSetSpeed.Value = (decimal)((float)MainV2.comPort.param["WP_SPEED_MAX"] / 100.0);
+                modifyandSetSpeed.Value = (decimal)((float)MainV2.comPort.MAV.param["WP_SPEED_MAX"] / 100.0);
             } // plane with airspeed
-            else if (MainV2.comPort.param.ContainsKey("TRIM_ARSPD_CM") && MainV2.comPort.param.ContainsKey("ARSPD_ENABLE")
+            else if (MainV2.comPort.MAV.param.ContainsKey("TRIM_ARSPD_CM") && MainV2.comPort.MAV.param.ContainsKey("ARSPD_ENABLE")
-                && MainV2.comPort.param.ContainsKey("ARSPD_USE") && (float)MainV2.comPort.param["ARSPD_ENABLE"] == 1
+                && MainV2.comPort.MAV.param.ContainsKey("ARSPD_USE") && (float)MainV2.comPort.MAV.param["ARSPD_ENABLE"] == 1
-                && (float)MainV2.comPort.param["ARSPD_USE"] == 1)
+                && (float)MainV2.comPort.MAV.param["ARSPD_USE"] == 1)
             {
-                modifyandSetSpeed.Value = (decimal)((float)MainV2.comPort.param["TRIM_ARSPD_CM"] / 100.0);
+                modifyandSetSpeed.Value = (decimal)((float)MainV2.comPort.MAV.param["TRIM_ARSPD_CM"] / 100.0);
             } // plane without airspeed
-            else if (MainV2.comPort.param.ContainsKey("TRIM_THROTTLE") && MainV2.comPort.param.ContainsKey("ARSPD_USE")
+            else if (MainV2.comPort.MAV.param.ContainsKey("TRIM_THROTTLE") && MainV2.comPort.MAV.param.ContainsKey("ARSPD_USE")
-                && (float)MainV2.comPort.param["ARSPD_USE"] == 0)
+                && (float)MainV2.comPort.MAV.param["ARSPD_USE"] == 0)
             {
-                modifyandSetSpeed.Value = (decimal)(float)MainV2.comPort.param["TRIM_THROTTLE"]; // percent
+                modifyandSetSpeed.Value = (decimal)(float)MainV2.comPort.MAV.param["TRIM_THROTTLE"]; // percent
             }
 
             MainV2.comPort.ParamListChanged += FlightData_ParentChanged;
@@ -1358,13 +1358,13 @@ namespace ArdupilotMega.GCSViews
 
         private void BUT_Homealt_Click(object sender, EventArgs e)
         {
-            if (MainV2.cs.altoffsethome != 0)
+            if (MainV2.comPort.MAV.cs.altoffsethome != 0)
             {
-                MainV2.cs.altoffsethome = 0;
+                MainV2.comPort.MAV.cs.altoffsethome = 0;
             }
             else
             {
-                MainV2.cs.altoffsethome = MainV2.cs.alt / MainV2.cs.multiplierdist;
+                MainV2.comPort.MAV.cs.altoffsethome = MainV2.comPort.MAV.cs.alt / MainV2.comPort.MAV.cs.multiplierdist;
             }
         }
 
@@ -1542,9 +1542,9 @@ namespace ArdupilotMega.GCSViews
 
             CMB_setwp.Items.Add("0 (Home)");
 
-            if (MainV2.comPort.param["CMD_TOTAL"] != null)
+            if (MainV2.comPort.MAV.param["CMD_TOTAL"] != null)
             {
-                int wps = int.Parse(MainV2.comPort.param["CMD_TOTAL"].ToString());
+                int wps = int.Parse(MainV2.comPort.MAV.param["CMD_TOTAL"].ToString());
                 for (int z = 1; z <= wps; z++)
                 {
                     CMB_setwp.Items.Add(z.ToString());
@@ -1579,9 +1579,9 @@ namespace ArdupilotMega.GCSViews
             try
             {
                 ((Button)sender).Enabled = false;
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
                     MainV2.comPort.setMode("Manual");
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
                     MainV2.comPort.setMode("Stabilize");
 
             }
@@ -1763,7 +1763,7 @@ namespace ArdupilotMega.GCSViews
 
             y += 20;
 
-            object thisBoxed = MainV2.cs;
+            object thisBoxed = MainV2.comPort.MAV.cs;
             Type test = thisBoxed.GetType();
 
             foreach (var field in test.GetProperties())
@@ -1844,7 +1844,7 @@ namespace ArdupilotMega.GCSViews
             int x = 10;
             int y = 10;
 
-            object thisBoxed = MainV2.cs;
+            object thisBoxed = MainV2.comPort.MAV.cs;
             Type test = thisBoxed.GetType();
 
             foreach (var field in test.GetProperties())
@@ -1898,7 +1898,7 @@ namespace ArdupilotMega.GCSViews
 
         void addHudUserItem(ref HUD.Custom cust, CheckBox sender)
         {
-            setupPropertyInfo(ref cust.Item, (sender).Name, MainV2.cs);
+            setupPropertyInfo(ref cust.Item, (sender).Name, MainV2.comPort.MAV.cs);
 
             hud1.CustomItems.Add((sender).Name, cust);
 
@@ -1952,7 +1952,7 @@ namespace ArdupilotMega.GCSViews
             {
                 if (list1item == null)
                 {
-                    if (setupPropertyInfo(ref list1item, ((CheckBox)sender).Name, MainV2.cs))
+                    if (setupPropertyInfo(ref list1item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
                     {
                         list1.Clear();
                         list1curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list1, Color.Red, SymbolType.None);
@@ -1960,7 +1960,7 @@ namespace ArdupilotMega.GCSViews
                 }
                 else if (list2item == null)
                 {
-                    if (setupPropertyInfo(ref list2item, ((CheckBox)sender).Name, MainV2.cs))
+                    if (setupPropertyInfo(ref list2item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
                     {
                         list2.Clear();
                         list2curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list2, Color.Blue, SymbolType.None);
@@ -1968,7 +1968,7 @@ namespace ArdupilotMega.GCSViews
                 }
                 else if (list3item == null)
                 {
-                    if (setupPropertyInfo(ref list3item, ((CheckBox)sender).Name, MainV2.cs))
+                    if (setupPropertyInfo(ref list3item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
                     {
                         list3.Clear();
                         list3curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list3, Color.Green, SymbolType.None);
@@ -1976,7 +1976,7 @@ namespace ArdupilotMega.GCSViews
                 }
                 else if (list4item == null)
                 {
-                    if (setupPropertyInfo(ref list4item, ((CheckBox)sender).Name, MainV2.cs))
+                    if (setupPropertyInfo(ref list4item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
                     {
                         list4.Clear();
                         list4curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list4, Color.Orange, SymbolType.None);
@@ -1984,7 +1984,7 @@ namespace ArdupilotMega.GCSViews
                 }
                 else if (list5item == null)
                 {
-                    if (setupPropertyInfo(ref list5item, ((CheckBox)sender).Name, MainV2.cs))
+                    if (setupPropertyInfo(ref list5item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
                     {
                         list5.Clear();
                         list5curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list5, Color.Yellow, SymbolType.None);
@@ -1992,7 +1992,7 @@ namespace ArdupilotMega.GCSViews
                 }
                 else if (list6item == null)
                 {
-                    if (setupPropertyInfo(ref list6item, ((CheckBox)sender).Name, MainV2.cs))
+                    if (setupPropertyInfo(ref list6item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
                     {
                         list6.Clear();
                         list6curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list6, Color.Magenta, SymbolType.None);
@@ -2000,7 +2000,7 @@ namespace ArdupilotMega.GCSViews
                 }
                 else if (list7item == null)
                 {
-                    if (setupPropertyInfo(ref list7item, ((CheckBox)sender).Name, MainV2.cs))
+                    if (setupPropertyInfo(ref list7item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
                     {
                         list7.Clear();
                         list7curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list7, Color.Purple, SymbolType.None);
@@ -2008,7 +2008,7 @@ namespace ArdupilotMega.GCSViews
                 }
                 else if (list8item == null)
                 {
-                    if (setupPropertyInfo(ref list8item, ((CheckBox)sender).Name, MainV2.cs))
+                    if (setupPropertyInfo(ref list8item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
                     {
                         list8.Clear();
                         list8curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list8, Color.LimeGreen, SymbolType.None);
@@ -2016,7 +2016,7 @@ namespace ArdupilotMega.GCSViews
                 }
                 else if (list9item == null)
                 {
-                    if (setupPropertyInfo(ref list9item, ((CheckBox)sender).Name, MainV2.cs))
+                    if (setupPropertyInfo(ref list9item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
                     {
                         list9.Clear();
                         list9curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list9, Color.Cyan, SymbolType.None);
@@ -2024,7 +2024,7 @@ namespace ArdupilotMega.GCSViews
                 }
                 else if (list10item == null)
                 {
-                    if (setupPropertyInfo(ref list10item, ((CheckBox)sender).Name, MainV2.cs))
+                    if (setupPropertyInfo(ref list10item, ((CheckBox)sender).Name, MainV2.comPort.MAV.cs))
                     {
                         list10.Clear();
                         list10curve = zg1.GraphPane.AddCurve(((CheckBox)sender).Name, list10, Color.Violet, SymbolType.None);
@@ -2119,10 +2119,10 @@ namespace ArdupilotMega.GCSViews
                 return;
             }
 
-            string alt = (100 * MainV2.cs.multiplierdist).ToString("0");
+            string alt = (100 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
             Common.InputBox("Enter Alt", "Enter Target Alt (absolute)", ref alt);
 
-            int intalt = (int)(100 * MainV2.cs.multiplierdist);
+            int intalt = (int)(100 * MainV2.comPort.MAV.cs.multiplierdist);
             if (!int.TryParse(alt, out intalt))
             {
                 CustomMessageBox.Show("Bad Alt");
@@ -2136,7 +2136,7 @@ namespace ArdupilotMega.GCSViews
             }
 
             MainV2.comPort.setMountConfigure(MAVLink.MAV_MOUNT_MODE.GPS_POINT, true, true, true);
-            MainV2.comPort.setMountControl(gotolocation.Lat, gotolocation.Lng, (int)(intalt / MainV2.cs.multiplierdist), true);
+            MainV2.comPort.setMountControl(gotolocation.Lat, gotolocation.Lng, (int)(intalt / MainV2.comPort.MAV.cs.multiplierdist), true);
 
         }
 
@@ -2305,7 +2305,7 @@ print 'Roll complete'
             int x = 10;
             int y = 10;
 
-            object thisBoxed = MainV2.cs;
+            object thisBoxed = MainV2.comPort.MAV.cs;
             Type test = thisBoxed.GetType();
 
             foreach (var field in test.GetProperties())
@@ -2326,7 +2326,7 @@ print 'Roll complete'
 
                 CheckBox chk_box = new CheckBox();
 
-                if (((QuickView)sender).Tag == field.Name)
+                if (((QuickView)sender).Tag.ToString() == field.Name)
                     chk_box.Checked = true;
 
                 chk_box.Text = field.Name;
@@ -2366,7 +2366,7 @@ print 'Roll complete'
                 string desc = ((CheckBox)sender).Name;
                 ((QuickView)((CheckBox)sender).Tag).Tag = desc;
 
-                desc = MainV2.cs.GetNameandUnit(desc);
+                desc = MainV2.comPort.MAV.cs.GetNameandUnit(desc);
 
                 ((QuickView)((CheckBox)sender).Tag).desc = desc;
 
@@ -2383,13 +2383,13 @@ print 'Roll complete'
         {
             string alt = "100";
 
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
             {
-                alt = (10 * MainV2.cs.multiplierdist).ToString("0");
+                alt = (10 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
             }
             else
             {
-                alt = (100 * MainV2.cs.multiplierdist).ToString("0");
+                alt = (100 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
             }
 
             if (MainV2.config.ContainsKey("guided_alt"))
@@ -2400,18 +2400,18 @@ print 'Roll complete'
 
             MainV2.config["guided_alt"] = alt;
 
-            int intalt = (int)(100 * MainV2.cs.multiplierdist);
+            int intalt = (int)(100 * MainV2.comPort.MAV.cs.multiplierdist);
             if (!int.TryParse(alt, out intalt))
             {
                 CustomMessageBox.Show("Bad Alt");
                 return;
             }
 
-            MainV2.comPort.GuidedMode.z = intalt;
+            MainV2.comPort.MAV.GuidedMode.z = intalt;
 
-            if (MainV2.cs.mode == "Guided")
+            if (MainV2.comPort.MAV.cs.mode == "Guided")
             {
-                MainV2.comPort.setGuidedModeWP(new Locationwp() { alt = (float)MainV2.comPort.GuidedMode.z, lat = (float)MainV2.comPort.GuidedMode.x, lng = (float)MainV2.comPort.GuidedMode.y });
+                MainV2.comPort.setGuidedModeWP(new Locationwp() { alt = (float)MainV2.comPort.MAV.GuidedMode.z, lat = (float)MainV2.comPort.MAV.GuidedMode.x, lng = (float)MainV2.comPort.MAV.GuidedMode.y });
             }
         }
 
@@ -2511,7 +2511,7 @@ print 'Roll complete'
             // arm the MAV
             try
             {
-                bool ans = MainV2.comPort.doARM(MainV2.cs.armed);
+                bool ans = MainV2.comPort.doARM(MainV2.comPort.MAV.cs.armed);
                 if (ans == false)
                     CustomMessageBox.Show("Error: Arm message rejected by MAV");
             }
@@ -2525,10 +2525,10 @@ print 'Roll complete'
             int newalt = (int)modifyandSetAlt.Value;
             try
             {
-                MainV2.comPort.setNewWPAlt(new Locationwp() { alt = newalt / MainV2.cs.multiplierdist });
+                MainV2.comPort.setNewWPAlt(new Locationwp() { alt = newalt / MainV2.comPort.MAV.cs.multiplierdist });
             }
-            catch { CustomMessageBox.Show("Error sending command"); }
+            catch { CustomMessageBox.Show("Error sending new Alt"); }
-            //MainV2.comPort.setNextWPTargetAlt((ushort)MainV2.cs.wpno, newalt);
+            //MainV2.comPort.setNextWPTargetAlt((ushort)MainV2.comPort.MAV.cs.wpno, newalt);
         }
 
         private void gMapControl1_MouseLeave(object sender, EventArgs e)
@@ -2543,32 +2543,32 @@ print 'Roll complete'
         private void modifyandSetSpeed_Click(object sender, EventArgs e)
         {
             // QUAD
-            if (MainV2.comPort.param.ContainsKey("WP_SPEED_MAX"))
+            if (MainV2.comPort.MAV.param.ContainsKey("WP_SPEED_MAX"))
             {
                 try
                 {
                     MainV2.comPort.setParam("WP_SPEED_MAX", ((float)modifyandSetSpeed.Value * 100.0f));
                 }
-                catch { CustomMessageBox.Show("Error sending command"); }
+                catch { CustomMessageBox.Show("Error sending WP_SPEED_MAX command"); }
             } // plane with airspeed
-            else if (MainV2.comPort.param.ContainsKey("TRIM_ARSPD_CM") && MainV2.comPort.param.ContainsKey("ARSPD_ENABLE")
+            else if (MainV2.comPort.MAV.param.ContainsKey("TRIM_ARSPD_CM") && MainV2.comPort.MAV.param.ContainsKey("ARSPD_ENABLE")
-                && MainV2.comPort.param.ContainsKey("ARSPD_USE") && (float)MainV2.comPort.param["ARSPD_ENABLE"] == 1
+                && MainV2.comPort.MAV.param.ContainsKey("ARSPD_USE") && (float)MainV2.comPort.MAV.param["ARSPD_ENABLE"] == 1
-                && (float)MainV2.comPort.param["ARSPD_USE"] == 1)
+                && (float)MainV2.comPort.MAV.param["ARSPD_USE"] == 1)
             {
                 try
                 {
                     MainV2.comPort.setParam("TRIM_ARSPD_CM", ((float)modifyandSetSpeed.Value * 100.0f));
                 }
-                catch { CustomMessageBox.Show("Error sending command"); }
+                catch { CustomMessageBox.Show("Error sending TRIM_ARSPD_CM command"); }
             } // plane without airspeed
-            else if (MainV2.comPort.param.ContainsKey("TRIM_THROTTLE") && MainV2.comPort.param.ContainsKey("ARSPD_USE")
+            else if (MainV2.comPort.MAV.param.ContainsKey("TRIM_THROTTLE") && MainV2.comPort.MAV.param.ContainsKey("ARSPD_USE")
-                && (float)MainV2.comPort.param["ARSPD_USE"] == 0)
+                && (float)MainV2.comPort.MAV.param["ARSPD_USE"] == 0)
             {
                 try
                 {
                     MainV2.comPort.setParam("TRIM_THROTTLE", (float)modifyandSetSpeed.Value);
                 }
-                catch { CustomMessageBox.Show("Error sending command"); }
+                catch { CustomMessageBox.Show("Error sending TRIM_THROTTLE command"); }
             }
         }
 

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.resx

@@ -244,7 +244,7 @@
     <value>hud1</value>
   </data>
   <data name="&gt;&gt;hud1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.HUD, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.HUD, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;hud1.Parent" xml:space="preserve">
     <value>SubMainLeft.Panel1</value>
@@ -283,7 +283,7 @@
     <value>quickView6</value>
   </data>
   <data name="&gt;&gt;quickView6.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;quickView6.Parent" xml:space="preserve">
     <value>tabQuick</value>
@@ -307,7 +307,7 @@
     <value>quickView5</value>
   </data>
   <data name="&gt;&gt;quickView5.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;quickView5.Parent" xml:space="preserve">
     <value>tabQuick</value>
@@ -331,7 +331,7 @@
     <value>quickView4</value>
   </data>
   <data name="&gt;&gt;quickView4.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;quickView4.Parent" xml:space="preserve">
     <value>tabQuick</value>
@@ -355,7 +355,7 @@
     <value>quickView3</value>
   </data>
   <data name="&gt;&gt;quickView3.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;quickView3.Parent" xml:space="preserve">
     <value>tabQuick</value>
@@ -379,7 +379,7 @@
     <value>quickView2</value>
   </data>
   <data name="&gt;&gt;quickView2.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;quickView2.Parent" xml:space="preserve">
     <value>tabQuick</value>
@@ -409,7 +409,7 @@
     <value>quickView1</value>
   </data>
   <data name="&gt;&gt;quickView1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;quickView1.Parent" xml:space="preserve">
     <value>tabQuick</value>
@@ -457,7 +457,7 @@
     <value>modifyandSetSpeed</value>
   </data>
   <data name="&gt;&gt;modifyandSetSpeed.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.ModifyandSet, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.ModifyandSet, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;modifyandSetSpeed.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -478,7 +478,7 @@
     <value>modifyandSetAlt</value>
   </data>
   <data name="&gt;&gt;modifyandSetAlt.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.ModifyandSet, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.ModifyandSet, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;modifyandSetAlt.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -511,7 +511,7 @@
     <value>BUT_ARM</value>
   </data>
   <data name="&gt;&gt;BUT_ARM.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_ARM.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -538,7 +538,7 @@
     <value>BUT_script</value>
   </data>
   <data name="&gt;&gt;BUT_script.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_script.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -568,7 +568,7 @@
     <value>BUT_joystick</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -598,7 +598,7 @@
     <value>BUT_quickmanual</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -628,7 +628,7 @@
     <value>BUT_quickrtl</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -658,7 +658,7 @@
     <value>BUT_quickauto</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -712,7 +712,7 @@
     <value>BUT_setwp</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -763,7 +763,7 @@
     <value>BUT_setmode</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -793,7 +793,7 @@
     <value>BUT_clear_track</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -844,7 +844,7 @@
     <value>BUT_Homealt</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -874,7 +874,7 @@
     <value>BUT_RAWSensor</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -904,7 +904,7 @@
     <value>BUTrestartmission</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -934,7 +934,7 @@
     <value>BUTactiondo</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -988,7 +988,7 @@
     <value>Gvspeed</value>
   </data>
   <data name="&gt;&gt;Gvspeed.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Gvspeed.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -1018,7 +1018,7 @@
     <value>Gheading</value>
   </data>
   <data name="&gt;&gt;Gheading.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.HSI, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.HSI, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Gheading.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -1048,7 +1048,7 @@
     <value>Galt</value>
   </data>
   <data name="&gt;&gt;Galt.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Galt.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -1081,7 +1081,7 @@
     <value>Gspeed</value>
   </data>
   <data name="&gt;&gt;Gspeed.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Gspeed.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -1165,7 +1165,7 @@
     <value>lbl_playbackspeed</value>
   </data>
   <data name="&gt;&gt;lbl_playbackspeed.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_playbackspeed.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1192,7 +1192,7 @@
     <value>lbl_logpercent</value>
   </data>
   <data name="&gt;&gt;lbl_logpercent.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_logpercent.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1219,7 +1219,7 @@
     <value>NUM_playbackspeed</value>
   </data>
   <data name="&gt;&gt;NUM_playbackspeed.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;NUM_playbackspeed.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1246,7 +1246,7 @@
     <value>BUT_log2kml</value>
   </data>
   <data name="&gt;&gt;BUT_log2kml.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_log2kml.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1300,7 +1300,7 @@
     <value>BUT_playlog</value>
   </data>
   <data name="&gt;&gt;BUT_playlog.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_playlog.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1327,7 +1327,7 @@
     <value>BUT_loadtelem</value>
   </data>
   <data name="&gt;&gt;BUT_loadtelem.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_loadtelem.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1491,6 +1491,132 @@
   <data name="&gt;&gt;splitContainer1.Panel1.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
+  <data name="lbl_winddir.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="lbl_winddir.Location" type="System.Drawing.Point, System.Drawing">
+    <value>4, 3</value>
+  </data>
+  <data name="lbl_winddir.Size" type="System.Drawing.Size, System.Drawing">
+    <value>46, 12</value>
+  </data>
+  <data name="lbl_winddir.TabIndex" type="System.Int32, mscorlib">
+    <value>68</value>
+  </data>
+  <data name="lbl_winddir.Text" xml:space="preserve">
+    <value>Dir: 0</value>
+  </data>
+  <data name="lbl_winddir.ToolTip" xml:space="preserve">
+    <value>Estimated Wind Direction</value>
+  </data>
+  <data name="&gt;&gt;lbl_winddir.Name" xml:space="preserve">
+    <value>lbl_winddir</value>
+  </data>
+  <data name="&gt;&gt;lbl_winddir.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;lbl_winddir.Parent" xml:space="preserve">
+    <value>splitContainer1.Panel2</value>
+  </data>
+  <data name="&gt;&gt;lbl_winddir.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
+  <data name="lbl_windvel.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="lbl_windvel.Location" type="System.Drawing.Point, System.Drawing">
+    <value>4, 23</value>
+  </data>
+  <data name="lbl_windvel.Size" type="System.Drawing.Size, System.Drawing">
+    <value>48, 12</value>
+  </data>
+  <data name="lbl_windvel.TabIndex" type="System.Int32, mscorlib">
+    <value>69</value>
+  </data>
+  <data name="lbl_windvel.Text" xml:space="preserve">
+    <value>Vel: 0</value>
+  </data>
+  <data name="lbl_windvel.ToolTip" xml:space="preserve">
+    <value>Estimated Wind Velocity</value>
+  </data>
+  <data name="&gt;&gt;lbl_windvel.Name" xml:space="preserve">
+    <value>lbl_windvel</value>
+  </data>
+  <data name="&gt;&gt;lbl_windvel.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;lbl_windvel.Parent" xml:space="preserve">
+    <value>splitContainer1.Panel2</value>
+  </data>
+  <data name="&gt;&gt;lbl_windvel.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="lbl_hdop.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Bottom, Left</value>
+  </data>
+  <data name="lbl_hdop.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="lbl_hdop.Location" type="System.Drawing.Point, System.Drawing">
+    <value>-1, 390</value>
+  </data>
+  <data name="lbl_hdop.Size" type="System.Drawing.Size, System.Drawing">
+    <value>43, 12</value>
+  </data>
+  <data name="lbl_hdop.TabIndex" type="System.Int32, mscorlib">
+    <value>70</value>
+  </data>
+  <data name="lbl_hdop.Text" xml:space="preserve">
+    <value>hdop: 0</value>
+  </data>
+  <data name="lbl_hdop.ToolTip" xml:space="preserve">
+    <value>gps hdop</value>
+  </data>
+  <data name="&gt;&gt;lbl_hdop.Name" xml:space="preserve">
+    <value>lbl_hdop</value>
+  </data>
+  <data name="&gt;&gt;lbl_hdop.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;lbl_hdop.Parent" xml:space="preserve">
+    <value>splitContainer1.Panel2</value>
+  </data>
+  <data name="&gt;&gt;lbl_hdop.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="lbl_sats.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Bottom, Left</value>
+  </data>
+  <data name="lbl_sats.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="lbl_sats.Location" type="System.Drawing.Point, System.Drawing">
+    <value>-1, 408</value>
+  </data>
+  <data name="lbl_sats.Size" type="System.Drawing.Size, System.Drawing">
+    <value>40, 12</value>
+  </data>
+  <data name="lbl_sats.TabIndex" type="System.Int32, mscorlib">
+    <value>71</value>
+  </data>
+  <data name="lbl_sats.Text" xml:space="preserve">
+    <value>Sats: 0</value>
+  </data>
+  <data name="lbl_sats.ToolTip" xml:space="preserve">
+    <value>Satallite Count</value>
+  </data>
+  <data name="&gt;&gt;lbl_sats.Name" xml:space="preserve">
+    <value>lbl_sats</value>
+  </data>
+  <data name="&gt;&gt;lbl_sats.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;lbl_sats.Parent" xml:space="preserve">
+    <value>splitContainer1.Panel2</value>
+  </data>
+  <data name="&gt;&gt;lbl_sats.ZOrder" xml:space="preserve">
+    <value>3</value>
+  </data>
   <data name="gMapControl1.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Fill</value>
   </data>
@@ -1655,13 +1781,13 @@
     <value>gMapControl1</value>
   </data>
   <data name="&gt;&gt;gMapControl1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;gMapControl1.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
   </data>
   <data name="&gt;&gt;gMapControl1.ZOrder" xml:space="preserve">
-    <value>0</value>
+    <value>4</value>
   </data>
   <data name="TRK_zoom.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Right</value>
@@ -1682,138 +1808,12 @@
     <value>TRK_zoom</value>
   </data>
   <data name="&gt;&gt;TRK_zoom.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TRK_zoom.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
   </data>
   <data name="&gt;&gt;TRK_zoom.ZOrder" xml:space="preserve">
-    <value>1</value>
-  </data>
-  <data name="lbl_winddir.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="lbl_winddir.Location" type="System.Drawing.Point, System.Drawing">
-    <value>4, 3</value>
-  </data>
-  <data name="lbl_winddir.Size" type="System.Drawing.Size, System.Drawing">
-    <value>46, 12</value>
-  </data>
-  <data name="lbl_winddir.TabIndex" type="System.Int32, mscorlib">
-    <value>68</value>
-  </data>
-  <data name="lbl_winddir.Text" xml:space="preserve">
-    <value>Dir: 0</value>
-  </data>
-  <data name="lbl_winddir.ToolTip" xml:space="preserve">
-    <value>Estimated Wind Direction</value>
-  </data>
-  <data name="&gt;&gt;lbl_winddir.Name" xml:space="preserve">
-    <value>lbl_winddir</value>
-  </data>
-  <data name="&gt;&gt;lbl_winddir.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;lbl_winddir.Parent" xml:space="preserve">
-    <value>splitContainer1.Panel2</value>
-  </data>
-  <data name="&gt;&gt;lbl_winddir.ZOrder" xml:space="preserve">
-    <value>2</value>
-  </data>
-  <data name="lbl_windvel.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="lbl_windvel.Location" type="System.Drawing.Point, System.Drawing">
-    <value>4, 23</value>
-  </data>
-  <data name="lbl_windvel.Size" type="System.Drawing.Size, System.Drawing">
-    <value>48, 12</value>
-  </data>
-  <data name="lbl_windvel.TabIndex" type="System.Int32, mscorlib">
-    <value>69</value>
-  </data>
-  <data name="lbl_windvel.Text" xml:space="preserve">
-    <value>Vel: 0</value>
-  </data>
-  <data name="lbl_windvel.ToolTip" xml:space="preserve">
-    <value>Estimated Wind Velocity</value>
-  </data>
-  <data name="&gt;&gt;lbl_windvel.Name" xml:space="preserve">
-    <value>lbl_windvel</value>
-  </data>
-  <data name="&gt;&gt;lbl_windvel.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;lbl_windvel.Parent" xml:space="preserve">
-    <value>splitContainer1.Panel2</value>
-  </data>
-  <data name="&gt;&gt;lbl_windvel.ZOrder" xml:space="preserve">
-    <value>3</value>
-  </data>
-  <data name="lbl_hdop.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
-    <value>Bottom, Left</value>
-  </data>
-  <data name="lbl_hdop.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="lbl_hdop.Location" type="System.Drawing.Point, System.Drawing">
-    <value>-1, 390</value>
-  </data>
-  <data name="lbl_hdop.Size" type="System.Drawing.Size, System.Drawing">
-    <value>43, 12</value>
-  </data>
-  <data name="lbl_hdop.TabIndex" type="System.Int32, mscorlib">
-    <value>70</value>
-  </data>
-  <data name="lbl_hdop.Text" xml:space="preserve">
-    <value>hdop: 0</value>
-  </data>
-  <data name="lbl_hdop.ToolTip" xml:space="preserve">
-    <value>gps hdop</value>
-  </data>
-  <data name="&gt;&gt;lbl_hdop.Name" xml:space="preserve">
-    <value>lbl_hdop</value>
-  </data>
-  <data name="&gt;&gt;lbl_hdop.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;lbl_hdop.Parent" xml:space="preserve">
-    <value>splitContainer1.Panel2</value>
-  </data>
-  <data name="&gt;&gt;lbl_hdop.ZOrder" xml:space="preserve">
-    <value>4</value>
-  </data>
-  <data name="lbl_sats.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
-    <value>Bottom, Left</value>
-  </data>
-  <data name="lbl_sats.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="lbl_sats.Location" type="System.Drawing.Point, System.Drawing">
-    <value>-1, 408</value>
-  </data>
-  <data name="lbl_sats.Size" type="System.Drawing.Size, System.Drawing">
-    <value>40, 12</value>
-  </data>
-  <data name="lbl_sats.TabIndex" type="System.Int32, mscorlib">
-    <value>71</value>
-  </data>
-  <data name="lbl_sats.Text" xml:space="preserve">
-    <value>Sats: 0</value>
-  </data>
-  <data name="lbl_sats.ToolTip" xml:space="preserve">
-    <value>Satallite Count</value>
-  </data>
-  <data name="&gt;&gt;lbl_sats.Name" xml:space="preserve">
-    <value>lbl_sats</value>
-  </data>
-  <data name="&gt;&gt;lbl_sats.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;lbl_sats.Parent" xml:space="preserve">
-    <value>splitContainer1.Panel2</value>
-  </data>
-  <data name="&gt;&gt;lbl_sats.ZOrder" xml:space="preserve">
     <value>5</value>
   </data>
   <data name="&gt;&gt;splitContainer1.Panel2.Name" xml:space="preserve">
@@ -1871,7 +1871,7 @@
     <value>TXT_lat</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1928,7 +1928,7 @@
     <value>label1</value>
   </data>
   <data name="&gt;&gt;label1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label1.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1958,7 +1958,7 @@
     <value>TXT_long</value>
   </data>
   <data name="&gt;&gt;TXT_long.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_long.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1988,7 +1988,7 @@
     <value>TXT_alt</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -2279,6 +2279,6 @@
     <value>FlightData</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4716.12475, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4723.32619, Culture=neutral, PublicKeyToken=null</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -174,7 +174,7 @@ namespace ArdupilotMega.GCSViews
 
             if (pointno == "Tracker Home")
             {
-                MainV2.cs.TrackerLocation = new PointLatLngAlt(lat, lng, alt, "");
+                MainV2.comPort.MAV.cs.TrackerLocation = new PointLatLngAlt(lat, lng, alt, "");
                 return;
             }
 
@@ -249,7 +249,7 @@ namespace ArdupilotMega.GCSViews
                         cell.Value = alt.ToString();
                     if (ans == 0) // default
                         cell.Value = 50;
-                    if (ans == 0 && MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+                    if (ans == 0 && MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
                         cell.Value = 15;
                     //   online          verify height
                     if (isonline && CHK_geheight.Checked)
@@ -495,11 +495,11 @@ namespace ArdupilotMega.GCSViews
             {
                 reader.Read();
                 reader.ReadStartElement("CMD");
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
                 {
                     reader.ReadToFollowing("APM");
                 }
-                else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
+                else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
                 {
                     reader.ReadToFollowing("APRover");
                 }
@@ -595,13 +595,13 @@ namespace ArdupilotMega.GCSViews
 
             config(false);
 
-            if (MainV2.cs.HomeLocation.Lat != 0 && MainV2.cs.HomeLocation.Lng != 0)
+            if (MainV2.comPort.MAV.cs.HomeLocation.Lat != 0 && MainV2.comPort.MAV.cs.HomeLocation.Lng != 0)
             {
-                TXT_homelat.Text = MainV2.cs.HomeLocation.Lat.ToString();
+                TXT_homelat.Text = MainV2.comPort.MAV.cs.HomeLocation.Lat.ToString();
 
-                TXT_homelng.Text = MainV2.cs.HomeLocation.Lng.ToString();
+                TXT_homelng.Text = MainV2.comPort.MAV.cs.HomeLocation.Lng.ToString();
 
-                TXT_homealt.Text = MainV2.cs.HomeLocation.Alt.ToString();
+                TXT_homealt.Text = MainV2.comPort.MAV.cs.HomeLocation.Alt.ToString();
             }
 
 
@@ -848,7 +848,7 @@ namespace ArdupilotMega.GCSViews
                 GMapMarkerRect mBorders = new GMapMarkerRect(point);
                 {
                     mBorders.InnerMarker = m;
-                    mBorders.wprad = (int)(float.Parse(TXT_WPRad.Text) / MainV2.cs.multiplierdist);
+                    mBorders.wprad = (int)(float.Parse(TXT_WPRad.Text) / MainV2.comPort.MAV.cs.multiplierdist);
                     mBorders.MainMap = MainMap;
                     if (color.HasValue)
                     {
@@ -1151,7 +1151,7 @@ namespace ArdupilotMega.GCSViews
                         sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
                         sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
                         sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
-                        sw.Write("\t" + (double.Parse(Commands.Rows[a].Cells[Alt.Index].Value.ToString()) / MainV2.cs.multiplierdist).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
+                        sw.Write("\t" + (double.Parse(Commands.Rows[a].Cells[Alt.Index].Value.ToString()) / MainV2.comPort.MAV.cs.multiplierdist).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
                         sw.Write("\t" + 1);
                         sw.WriteLine("");
                     }
@@ -1205,7 +1205,7 @@ namespace ArdupilotMega.GCSViews
 
                 MainV2.giveComport = true;
 
-                param = port.param;
+                param = port.MAV.param;
 
                 log.Info("Getting WP #");
 
@@ -1322,7 +1322,7 @@ namespace ArdupilotMega.GCSViews
                     home.id = (byte)MAVLink.MAV_CMD.WAYPOINT;
                     home.lat = (float.Parse(TXT_homelat.Text));
                     home.lng = (float.Parse(TXT_homelng.Text));
-                    home.alt = (float.Parse(TXT_homealt.Text) / MainV2.cs.multiplierdist); // use saved home
+                    home.alt = (float.Parse(TXT_homealt.Text) / MainV2.comPort.MAV.cs.multiplierdist); // use saved home
                 }
                 catch { throw new Exception("Your home location is invalid"); }
 
@@ -1356,7 +1356,7 @@ namespace ArdupilotMega.GCSViews
                         }
                     }
 
-                    temp.alt = (float)(double.Parse(Commands.Rows[a].Cells[Alt.Index].Value.ToString()) / MainV2.cs.multiplierdist);
+                    temp.alt = (float)(double.Parse(Commands.Rows[a].Cells[Alt.Index].Value.ToString()) / MainV2.comPort.MAV.cs.multiplierdist);
                     temp.lat = (float)(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()));
                     temp.lng = (float)(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()));
 
@@ -1379,22 +1379,22 @@ namespace ArdupilotMega.GCSViews
 
                 if (CHK_holdalt.Checked)
                 {
-                    port.setParam("ALT_HOLD_RTL", int.Parse(TXT_DefaultAlt.Text) / MainV2.cs.multiplierdist * 100);
+                    port.setParam("ALT_HOLD_RTL", int.Parse(TXT_DefaultAlt.Text) / MainV2.comPort.MAV.cs.multiplierdist * 100);
                 }
                 else
                 {
                     port.setParam("ALT_HOLD_RTL", -1);
                 }
 
-                port.setParam("WP_RADIUS", (byte)int.Parse(TXT_WPRad.Text) / MainV2.cs.multiplierdist);
+                port.setParam("WP_RADIUS", (byte)int.Parse(TXT_WPRad.Text) / MainV2.comPort.MAV.cs.multiplierdist);
 
                 try
                 {
-                    port.setParam("WP_LOITER_RAD", (byte)(int.Parse(TXT_loiterrad.Text) / MainV2.cs.multiplierdist));
+                    port.setParam("WP_LOITER_RAD", (byte)(int.Parse(TXT_loiterrad.Text) / MainV2.comPort.MAV.cs.multiplierdist));
                 }
                 catch
                 {
-                    port.setParam("LOITER_RAD", (byte)int.Parse(TXT_loiterrad.Text) / MainV2.cs.multiplierdist);
+                    port.setParam("LOITER_RAD", (byte)int.Parse(TXT_loiterrad.Text) / MainV2.comPort.MAV.cs.multiplierdist);
                 }
 
                 ((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done.");
@@ -1465,7 +1465,7 @@ namespace ArdupilotMega.GCSViews
                 }
 
                 cell = Commands.Rows[i].Cells[Alt.Index] as DataGridViewTextBoxCell;
-                cell.Value = Math.Round((temp.alt * MainV2.cs.multiplierdist), 0);
+                cell.Value = Math.Round((temp.alt * MainV2.comPort.MAV.cs.multiplierdist), 0);
                 cell = Commands.Rows[i].Cells[Lat.Index] as DataGridViewTextBoxCell;
                 cell.Value = (double)temp.lat;
                 cell = Commands.Rows[i].Cells[Lon.Index] as DataGridViewTextBoxCell;
@@ -1484,7 +1484,7 @@ namespace ArdupilotMega.GCSViews
             {
                 log.Info("Setting wp params");
 
-                string hold_alt = ((int)((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist / 100.0)).ToString();
+                string hold_alt = ((int)((float)param["ALT_HOLD_RTL"] * MainV2.comPort.MAV.cs.multiplierdist / 100.0)).ToString();
 
                 log.Info("param ALT_HOLD_RTL " + hold_alt);
 
@@ -1493,17 +1493,17 @@ namespace ArdupilotMega.GCSViews
                     TXT_DefaultAlt.Text = hold_alt;
                 }
 
-                TXT_WPRad.Text = ((int)((float)param["WP_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
+                TXT_WPRad.Text = ((int)((float)param["WP_RADIUS"] * MainV2.comPort.MAV.cs.multiplierdist)).ToString();
 
                 log.Info("param WP_RADIUS " + TXT_WPRad.Text);
 
                 try
                 {
                     if (param["LOITER_RADIUS"] != null)
-                        TXT_loiterrad.Text = ((int)((float)param["LOITER_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
+                        TXT_loiterrad.Text = ((int)((float)param["LOITER_RADIUS"] * MainV2.comPort.MAV.cs.multiplierdist)).ToString();
 
                     if (param["WP_LOITER_RAD"] != null)
-                        TXT_loiterrad.Text = ((int)((float)param["WP_LOITER_RAD"] * MainV2.cs.multiplierdist)).ToString();
+                        TXT_loiterrad.Text = ((int)((float)param["WP_LOITER_RAD"] * MainV2.comPort.MAV.cs.multiplierdist)).ToString();
 
                     log.Info("param LOITER_RADIUS " + TXT_loiterrad.Text);
                 }
@@ -1534,7 +1534,7 @@ namespace ArdupilotMega.GCSViews
                             cellhome = Commands.Rows[0].Cells[Lon.Index] as DataGridViewTextBoxCell;
                             TXT_homelng.Text = (double.Parse(cellhome.Value.ToString())).ToString();
                             cellhome = Commands.Rows[0].Cells[Alt.Index] as DataGridViewTextBoxCell;
-                            TXT_homealt.Text = (double.Parse(cellhome.Value.ToString()) * MainV2.cs.multiplierdist).ToString();
+                            TXT_homealt.Text = (double.Parse(cellhome.Value.ToString()) * MainV2.comPort.MAV.cs.multiplierdist).ToString();
                         }
                     }
                 }
@@ -1719,7 +1719,7 @@ namespace ArdupilotMega.GCSViews
             sethome = false;
             try
             {
-                MainV2.cs.HomeLocation.Lat = double.Parse(TXT_homelat.Text);
+                MainV2.comPort.MAV.cs.HomeLocation.Lat = double.Parse(TXT_homelat.Text);
             }
             catch { }
             writeKML();
@@ -1731,7 +1731,7 @@ namespace ArdupilotMega.GCSViews
             sethome = false;
             try
             {
-                MainV2.cs.HomeLocation.Lng = double.Parse(TXT_homelng.Text);
+                MainV2.comPort.MAV.cs.HomeLocation.Lng = double.Parse(TXT_homelng.Text);
             }
             catch { }
             writeKML();
@@ -1742,7 +1742,7 @@ namespace ArdupilotMega.GCSViews
             sethome = false;
             try
             {
-                MainV2.cs.HomeLocation.Alt = double.Parse(TXT_homealt.Text);
+                MainV2.comPort.MAV.cs.HomeLocation.Alt = double.Parse(TXT_homealt.Text);
             }
             catch { }
             writeKML();
@@ -2340,7 +2340,7 @@ namespace ArdupilotMega.GCSViews
             }
             catch { }
 
-            return alt * MainV2.cs.multiplierdist;
+            return alt * MainV2.comPort.MAV.cs.multiplierdist;
         }
 
         private void TXT_homelat_Enter(object sender, EventArgs e)
@@ -2468,11 +2468,11 @@ namespace ArdupilotMega.GCSViews
 
         private void label4_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
         {
-            if (MainV2.cs.lat != 0)
+            if (MainV2.comPort.MAV.cs.lat != 0)
             {
-                TXT_homealt.Text = (MainV2.cs.alt).ToString("0");
+                TXT_homealt.Text = (MainV2.comPort.MAV.cs.alt).ToString("0");
-                TXT_homelat.Text = MainV2.cs.lat.ToString();
+                TXT_homelat.Text = MainV2.comPort.MAV.cs.lat.ToString();
-                TXT_homelng.Text = MainV2.cs.lng.ToString();
+                TXT_homelng.Text = MainV2.comPort.MAV.cs.lng.ToString();
             }
             else
             {
@@ -2659,7 +2659,11 @@ namespace ArdupilotMega.GCSViews
             {
                 if (int.TryParse(CurentRectMarker.InnerMarker.Tag.ToString(), out no))
                 {
-                    Commands.Rows.RemoveAt(no - 1); // home is 0
+                    try
+                    {
+                        Commands.Rows.RemoveAt(no - 1); // home is 0
+                    }
+                    catch { CustomMessageBox.Show("error selecting wp, please try again."); }
                 }
                 else if (int.TryParse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", ""), out no))
                 {
@@ -2762,32 +2766,32 @@ namespace ArdupilotMega.GCSViews
 
                 routes.Markers.Clear();
 
-                if (MainV2.cs.TrackerLocation != MainV2.cs.HomeLocation && MainV2.cs.TrackerLocation.Lng != 0)
+                if (MainV2.comPort.MAV.cs.TrackerLocation != MainV2.comPort.MAV.cs.HomeLocation && MainV2.comPort.MAV.cs.TrackerLocation.Lng != 0)
                 {
-                    addpolygonmarker("Tracker Home", MainV2.cs.TrackerLocation.Lng, MainV2.cs.TrackerLocation.Lat, (int)MainV2.cs.TrackerLocation.Alt, Color.Blue, routes);
+                    addpolygonmarker("Tracker Home", MainV2.comPort.MAV.cs.TrackerLocation.Lng, MainV2.comPort.MAV.cs.TrackerLocation.Lat, (int)MainV2.comPort.MAV.cs.TrackerLocation.Alt, Color.Blue, routes);
                 }
 
-                if (MainV2.cs.lat == 0 || MainV2.cs.lng == 0)
+                if (MainV2.comPort.MAV.cs.lat == 0 || MainV2.comPort.MAV.cs.lng == 0)
                     return;
 
-                PointLatLng currentloc = new PointLatLng(MainV2.cs.lat, MainV2.cs.lng);
+                PointLatLng currentloc = new PointLatLng(MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng);
 
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+                if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
                 {
-                    routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, MainMap));
+                    routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing, MainV2.comPort.MAV.cs.target_bearing, MainMap));
                 }
-                else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
+                else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
                 {
-                    routes.Markers.Add(new GMapMarkerRover(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, MainMap));
+                    routes.Markers.Add(new GMapMarkerRover(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing, MainV2.comPort.MAV.cs.target_bearing, MainMap));
                 }
                 else
                 {
-                    routes.Markers.Add(new GMapMarkerQuad(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing));
+                    routes.Markers.Add(new GMapMarkerQuad(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing));
                 }
 
-                if (MainV2.cs.mode.ToLower() == "guided" && MainV2.comPort.GuidedMode.x != 0)
+                if (MainV2.comPort.MAV.cs.mode.ToLower() == "guided" && MainV2.comPort.MAV.GuidedMode.x != 0)
                 {
-                    addpolygonmarker("Guided Mode", MainV2.comPort.GuidedMode.y, MainV2.comPort.GuidedMode.x, (int)MainV2.comPort.GuidedMode.z, Color.Blue, routes);
+                    addpolygonmarker("Guided Mode", MainV2.comPort.MAV.GuidedMode.y, MainV2.comPort.MAV.GuidedMode.x, (int)MainV2.comPort.MAV.GuidedMode.z, Color.Blue, routes);
                 }
 
 
@@ -2811,7 +2815,7 @@ namespace ArdupilotMega.GCSViews
                     mBorders.InnerMarker = m;
                     try
                     {
-                        mBorders.wprad = (int)(float.Parse(ArdupilotMega.MainV2.config["TXT_WPRad"].ToString()) / MainV2.cs.multiplierdist);
+                        mBorders.wprad = (int)(float.Parse(ArdupilotMega.MainV2.config["TXT_WPRad"].ToString()) / MainV2.comPort.MAV.cs.multiplierdist);
                     }
                     catch { }
                     mBorders.MainMap = MainMap;
@@ -2831,7 +2835,7 @@ namespace ArdupilotMega.GCSViews
         {
             polygongridmode = false;
             //FENCE_TOTAL
-            if (MainV2.comPort.param["FENCE_ACTION"] == null)
+            if (MainV2.comPort.MAV.param["FENCE_ACTION"] == null)
             {
                 CustomMessageBox.Show("Not Supported");
                 return;
@@ -2866,10 +2870,10 @@ namespace ArdupilotMega.GCSViews
                 return;
             }
 
-            string minalts = (int.Parse(MainV2.comPort.param["FENCE_MINALT"].ToString()) * MainV2.cs.multiplierdist).ToString("0");
+            string minalts = (int.Parse(MainV2.comPort.MAV.param["FENCE_MINALT"].ToString()) * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
             Common.InputBox("Min Alt", "Box Minimum Altitude?", ref minalts);
 
-            string maxalts = (int.Parse(MainV2.comPort.param["FENCE_MAXALT"].ToString()) * MainV2.cs.multiplierdist).ToString("0");
+            string maxalts = (int.Parse(MainV2.comPort.MAV.param["FENCE_MAXALT"].ToString()) * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
             Common.InputBox("Max Alt", "Box Maximum Altitude?", ref maxalts);
 
             int minalt = 0;
@@ -2900,7 +2904,7 @@ namespace ArdupilotMega.GCSViews
 
             try
             {
-                if (MainV2.comPort.param["FENCE_ACTION"].ToString() != "0")
+                if (MainV2.comPort.MAV.param["FENCE_ACTION"].ToString() != "0")
                     MainV2.comPort.setParam("FENCE_ACTION", 0);
             }
             catch
@@ -2959,13 +2963,13 @@ namespace ArdupilotMega.GCSViews
             polygongridmode = false;
             int count = 1;
 
-            if (MainV2.comPort.param["FENCE_ACTION"] == null || MainV2.comPort.param["FENCE_TOTAL"] == null)
+            if (MainV2.comPort.MAV.param["FENCE_ACTION"] == null || MainV2.comPort.MAV.param["FENCE_TOTAL"] == null)
             {
                 CustomMessageBox.Show("Not Supported");
                 return;
             }
 
-            if (int.Parse(MainV2.comPort.param["FENCE_TOTAL"].ToString()) <= 1)
+            if (int.Parse(MainV2.comPort.MAV.param["FENCE_TOTAL"].ToString()) <= 1)
             {
                 CustomMessageBox.Show("Nothing to download");
                 return;
@@ -3225,7 +3229,7 @@ namespace ArdupilotMega.GCSViews
         {
             timer1.Start();
 
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
             {
                 CHK_altmode.Visible = false;
             }
@@ -3297,13 +3301,13 @@ namespace ArdupilotMega.GCSViews
                 double heightdist = MainMap.Manager.GetDistance(arearect.LocationTopLeft, bottomleft) * 1000;
                 double widthdist = MainMap.Manager.GetDistance(arearect.LocationTopLeft, topright) * 1000;
 
-                string alt = (100 * MainV2.cs.multiplierdist).ToString("0");
+                string alt = (100 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
                 Common.InputBox("Altitude", "Relative Altitude", ref alt);
 
-                string distance = (50 * MainV2.cs.multiplierdist).ToString("0");
+                string distance = (50 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
                 Common.InputBox("Distance", "Distance between lines", ref distance);
 
-                string wpevery = (40 * MainV2.cs.multiplierdist).ToString("0");
+                string wpevery = (40 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
                 Common.InputBox("Every", "Put a WP every x distance (-1 for none)", ref wpevery);
 
                 string angle = (90).ToString("0");
@@ -3337,8 +3341,8 @@ namespace ArdupilotMega.GCSViews
                 double x1 = Math.Sin((double.Parse(angle)) * deg2rad);
 
                 // get x y step amount in lat lng from m
-                double latdiff = arearect.HeightLat / ((heightdist / (double.Parse(distance) * (x1) / MainV2.cs.multiplierdist)));
+                double latdiff = arearect.HeightLat / ((heightdist / (double.Parse(distance) * (x1) / MainV2.comPort.MAV.cs.multiplierdist)));
-                double lngdiff = arearect.WidthLng / ((widthdist / (double.Parse(distance) * (y1) / MainV2.cs.multiplierdist)));
+                double lngdiff = arearect.WidthLng / ((widthdist / (double.Parse(distance) * (y1) / MainV2.comPort.MAV.cs.multiplierdist)));
 
                 double latlngdiff = Math.Sqrt(latdiff * latdiff + lngdiff * lngdiff);
 
@@ -3347,7 +3351,7 @@ namespace ArdupilotMega.GCSViews
                 double fulllatdiff = arearect.HeightLat * x1 * 2;
                 double fulllngdiff = arearect.WidthLng * y1 * 2;
 
-                int altitude = (int)(double.Parse(alt) / MainV2.cs.multiplierdist);
+                int altitude = (int)(double.Parse(alt) / MainV2.comPort.MAV.cs.multiplierdist);
 
                 // draw a grid
                 double x = arearect.LocationMiddle.Lng;
@@ -3363,8 +3367,8 @@ namespace ArdupilotMega.GCSViews
                 x1 = Math.Sin((double.Parse(angle) + 90) * deg2rad);
 
                 // get x y step amount in lat lng from m
-                latdiff = arearect.HeightLat / ((heightdist / (double.Parse(distance) * (y1) / MainV2.cs.multiplierdist)));
+                latdiff = arearect.HeightLat / ((heightdist / (double.Parse(distance) * (y1) / MainV2.comPort.MAV.cs.multiplierdist)));
-                lngdiff = arearect.WidthLng / ((widthdist / (double.Parse(distance) * (x1) / MainV2.cs.multiplierdist)));
+                lngdiff = arearect.WidthLng / ((widthdist / (double.Parse(distance) * (x1) / MainV2.comPort.MAV.cs.multiplierdist)));
 
                 quickadd = true;
 
@@ -3507,7 +3511,7 @@ namespace ArdupilotMega.GCSViews
 
                 // int fixme;
 
-                // foreach (PointLatLng pnt in PathFind.FindPath(MainV2.cs.HomeLocation.Point(),grid))
+                // foreach (PointLatLng pnt in PathFind.FindPath(MainV2.comPort.MAV.cs.HomeLocation.Point(),grid))
                 // {
                 //     callMe(pnt.Lat, pnt.Lng, altitude);
                 // }
@@ -3516,11 +3520,11 @@ namespace ArdupilotMega.GCSViews
 
                 quickadd = true;
 
-                linelatlng closest = findClosestLine(MainV2.cs.HomeLocation.Point(), grid);
+                linelatlng closest = findClosestLine(MainV2.comPort.MAV.cs.HomeLocation.Point(), grid);
 
                 PointLatLng lastpnt;
 
-                if (MainMap.Manager.GetDistance(closest.p1, MainV2.cs.HomeLocation.Point()) < MainMap.Manager.GetDistance(closest.p2, MainV2.cs.HomeLocation.Point()))
+                if (MainMap.Manager.GetDistance(closest.p1, MainV2.comPort.MAV.cs.HomeLocation.Point()) < MainMap.Manager.GetDistance(closest.p2, MainV2.comPort.MAV.cs.HomeLocation.Point()))
                 {
                     lastpnt = closest.p1;
                 }
@@ -3666,14 +3670,14 @@ namespace ArdupilotMega.GCSViews
 
 
 
-                string alt = (100 * MainV2.cs.multiplierdist).ToString("0");
+                string alt = (100 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
                 Common.InputBox("Altitude", "Relative Altitude", ref alt);
 
 
-                string distance = (50 * MainV2.cs.multiplierdist).ToString("0");
+                string distance = (50 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
                 Common.InputBox("Distance", "Distance between lines", ref distance);
 
-                string wpevery = (40 * MainV2.cs.multiplierdist).ToString("0");
+                string wpevery = (40 * MainV2.comPort.MAV.cs.multiplierdist).ToString("0");
                 Common.InputBox("Every", "Put a WP every x distance (-1 for none)", ref wpevery);
 
                 string angle = (90).ToString("0");
@@ -3710,8 +3714,8 @@ namespace ArdupilotMega.GCSViews
                 double y1 = Math.Sin((double.Parse(angle)) * deg2rad);
 
                 // get x y step amount in lat lng from m
-                double latdiff = arearect.HeightLat / ((heightdist / (double.Parse(distance) * (y1) / MainV2.cs.multiplierdist)));
+                double latdiff = arearect.HeightLat / ((heightdist / (double.Parse(distance) * (y1) / MainV2.comPort.MAV.cs.multiplierdist)));
-                double lngdiff = arearect.WidthLng / ((widthdist / (double.Parse(distance) * (x1) / MainV2.cs.multiplierdist)));
+                double lngdiff = arearect.WidthLng / ((widthdist / (double.Parse(distance) * (x1) / MainV2.comPort.MAV.cs.multiplierdist)));
 
                 double latlngdiff = Math.Sqrt(latdiff * latdiff + lngdiff * lngdiff);
 
@@ -3721,9 +3725,9 @@ namespace ArdupilotMega.GCSViews
                 // lat - up down
                 // lng - left right
 
-                int overshootdist = 0;// (int)(double.Parse(overshoot) / MainV2.cs.multiplierdist);
+                int overshootdist = 0;// (int)(double.Parse(overshoot) / MainV2.comPort.MAV.cs.multiplierdist);
 
-                int altitude = (int)(double.Parse(alt) / MainV2.cs.multiplierdist);
+                int altitude = (int)(double.Parse(alt) / MainV2.comPort.MAV.cs.multiplierdist);
 
                 double overshootdistlng = arearect.WidthLng / widthdist * overshootdist;
 
@@ -4150,7 +4154,7 @@ namespace ArdupilotMega.GCSViews
             // take off pitch
             int topi = 0;
 
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
             {
                 string top = "15";
 
@@ -4188,7 +4192,7 @@ namespace ArdupilotMega.GCSViews
 
         private void trackerHomeToolStripMenuItem_Click(object sender, EventArgs e)
         {
-            MainV2.cs.TrackerLocation = new PointLatLngAlt(end) { Alt = MainV2.cs.HomeAlt };
+            MainV2.comPort.MAV.cs.TrackerLocation = new PointLatLngAlt(end) { Alt = MainV2.comPort.MAV.cs.HomeAlt };
         }
 
         private void gridV2ToolStripMenuItem_Click(object sender, EventArgs e)
@@ -4316,7 +4320,7 @@ namespace ArdupilotMega.GCSViews
 
         private void contextMenuStrip1_Opening(object sender, CancelEventArgs e)
         {
-            if (MainV2.cs.firmware != MainV2.Firmwares.ArduPlane)
+            if (MainV2.comPort.MAV.cs.firmware != MainV2.Firmwares.ArduPlane)
             {
                 geoFenceToolStripMenuItem.Enabled = false;
             }

Tools/ArdupilotMegaPlanner/GCSViews/Help.zh-Hans.resx

@@ -123,8 +123,4 @@
   <data name="BUT_updatecheck.Text" xml:space="preserve">
     <value>检查更新</value>
   </data>
-  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
-  <data name="Help_text" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\Welcome_CN.rtf;System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089;Windows-1252</value>
-  </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/Help.zh-TW.resx

@@ -123,8 +123,4 @@
   <data name="BUT_updatecheck.Text" xml:space="preserve">
     <value>檢查更新</value>
   </data>
-  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
-  <data name="Help_text" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\Welcome_TW.rtf;System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089;utf-8</value>
-  </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -566,7 +566,7 @@ namespace ArdupilotMega.GCSViews
             DateTime lastdata = DateTime.MinValue;
 
             // set enable hil status flag - sends base_mode = 0
-            MainV2.comPort.setMode(new MAVLink.mavlink_set_mode_t() { target_system = MainV2.comPort.sysid }, MAVLink.MAV_MODE_FLAG.HIL_ENABLED);
+            MainV2.comPort.setMode(new MAVLink.mavlink_set_mode_t() { target_system = MainV2.comPort.MAV.sysid }, MAVLink.MAV_MODE_FLAG.HIL_ENABLED);
 
             while (threadrun == 1)
             {
@@ -623,7 +623,7 @@ namespace ArdupilotMega.GCSViews
                 try
                 {
 
-                    MainV2.cs.UpdateCurrentSettings(null); // when true this uses alot more cpu time
+                    MainV2.comPort.MAV.cs.UpdateCurrentSettings(null); // when true this uses alot more cpu time
 
                     if ((DateTime.Now - simsendtime).TotalMilliseconds > 19)
                     {
@@ -677,8 +677,8 @@ namespace ArdupilotMega.GCSViews
 
                 //JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/h-agl-ft 0\r\n"));
 
-                JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/lat-gc-deg " + MainV2.cs.HomeLocation.Lat + "\r\n"));
+                JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/lat-gc-deg " + MainV2.comPort.MAV.cs.HomeLocation.Lat + "\r\n"));
-                JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/long-gc-deg " + MainV2.cs.HomeLocation.Lng + "\r\n"));
+                JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/long-gc-deg " + MainV2.comPort.MAV.cs.HomeLocation.Lng + "\r\n"));
 
                 JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set attitude/phi-rad 0\r\n"));
                 JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set attitude/theta-rad 0\r\n"));
@@ -1026,9 +1026,9 @@ namespace ArdupilotMega.GCSViews
             hilstate.yaw = (float)sitldata.yawDeg * deg2rad; // (rad)
             hilstate.yawspeed = (float)sitldata.yawRate * deg2rad; // (rad/s)
             
-            hilstate.vx = (short)(sitldata.speedN * 100); // m/s * 100
+            hilstate.vx = (short)(sitldata.speedE * 100); // m/s * 100
-            hilstate.vy = (short)(sitldata.speedE * 100); // m/s * 100
+            hilstate.vy = (short)(sitldata.speedN * 100); // m/s * 100
-            hilstate.vz = 0; // m/s * 100
+            hilstate.vz = 0; // m/s * 100 - + speed down
 
             hilstate.xacc = (short)(sitldata.xAccel * 1000); // (mg)
             hilstate.yacc = (short)(sitldata.yAccel * 1000); // (mg)
@@ -1084,11 +1084,11 @@ namespace ArdupilotMega.GCSViews
                     TXT_heading.Text = (heading * rad2deg).ToString("0.000");
                     TXT_yaw.Text = (yaw * rad2deg).ToString("0.000");
 
-                    TXT_wpdist.Text = MainV2.cs.wp_dist.ToString();
+                    TXT_wpdist.Text = MainV2.comPort.MAV.cs.wp_dist.ToString();
-                    TXT_bererror.Text = MainV2.cs.ber_error.ToString();
+                    TXT_bererror.Text = MainV2.comPort.MAV.cs.ber_error.ToString();
-                    TXT_alterror.Text = MainV2.cs.alt_error.ToString();
+                    TXT_alterror.Text = MainV2.comPort.MAV.cs.alt_error.ToString();
-                    TXT_WP.Text = MainV2.cs.wpno.ToString();
+                    TXT_WP.Text = MainV2.comPort.MAV.cs.wpno.ToString();
-                    TXT_control_mode.Text = MainV2.cs.mode;
+                    TXT_control_mode.Text = MainV2.comPort.MAV.cs.mode;
                 });
             }
             catch { this.Invoke((MethodInvoker)delegate { OutputLog.AppendText("NO SIM data - exep\n"); }); }
@@ -1104,10 +1104,10 @@ namespace ArdupilotMega.GCSViews
 
                 double[] m = new double[4];
 
-                m[0] = (ushort)MainV2.cs.ch1out;
+                m[0] = (ushort)MainV2.comPort.MAV.cs.ch1out;
-                m[1] = (ushort)MainV2.cs.ch2out;
+                m[1] = (ushort)MainV2.comPort.MAV.cs.ch2out;
-                m[2] = (ushort)MainV2.cs.ch3out;
+                m[2] = (ushort)MainV2.comPort.MAV.cs.ch3out;
-                m[3] = (ushort)MainV2.cs.ch4out;
+                m[3] = (ushort)MainV2.comPort.MAV.cs.ch4out;
 
                 if (!RAD_softFlightGear.Checked)
                 {
@@ -1176,24 +1176,24 @@ namespace ArdupilotMega.GCSViews
 
             if (heli)
             {
-                roll_out = (float)MainV2.cs.hilch1 / rollgain;
+                roll_out = (float)MainV2.comPort.MAV.cs.hilch1 / rollgain;
-                pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
+                pitch_out = (float)MainV2.comPort.MAV.cs.hilch2 / pitchgain;
                 throttle_out = 1;
-                rudder_out = (float)MainV2.cs.hilch4 / -ruddergain;
+                rudder_out = (float)MainV2.comPort.MAV.cs.hilch4 / -ruddergain;
 
-                collective_out = (float)(MainV2.cs.hilch3 - 1500) / throttlegain;
+                collective_out = (float)(MainV2.comPort.MAV.cs.hilch3 - 1500) / throttlegain;
             }
             else
             {
-                roll_out = (float)MainV2.cs.hilch1 / rollgain;
+                roll_out = (float)MainV2.comPort.MAV.cs.hilch1 / rollgain;
-                pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
+                pitch_out = (float)MainV2.comPort.MAV.cs.hilch2 / pitchgain;
-                throttle_out = ((float)MainV2.cs.hilch3) / throttlegain;
+                throttle_out = ((float)MainV2.comPort.MAV.cs.hilch3) / throttlegain;
-                rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
+                rudder_out = (float)MainV2.comPort.MAV.cs.hilch4 / ruddergain;
 
                 if (RAD_aerosimrc.Checked && CHK_quad.Checked)
                 {
-                    throttle_out = ((float)MainV2.cs.hilch7 / 2 + 5000) / throttlegain;
+                    throttle_out = ((float)MainV2.comPort.MAV.cs.hilch7 / 2 + 5000) / throttlegain;
-                    //throttle_out = (float)(MainV2.cs.hilch7 - 1100) / throttlegain;
+                    //throttle_out = (float)(MainV2.comPort.MAV.cs.hilch7 - 1100) / throttlegain;
                 }
             }
 
@@ -1292,10 +1292,10 @@ namespace ArdupilotMega.GCSViews
 
                 if (CHK_quad.Checked)
                 {
-                    //MainV2.cs.ch1out = 1100; 
+                    //MainV2.comPort.MAV.cs.ch1out = 1100; 
-                    //MainV2.cs.ch2out = 1100;
+                    //MainV2.comPort.MAV.cs.ch2out = 1100;
-                    //MainV2.cs.ch3out = 1100;
+                    //MainV2.comPort.MAV.cs.ch3out = 1100;
-                    //MainV2.cs.ch4out = 1100;
+                    //MainV2.comPort.MAV.cs.ch4out = 1100;
 
                     //ac
                     // 3 front
@@ -1303,10 +1303,10 @@ namespace ArdupilotMega.GCSViews
                     // 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.comPort.MAV.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.comPort.MAV.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.comPort.MAV.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
+                    Array.Copy(BitConverter.GetBytes((double)((MainV2.comPort.MAV.cs.ch2out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 24, 8);// motor 4 = left
 
                 }
                 else

Tools/ArdupilotMegaPlanner/HIL/XPlane.cs

@@ -155,10 +155,10 @@ namespace ArdupilotMega.HIL
         }
         public override void SendToSim()
         {
-            roll_out = (float)MainV2.cs.hilch1 / rollgain;
+            roll_out = (float)MainV2.comPort.MAV.cs.hilch1 / rollgain;
-            pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
+            pitch_out = (float)MainV2.comPort.MAV.cs.hilch2 / pitchgain;
-            throttle_out = ((float)MainV2.cs.hilch3) / throttlegain;
+            throttle_out = ((float)MainV2.comPort.MAV.cs.hilch3) / throttlegain;
-            rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
+            rudder_out = (float)MainV2.comPort.MAV.cs.hilch4 / ruddergain;
 
             // Limit min and max
             roll_out = Constrain(roll_out, -1, 1);

Tools/ArdupilotMegaPlanner/Joystick.cs

@@ -304,30 +304,30 @@ namespace ArdupilotMega
                         ushort pitch = pickchannel(2, JoyChannels[2].axis, false, JoyChannels[2].expo);
 
                         if (getJoystickAxis(1) != Joystick.joystickaxis.None)
-                            MainV2.cs.rcoverridech1 = (ushort)(BOOL_TO_SIGN(JoyChannels[1].reverse) * ((int)(pitch - 1500) - (int)(roll - 1500)) / 2 + 1500);
+                            MainV2.comPort.MAV.cs.rcoverridech1 = (ushort)(BOOL_TO_SIGN(JoyChannels[1].reverse) * ((int)(pitch - 1500) - (int)(roll - 1500)) / 2 + 1500);
                         if (getJoystickAxis(2) != Joystick.joystickaxis.None)
-                            MainV2.cs.rcoverridech2 = (ushort)(BOOL_TO_SIGN(JoyChannels[2].reverse) * ((int)(pitch - 1500) + (int)(roll - 1500)) / 2 + 1500);
+                            MainV2.comPort.MAV.cs.rcoverridech2 = (ushort)(BOOL_TO_SIGN(JoyChannels[2].reverse) * ((int)(pitch - 1500) + (int)(roll - 1500)) / 2 + 1500);
                     }
                     else
                     {
                         if (getJoystickAxis(1) != Joystick.joystickaxis.None)
-                            MainV2.cs.rcoverridech1 = pickchannel(1, JoyChannels[1].axis, JoyChannels[1].reverse, JoyChannels[1].expo);//(ushort)(((int)state.Rz / 65.535) + 1000);
+                            MainV2.comPort.MAV.cs.rcoverridech1 = pickchannel(1, JoyChannels[1].axis, JoyChannels[1].reverse, JoyChannels[1].expo);//(ushort)(((int)state.Rz / 65.535) + 1000);
                         if (getJoystickAxis(2) != Joystick.joystickaxis.None)
-                            MainV2.cs.rcoverridech2 = pickchannel(2, JoyChannels[2].axis, JoyChannels[2].reverse, JoyChannels[2].expo);//(ushort)(((int)state.Y / 65.535) + 1000);
+                            MainV2.comPort.MAV.cs.rcoverridech2 = pickchannel(2, JoyChannels[2].axis, JoyChannels[2].reverse, JoyChannels[2].expo);//(ushort)(((int)state.Y / 65.535) + 1000);
                     }
                     if (getJoystickAxis(3) != Joystick.joystickaxis.None)
-                        MainV2.cs.rcoverridech3 = pickchannel(3, JoyChannels[3].axis, JoyChannels[3].reverse, JoyChannels[3].expo);//(ushort)(1000 - ((int)slider[0] / 65.535) + 1000);
+                        MainV2.comPort.MAV.cs.rcoverridech3 = pickchannel(3, JoyChannels[3].axis, JoyChannels[3].reverse, JoyChannels[3].expo);//(ushort)(1000 - ((int)slider[0] / 65.535) + 1000);
                     if (getJoystickAxis(4) != Joystick.joystickaxis.None)
-                        MainV2.cs.rcoverridech4 = pickchannel(4, JoyChannels[4].axis, JoyChannels[4].reverse, JoyChannels[4].expo);//(ushort)(((int)state.X / 65.535) + 1000);
+                        MainV2.comPort.MAV.cs.rcoverridech4 = pickchannel(4, JoyChannels[4].axis, JoyChannels[4].reverse, JoyChannels[4].expo);//(ushort)(((int)state.X / 65.535) + 1000);
 
                     if (getJoystickAxis(5) != Joystick.joystickaxis.None)
-                        MainV2.cs.rcoverridech5 = pickchannel(5, JoyChannels[5].axis, JoyChannels[5].reverse, JoyChannels[5].expo);
+                        MainV2.comPort.MAV.cs.rcoverridech5 = pickchannel(5, JoyChannels[5].axis, JoyChannels[5].reverse, JoyChannels[5].expo);
                     if (getJoystickAxis(6) != Joystick.joystickaxis.None)
-                        MainV2.cs.rcoverridech6 = pickchannel(6, JoyChannels[6].axis, JoyChannels[6].reverse, JoyChannels[6].expo);
+                        MainV2.comPort.MAV.cs.rcoverridech6 = pickchannel(6, JoyChannels[6].axis, JoyChannels[6].reverse, JoyChannels[6].expo);
                     if (getJoystickAxis(7) != Joystick.joystickaxis.None)
-                        MainV2.cs.rcoverridech7 = pickchannel(7, JoyChannels[7].axis, JoyChannels[7].reverse, JoyChannels[7].expo);
+                        MainV2.comPort.MAV.cs.rcoverridech7 = pickchannel(7, JoyChannels[7].axis, JoyChannels[7].reverse, JoyChannels[7].expo);
                     if (getJoystickAxis(8) != Joystick.joystickaxis.None)
-                        MainV2.cs.rcoverridech8 = pickchannel(8, JoyChannels[8].axis, JoyChannels[8].reverse, JoyChannels[8].expo);
+                        MainV2.comPort.MAV.cs.rcoverridech8 = pickchannel(8, JoyChannels[8].axis, JoyChannels[8].reverse, JoyChannels[8].expo);
 
                     foreach (JoyButton but in JoyButtons)
                     {
@@ -346,7 +346,7 @@ namespace ArdupilotMega
                         }
                     }
 
-                    //Console.WriteLine("{0} {1} {2} {3}", MainV2.cs.rcoverridech1, MainV2.cs.rcoverridech2, MainV2.cs.rcoverridech3, MainV2.cs.rcoverridech4);
+                    //Console.WriteLine("{0} {1} {2} {3}", MainV2.comPort.MAV.cs.rcoverridech1, MainV2.comPort.MAV.cs.rcoverridech2, MainV2.comPort.MAV.cs.rcoverridech3, MainV2.comPort.MAV.cs.rcoverridech4);
                 }
                 catch (Exception ex) { log.Info("Joystick thread error "+ex.ToString()); } // so we cant fall out
             }
@@ -503,13 +503,13 @@ namespace ArdupilotMega
         {
             int min, max, trim = 0;
 
-            if (MainV2.comPort.param.Count > 0)
+            if (MainV2.comPort.MAV.param.Count > 0)
             {
                 try
                 {
-                    min = (int)(float)(MainV2.comPort.param["RC" + chan + "_MIN"]);
+                    min = (int)(float)(MainV2.comPort.MAV.param["RC" + chan + "_MIN"]);
-                    max = (int)(float)(MainV2.comPort.param["RC" + chan + "_MAX"]);
+                    max = (int)(float)(MainV2.comPort.MAV.param["RC" + chan + "_MAX"]);
-                    trim = (int)(float)(MainV2.comPort.param["RC" + chan + "_TRIM"]);
+                    trim = (int)(float)(MainV2.comPort.MAV.param["RC" + chan + "_TRIM"]);
                 }
                 catch {
                     min = 1000;

Tools/ArdupilotMegaPlanner/JoystickSetup.cs

@@ -151,8 +151,8 @@ namespace ArdupilotMega
             {
                 MAVLink.mavlink_rc_channels_override_t rc = new MAVLink.mavlink_rc_channels_override_t();
 
-                rc.target_component = MainV2.comPort.compid;
+                rc.target_component = MainV2.comPort.MAV.compid;
-                rc.target_system = MainV2.comPort.sysid;
+                rc.target_system = MainV2.comPort.MAV.sysid;
 
                 rc.chan1_raw = 0;
                 rc.chan2_raw = 0;
@@ -264,28 +264,28 @@ namespace ArdupilotMega
 
                     MainV2.joystick.elevons = CHK_elevons.Checked;
 
-                    MainV2.cs.rcoverridech1 = joy.getValueForChannel(1, CMB_joysticks.Text);
+                    MainV2.comPort.MAV.cs.rcoverridech1 = joy.getValueForChannel(1, CMB_joysticks.Text);
-                    MainV2.cs.rcoverridech2 = joy.getValueForChannel(2, CMB_joysticks.Text);
+                    MainV2.comPort.MAV.cs.rcoverridech2 = joy.getValueForChannel(2, CMB_joysticks.Text);
-                    MainV2.cs.rcoverridech3 = joy.getValueForChannel(3, CMB_joysticks.Text);
+                    MainV2.comPort.MAV.cs.rcoverridech3 = joy.getValueForChannel(3, CMB_joysticks.Text);
-                    MainV2.cs.rcoverridech4 = joy.getValueForChannel(4, CMB_joysticks.Text);
+                    MainV2.comPort.MAV.cs.rcoverridech4 = joy.getValueForChannel(4, CMB_joysticks.Text);
-                    MainV2.cs.rcoverridech5 = joy.getValueForChannel(5, CMB_joysticks.Text);
+                    MainV2.comPort.MAV.cs.rcoverridech5 = joy.getValueForChannel(5, CMB_joysticks.Text);
-                    MainV2.cs.rcoverridech6 = joy.getValueForChannel(6, CMB_joysticks.Text);
+                    MainV2.comPort.MAV.cs.rcoverridech6 = joy.getValueForChannel(6, CMB_joysticks.Text);
-                    MainV2.cs.rcoverridech7 = joy.getValueForChannel(7, CMB_joysticks.Text);
+                    MainV2.comPort.MAV.cs.rcoverridech7 = joy.getValueForChannel(7, CMB_joysticks.Text);
-                    MainV2.cs.rcoverridech8 = joy.getValueForChannel(8, CMB_joysticks.Text);
+                    MainV2.comPort.MAV.cs.rcoverridech8 = joy.getValueForChannel(8, CMB_joysticks.Text);
 
                     //Console.WriteLine(DateTime.Now.Millisecond + " end ");
                 }
             }
             catch { }
 
-            progressBar1.Value = MainV2.cs.rcoverridech1;
+            progressBar1.Value = MainV2.comPort.MAV.cs.rcoverridech1;
-            progressBar2.Value = MainV2.cs.rcoverridech2;
+            progressBar2.Value = MainV2.comPort.MAV.cs.rcoverridech2;
-            progressBar3.Value = MainV2.cs.rcoverridech3;
+            progressBar3.Value = MainV2.comPort.MAV.cs.rcoverridech3;
-            progressBar4.Value = MainV2.cs.rcoverridech4;
+            progressBar4.Value = MainV2.comPort.MAV.cs.rcoverridech4;
-            horizontalProgressBar1.Value = MainV2.cs.rcoverridech5;
+            horizontalProgressBar1.Value = MainV2.comPort.MAV.cs.rcoverridech5;
-            horizontalProgressBar2.Value = MainV2.cs.rcoverridech6;
+            horizontalProgressBar2.Value = MainV2.comPort.MAV.cs.rcoverridech6;
-            horizontalProgressBar3.Value = MainV2.cs.rcoverridech7;
+            horizontalProgressBar3.Value = MainV2.comPort.MAV.cs.rcoverridech7;
-            horizontalProgressBar4.Value = MainV2.cs.rcoverridech8;
+            horizontalProgressBar4.Value = MainV2.comPort.MAV.cs.rcoverridech8;
 
             try
             {

Tools/ArdupilotMegaPlanner/Log.cs

@@ -388,9 +388,14 @@ namespace ArdupilotMega
                 }
                 if (items[0].Contains("GPS") && items[2] == "1" && items[4] != "0" && items[4] != "-1" && lastline != line) // check gps line and fixed status
                 {
+                    MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduPlane;
+
                     if (position[positionindex] == null)
                         position[positionindex] = new List<Point3D>();
 
+                    if (double.Parse(items[4], new System.Globalization.CultureInfo("en-US")) == 0)
+                        return;
+
                     double alt = double.Parse(items[6], new System.Globalization.CultureInfo("en-US"));
 
                     if (items.Length == 11 && items[6] == "0.0000")
@@ -404,11 +409,16 @@ namespace ArdupilotMega
                     lastpos = (position[positionindex][position[positionindex].Count - 1]);
                     lastline = line;
                 }
-                if (items[0].Contains("GPS") && items[4] != "0" && items[4] != "-1" && items.Length <= 9)
+                if (items[0].Contains("GPS") && items[4] != "0" && items[4] != "-1" && items.Length <= 9) // AC
                 {
+                    MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduCopter2;
+
                     if (position[positionindex] == null)
                         position[positionindex] = new List<Point3D>();
 
+                    if (double.Parse(items[4], new System.Globalization.CultureInfo("en-US")) == 0)
+                        return;
+
                     double alt = double.Parse(items[5], new System.Globalization.CultureInfo("en-US"));
 
                     position[positionindex].Add(new Point3D(double.Parse(items[4], new System.Globalization.CultureInfo("en-US")), double.Parse(items[3], new System.Globalization.CultureInfo("en-US")), alt));
@@ -522,7 +532,7 @@ namespace ArdupilotMega
 
             AltitudeMode altmode = AltitudeMode.absolute;
 
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
             {
                 altmode = AltitudeMode.relativeToGround; // because of sonar, this is both right and wrong. right for sonar, wrong in terms of gps as the land slopes off.
             }

Tools/ArdupilotMegaPlanner/LogBrowse.cs

@@ -160,11 +160,11 @@ namespace ArdupilotMega
                 {
                     reader.Read();
                     reader.ReadStartElement("LOGFORMAT");
-                    if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+                    if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
                     {
                         reader.ReadToFollowing("APM");
                     }
-                    else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
+                    else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
                     {
                         reader.ReadToFollowing("APRover");
                     }

Tools/ArdupilotMegaPlanner/MagCalib.cs

@@ -91,7 +91,7 @@ namespace ArdupilotMega
 
                 mine.logreadmode = true;
 
-                mine.packets.Initialize(); // clear
+                mine.MAV.packets.Initialize(); // clear
 
                 // gather data
                 while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
@@ -249,7 +249,7 @@ namespace ArdupilotMega
         /// <param name="ofs">offsets</param>
         public static void SaveOffsets(double[] ofs)
         {
-            if (MainV2.comPort.param.ContainsKey("COMPASS_OFS_X") && MainV2.comPort.BaseStream.IsOpen)
+            if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_OFS_X") && MainV2.comPort.BaseStream.IsOpen)
             {
                 try
                 {

Tools/ArdupilotMegaPlanner/MainV2.Designer.cs

@@ -28,6 +28,7 @@
         /// </summary>
         private void InitializeComponent()
         {
+            this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
             this.MyView = new ArdupilotMega.Controls.MainSwitcher();
             this.MainMenu = new System.Windows.Forms.MenuStrip();
@@ -42,8 +43,11 @@
             this.toolStripConnectionControl = new ArdupilotMega.Controls.ToolStripConnectionControl();
             this.menu = new ArdupilotMega.Controls.MyButton();
             this.panel1 = new System.Windows.Forms.Panel();
+            this.CTX_mainmenu = new System.Windows.Forms.ContextMenuStrip(this.components);
+            this.autoHideToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.MainMenu.SuspendLayout();
             this.panel1.SuspendLayout();
+            this.CTX_mainmenu.SuspendLayout();
             this.SuspendLayout();
             // 
             // MyView
@@ -58,6 +62,7 @@
             // MainMenu
             // 
             this.MainMenu.BackgroundImage = ((System.Drawing.Image)(resources.GetObject("MainMenu.BackgroundImage")));
+            this.MainMenu.ContextMenuStrip = this.CTX_mainmenu;
             this.MainMenu.GripMargin = new System.Windows.Forms.Padding(0);
             this.MainMenu.ImageScalingSize = new System.Drawing.Size(76, 76);
             this.MainMenu.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
@@ -231,6 +236,23 @@
             this.panel1.Visible = false;
             this.panel1.MouseLeave += new System.EventHandler(this.MainMenu_MouseLeave);
             // 
+            // CTX_mainmenu
+            // 
+            this.CTX_mainmenu.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.autoHideToolStripMenuItem});
+            this.CTX_mainmenu.Name = "CTX_mainmenu";
+            this.CTX_mainmenu.Size = new System.Drawing.Size(153, 48);
+            // 
+            // autoHideToolStripMenuItem
+            // 
+            this.autoHideToolStripMenuItem.Checked = true;
+            this.autoHideToolStripMenuItem.CheckOnClick = true;
+            this.autoHideToolStripMenuItem.CheckState = System.Windows.Forms.CheckState.Checked;
+            this.autoHideToolStripMenuItem.Name = "autoHideToolStripMenuItem";
+            this.autoHideToolStripMenuItem.Size = new System.Drawing.Size(152, 22);
+            this.autoHideToolStripMenuItem.Text = "AutoHide";
+            this.autoHideToolStripMenuItem.Click += new System.EventHandler(this.autoHideToolStripMenuItem_Click);
+            // 
             // MainV2
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@@ -254,6 +276,7 @@
             this.MainMenu.PerformLayout();
             this.panel1.ResumeLayout(false);
             this.panel1.PerformLayout();
+            this.CTX_mainmenu.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }
@@ -275,5 +298,7 @@
         private Controls.ToolStripConnectionControl toolStripConnectionControl;
         private Controls.MyButton menu;
         private System.Windows.Forms.Panel panel1;
+        private System.Windows.Forms.ContextMenuStrip CTX_mainmenu;
+        private System.Windows.Forms.ToolStripMenuItem autoHideToolStripMenuItem;
     }
 }

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -83,10 +83,6 @@ namespace ArdupilotMega
         /// </summary>
         public static WebCamService.Capture cam = null;
         /// <summary>
-        /// the static global state of the currently connected MAV
-        /// </summary>
-        public static CurrentState cs = new CurrentState();
-        /// <summary>
         /// controls the main serial reader thread
         /// </summary>
         bool serialThread = false;
@@ -153,7 +149,6 @@ namespace ArdupilotMega
             log.Info("Mainv2 ctor");
 
             Form splash = Program.Splash;
-            splash.Show();
 
             string strVersion = System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
 
@@ -303,49 +298,48 @@ namespace ArdupilotMega
                     this.Width = int.Parse(config["MainWidth"].ToString());
 
                 if (config["CMB_rateattitude"] != null)
-                    MainV2.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString());
+                    MainV2.comPort.MAV.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString());
                 if (config["CMB_rateposition"] != null)
-                    MainV2.cs.rateposition = byte.Parse(config["CMB_rateposition"].ToString());
+                    MainV2.comPort.MAV.cs.rateposition = byte.Parse(config["CMB_rateposition"].ToString());
                 if (config["CMB_ratestatus"] != null)
-                    MainV2.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString());
+                    MainV2.comPort.MAV.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString());
                 if (config["CMB_raterc"] != null)
-                    MainV2.cs.raterc = byte.Parse(config["CMB_raterc"].ToString());
+                    MainV2.comPort.MAV.cs.raterc = byte.Parse(config["CMB_raterc"].ToString());
                 if (config["CMB_ratesensors"] != null)
-                    MainV2.cs.ratesensors = byte.Parse(config["CMB_ratesensors"].ToString());
+                    MainV2.comPort.MAV.cs.ratesensors = byte.Parse(config["CMB_ratesensors"].ToString());
 
                 if (config["speechenable"] != null)
                     MainV2.speechEnable = bool.Parse(config["speechenable"].ToString());
 
                 //int fixme;
                 /*
-                MainV2.cs.rateattitude = 50;
+                MainV2.comPort.MAV.cs.rateattitude = 50;
-                MainV2.cs.rateposition = 50;
+                MainV2.comPort.MAV.cs.rateposition = 50;
-                MainV2.cs.ratestatus = 50;
+                MainV2.comPort.MAV.cs.ratestatus = 50;
-                MainV2.cs.raterc = 50;
+                MainV2.comPort.MAV.cs.raterc = 50;
-                MainV2.cs.ratesensors = 50;
+                MainV2.comPort.MAV.cs.ratesensors = 50;
                 */
                 try
                 {
                     if (config["TXT_homelat"] != null)
-                        cs.HomeLocation.Lat = double.Parse(config["TXT_homelat"].ToString());
+                        MainV2.comPort.MAV.cs.HomeLocation.Lat = double.Parse(config["TXT_homelat"].ToString());
 
                     if (config["TXT_homelng"] != null)
-                        cs.HomeLocation.Lng = double.Parse(config["TXT_homelng"].ToString());
+                        MainV2.comPort.MAV.cs.HomeLocation.Lng = double.Parse(config["TXT_homelng"].ToString());
 
                     if (config["TXT_homealt"] != null)
-                        cs.HomeLocation.Alt = double.Parse(config["TXT_homealt"].ToString());
+                        MainV2.comPort.MAV.cs.HomeLocation.Alt = double.Parse(config["TXT_homealt"].ToString());
                 }
                 catch { }
 
             }
             catch { }
 
-            if (cs.rateattitude == 0) // initilised to 10, configured above from save
+            if (MainV2.comPort.MAV.cs.rateattitude == 0) // initilised to 10, configured above from save
             {
                 CustomMessageBox.Show("NOTE: your attitude rate is 0, the hud will not work\nChange in Configuration > Planner > Telemetry Rates");
             }
 
-
             //System.Threading.Thread.Sleep(2000);
 
             // make sure new enough .net framework is installed
@@ -484,7 +478,7 @@ namespace ArdupilotMega
             giveComport = false;
 
             // sanity check
-            if (comPort.BaseStream.IsOpen && cs.groundspeed > 4)
+            if (comPort.BaseStream.IsOpen && MainV2.comPort.MAV.cs.groundspeed > 4)
             {
                 if (DialogResult.No == CustomMessageBox.Show("Your model is still moving are you sure you want to disconnect?", "Disconnect", MessageBoxButtons.YesNo))
                 {
@@ -601,17 +595,17 @@ namespace ArdupilotMega
                     comPort.Open(true);
 
                     // detect firmware we are conected to.
-                    if (comPort.param["SYSID_SW_TYPE"] != null)
+                    if (comPort.MAV.param["SYSID_SW_TYPE"] != null)
                     {
-                        if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 10)
+                        if (float.Parse(comPort.MAV.param["SYSID_SW_TYPE"].ToString()) == 10)
                         {
                             _connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2);
                         }
-                        else if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 20)
+                        else if (float.Parse(comPort.MAV.param["SYSID_SW_TYPE"].ToString()) == 20)
                         {
                             _connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduRover);
                         }
-                        else if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 0)
+                        else if (float.Parse(comPort.MAV.param["SYSID_SW_TYPE"].ToString()) == 0)
                         {
                             _connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane);
                         }
@@ -779,7 +773,7 @@ namespace ArdupilotMega
 
                     xmlwriter.WriteElementString("baudrate", _connectionControl.CMB_baudrate.Text);
 
-                    xmlwriter.WriteElementString("APMFirmware", MainV2.cs.firmware.ToString());
+                    xmlwriter.WriteElementString("APMFirmware", MainV2.comPort.MAV.cs.firmware.ToString());
 
                     foreach (string key in config.Keys)
                     {
@@ -839,7 +833,7 @@ namespace ArdupilotMega
                                         _connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.FindStringExact(temp3);
                                         if (_connectionControl.TOOL_APMFirmware.SelectedIndex == -1)
                                             _connectionControl.TOOL_APMFirmware.SelectedIndex = 0;
-                                        MainV2.cs.firmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), _connectionControl.TOOL_APMFirmware.Text);
+                                        MainV2.comPort.MAV.cs.firmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), _connectionControl.TOOL_APMFirmware.Text);
                                         break;
                                     case "Config":
                                         break;
@@ -907,40 +901,40 @@ namespace ArdupilotMega
                         {
                             MAVLink.mavlink_rc_channels_override_t rc = new MAVLink.mavlink_rc_channels_override_t();
 
-                            rc.target_component = comPort.compid;
+                            rc.target_component = comPort.MAV.compid;
-                            rc.target_system = comPort.sysid;
+                            rc.target_system = comPort.MAV.sysid;
 
                             if (joystick.getJoystickAxis(1) != Joystick.joystickaxis.None)
-                                rc.chan1_raw = cs.rcoverridech1;//(ushort)(((int)state.Rz / 65.535) + 1000);
+                                rc.chan1_raw = MainV2.comPort.MAV.cs.rcoverridech1;//(ushort)(((int)state.Rz / 65.535) + 1000);
                             if (joystick.getJoystickAxis(2) != Joystick.joystickaxis.None)
-                                rc.chan2_raw = cs.rcoverridech2;//(ushort)(((int)state.Y / 65.535) + 1000);
+                                rc.chan2_raw = MainV2.comPort.MAV.cs.rcoverridech2;//(ushort)(((int)state.Y / 65.535) + 1000);
                             if (joystick.getJoystickAxis(3) != Joystick.joystickaxis.None)
-                                rc.chan3_raw = cs.rcoverridech3;//(ushort)(1000 - ((int)slider[0] / 65.535 ) + 1000);
+                                rc.chan3_raw = MainV2.comPort.MAV.cs.rcoverridech3;//(ushort)(1000 - ((int)slider[0] / 65.535 ) + 1000);
                             if (joystick.getJoystickAxis(4) != Joystick.joystickaxis.None)
-                                rc.chan4_raw = cs.rcoverridech4;//(ushort)(((int)state.X / 65.535) + 1000);
+                                rc.chan4_raw = MainV2.comPort.MAV.cs.rcoverridech4;//(ushort)(((int)state.X / 65.535) + 1000);
                             if (joystick.getJoystickAxis(5) != Joystick.joystickaxis.None)
-                                rc.chan5_raw = cs.rcoverridech5;
+                                rc.chan5_raw = MainV2.comPort.MAV.cs.rcoverridech5;
                             if (joystick.getJoystickAxis(6) != Joystick.joystickaxis.None)
-                                rc.chan6_raw = cs.rcoverridech6;
+                                rc.chan6_raw = MainV2.comPort.MAV.cs.rcoverridech6;
                             if (joystick.getJoystickAxis(7) != Joystick.joystickaxis.None)
-                                rc.chan7_raw = cs.rcoverridech7;
+                                rc.chan7_raw = MainV2.comPort.MAV.cs.rcoverridech7;
                             if (joystick.getJoystickAxis(8) != Joystick.joystickaxis.None)
-                                rc.chan8_raw = cs.rcoverridech8;
+                                rc.chan8_raw = MainV2.comPort.MAV.cs.rcoverridech8;
 
                             if (lastjoystick.AddMilliseconds(rate) < DateTime.Now)
                             {
                                 /*
-                                if (cs.rssi > 0 && cs.remrssi > 0)
+                                if (MainV2.comPort.MAV.cs.rssi > 0 && MainV2.comPort.MAV.cs.remrssi > 0)
                                 {
                                     if (lastratechange.Second != DateTime.Now.Second)
                                     {
-                                        if (cs.txbuffer > 90)
+                                        if (MainV2.comPort.MAV.cs.txbuffer > 90)
                                         {
                                             if (rate < 20)
                                                 rate = 21;
                                             rate--;
 
-                                            if (cs.linkqualitygcs < 70)
+                                            if (MainV2.comPort.MAV.cs.linkqualitygcs < 70)
                                                 rate = 50;
                                         }
                                         else
@@ -1052,13 +1046,13 @@ namespace ArdupilotMega
                     UpdateConnectIcon();
 
                     // 30 seconds interval speech options
-                    if (speechEnable && speechEngine != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
+                    if (speechEnable && speechEngine != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.comPort.MAV.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
                     {
                         //speechbatteryvolt
                         float warnvolt = 0;
                         float.TryParse(MainV2.getConfig("speechbatteryvolt"), out warnvolt);
 
-                        if (MainV2.getConfig("speechbatteryenabled") == "True" && MainV2.cs.battery_voltage <= warnvolt)
+                        if (MainV2.getConfig("speechbatteryenabled") == "True" && MainV2.comPort.MAV.cs.battery_voltage <= warnvolt)
                         {
                             MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechbattery")));
                         }
@@ -1078,7 +1072,7 @@ namespace ArdupilotMega
                         float.TryParse(MainV2.getConfig("speechaltheight"), out warnalt);
                         try
                         {
-                            if (MainV2.getConfig("speechaltenabled") == "True" && (MainV2.cs.alt - (int)double.Parse(MainV2.getConfig("TXT_homealt"))) <= warnalt)
+                            if (MainV2.getConfig("speechaltenabled") == "True" && (MainV2.comPort.MAV.cs.alt - (int)double.Parse(MainV2.getConfig("TXT_homealt"))) <= warnalt)
                             {
                                 if (MainV2.speechEngine.State == SynthesizerState.Ready)
                                     MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechalt")));
@@ -1097,7 +1091,7 @@ namespace ArdupilotMega
                     // make sure we attenuate the link quality if we dont see any valid packets
                     if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds > 10)
                     {
-                        MainV2.cs.linkqualitygcs = 0;
+                        MainV2.comPort.MAV.cs.linkqualitygcs = 0;
                     }
 
                     // attenuate the link qualty over time
@@ -1105,7 +1099,7 @@ namespace ArdupilotMega
                     {
                         if (linkqualitytime.Second != DateTime.Now.Second)
                         {
-                            MainV2.cs.linkqualitygcs = (ushort)(MainV2.cs.linkqualitygcs * 0.8f);
+                            MainV2.comPort.MAV.cs.linkqualitygcs = (ushort)(MainV2.comPort.MAV.cs.linkqualitygcs * 0.8f);
                             linkqualitytime = DateTime.Now;
 
                             GCSViews.FlightData.myhud.Invalidate();
@@ -1196,7 +1190,7 @@ namespace ArdupilotMega
                     }
                     using (Pen pen = new Pen(Color.Black))
                     {
-                        //e.Graphics.DrawRectangle(pen, bounds.X, bounds.Y, bounds.Width - 1, bounds.Height - 1);
+                        //e.GraphiMainV2.comPort.MAV.cs.DrawRectangle(pen, bounds.X, bounds.Y, bounds.Width - 1, bounds.Height - 1);
                     }
                 }
             }
@@ -1209,6 +1203,18 @@ namespace ArdupilotMega
 
         private void MainV2_Load(object sender, EventArgs e)
         {
+            // check if its defined, and force to show it if not known about
+            if (config["menu_autohide"] == null)
+            {
+                config["menu_autohide"] = "false";
+               }
+            
+            try
+            {
+                AutoHideMenu(bool.Parse(config["menu_autohide"].ToString()));
+            }
+            catch { }
+
             MyView.AddScreen(new MainSwitcher.Screen("FlightData", FlightData, true));
             MyView.AddScreen(new MainSwitcher.Screen("FlightPlanner", FlightPlanner, true));
             MyView.AddScreen(new MainSwitcher.Screen("Config", new GCSViews.ConfigurationView.Setup(), false));
@@ -1221,6 +1227,7 @@ namespace ArdupilotMega
             //int fixme;
             MenuFlightData_Click(sender, e);
 
+
             // for long running tasks using own threads.
             // for short use threadpool
 
@@ -1384,7 +1391,7 @@ namespace ArdupilotMega
 
                                 byte[] packet = new byte[256];
 
-                                string sendme = cs.roll + "," + cs.pitch + "," + cs.yaw;
+                                string sendme = MainV2.comPort.MAV.cs.roll + "," + MainV2.comPort.MAV.cs.pitch + "," + MainV2.comPort.MAV.cs.yaw;
 
                                 packet[0] = 0x81; // fin - binary
                                 packet[1] = (byte)sendme.Length;
@@ -1427,17 +1434,17 @@ namespace ArdupilotMega
                         pmplane.Visibility = true;
 
                         SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
-                        loc.Latitude = cs.lat;
+                        loc.Latitude = MainV2.comPort.MAV.cs.lat;
-                        loc.Longitude = cs.lng;
+                        loc.Longitude = MainV2.comPort.MAV.cs.lng;
-                        loc.Altitude = cs.alt;
+                        loc.Altitude = MainV2.comPort.MAV.cs.alt;
 
                         if (loc.Altitude < 0)
                             loc.Altitude = 0.01;
 
                         SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
-                        ori.Heading = cs.yaw;
+                        ori.Heading = MainV2.comPort.MAV.cs.yaw;
-                        ori.Roll = -cs.roll;
+                        ori.Roll = -MainV2.comPort.MAV.cs.roll;
-                        ori.Tilt = -cs.pitch;
+                        ori.Tilt = -MainV2.comPort.MAV.cs.pitch;
 
                         SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();
 
@@ -1464,7 +1471,7 @@ namespace ArdupilotMega
                             Latitude = loc.Latitude.Value,
                             Longitude = loc.Longitude.Value,
                             Tilt = 80,
-                            Heading = cs.yaw,
+                            Heading = MainV2.comPort.MAV.cs.yaw,
                             AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute,
                             Range = 50
                         };
@@ -1475,7 +1482,7 @@ namespace ArdupilotMega
 
                         SharpKml.Dom.CoordinateCollection coords = new SharpKml.Dom.CoordinateCollection();
 
-                        foreach (var point in MainV2.comPort.wps.Values)
+                        foreach (var point in MainV2.comPort.MAV.wps.Values)
                         {
                             coords.Add(new SharpKml.Base.Vector(point.x, point.y, point.z));
                         }
@@ -1635,7 +1642,7 @@ namespace ArdupilotMega
 
         private void TOOL_APMFirmware_SelectedIndexChanged(object sender, EventArgs e)
         {
-            MainV2.cs.firmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), _connectionControl.TOOL_APMFirmware.Text);
+            MainV2.comPort.MAV.cs.firmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), _connectionControl.TOOL_APMFirmware.Text);
         }
 
         private void MainV2_Resize(object sender, EventArgs e)
@@ -2257,19 +2264,19 @@ namespace ArdupilotMega
                     switch ((Common.distances)Enum.Parse(typeof(Common.distances), MainV2.config["distunits"].ToString()))
                     {
                         case Common.distances.Meters:
-                            MainV2.cs.multiplierdist = 1;
+                            MainV2.comPort.MAV.cs.multiplierdist = 1;
-                            MainV2.cs.DistanceUnit = "Meters";
+                            MainV2.comPort.MAV.cs.DistanceUnit = "Meters";
                             break;
                         case Common.distances.Feet:
-                            MainV2.cs.multiplierdist = 3.2808399f;
+                            MainV2.comPort.MAV.cs.multiplierdist = 3.2808399f;
-                            MainV2.cs.DistanceUnit = "Feet";
+                            MainV2.comPort.MAV.cs.DistanceUnit = "Feet";
                             break;
                     }
                 }
                 else
                 {
-                    MainV2.cs.multiplierdist = 1;
+                    MainV2.comPort.MAV.cs.multiplierdist = 1;
-                    MainV2.cs.DistanceUnit = "Meters";
+                    MainV2.comPort.MAV.cs.DistanceUnit = "Meters";
                 }
 
                 // speed
@@ -2278,31 +2285,31 @@ namespace ArdupilotMega
                     switch ((Common.speeds)Enum.Parse(typeof(Common.speeds), MainV2.config["speedunits"].ToString()))
                     {
                         case Common.speeds.ms:
-                            MainV2.cs.multiplierspeed = 1;
+                            MainV2.comPort.MAV.cs.multiplierspeed = 1;
-                            MainV2.cs.SpeedUnit = "m/s";
+                            MainV2.comPort.MAV.cs.SpeedUnit = "m/s";
                             break;
                         case Common.speeds.fps:
-                            MainV2.cs.multiplierdist = 3.2808399f;
+                            MainV2.comPort.MAV.cs.multiplierdist = 3.2808399f;
-                            MainV2.cs.SpeedUnit = "fps";
+                            MainV2.comPort.MAV.cs.SpeedUnit = "fps";
                             break;
                         case Common.speeds.kph:
-                            MainV2.cs.multiplierspeed = 3.6f;
+                            MainV2.comPort.MAV.cs.multiplierspeed = 3.6f;
-                            MainV2.cs.SpeedUnit = "kph";
+                            MainV2.comPort.MAV.cs.SpeedUnit = "kph";
                             break;
                         case Common.speeds.mph:
-                            MainV2.cs.multiplierspeed = 2.23693629f;
+                            MainV2.comPort.MAV.cs.multiplierspeed = 2.23693629f;
-                            MainV2.cs.SpeedUnit = "mph";
+                            MainV2.comPort.MAV.cs.SpeedUnit = "mph";
                             break;
                         case Common.speeds.knots:
-                            MainV2.cs.multiplierspeed = 1.94384449f;
+                            MainV2.comPort.MAV.cs.multiplierspeed = 1.94384449f;
-                            MainV2.cs.SpeedUnit = "knots";
+                            MainV2.comPort.MAV.cs.SpeedUnit = "knots";
                             break;
                     }
                 }
                 else
                 {
-                    MainV2.cs.multiplierspeed = 1;
+                    MainV2.comPort.MAV.cs.multiplierspeed = 1;
-                    MainV2.cs.SpeedUnit = "m/s";
+                    MainV2.comPort.MAV.cs.SpeedUnit = "m/s";
                 }
             }
             catch { }
@@ -2359,5 +2366,42 @@ namespace ArdupilotMega
             panel1.Visible = true;
             this.ResumeLayout();
         }
+
+        private void autoHideToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            AutoHideMenu(autoHideToolStripMenuItem.Checked);
+
+            config["menu_autohide"] = autoHideToolStripMenuItem.Checked.ToString();
+        }
+
+        void AutoHideMenu(bool hide)
+        {
+            autoHideToolStripMenuItem.Checked = hide;
+
+            if (!hide)
+            {
+                this.SuspendLayout();
+                panel1.Dock = DockStyle.Top;
+                panel1.SendToBack();
+                panel1.Visible = true;
+                menu.Visible = false;
+                MainMenu.MouseLeave -= MainMenu_MouseLeave;
+                panel1.MouseLeave -= MainMenu_MouseLeave;
+                toolStripConnectionControl.MouseLeave -= MainMenu_MouseLeave;
+                this.ResumeLayout();
+            }
+            else
+            {
+                this.SuspendLayout();
+                panel1.Dock = DockStyle.None;
+                panel1.Visible = false;
+                MainMenu.MouseLeave += MainMenu_MouseLeave;
+                panel1.MouseLeave += MainMenu_MouseLeave;
+                toolStripConnectionControl.MouseLeave += MainMenu_MouseLeave;
+                menu.Visible = true;
+                menu.SendToBack();
+                this.ResumeLayout();
+            }
+        }
     }
 }

Tools/ArdupilotMegaPlanner/MainV2.resx

@@ -178,6 +178,9 @@
         F7RNPD7QJqsL9YCOnc3vfuwBNe17h7wL9uHpUD//2Q==
 </value>
   </data>
+  <metadata name="CTX_mainmenu.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>127, 17</value>
+  </metadata>
   <metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>46</value>
   </metadata>

Tools/ArdupilotMegaPlanner/Mavlink/MAVLink.cs

@@ -25,6 +25,90 @@ namespace ArdupilotMega
         public ICommsSerial BaseStream { get; set; }
         public event EventHandler ParamListChanged;
 
+        /// <summary>
+        /// mavlink remote sysid
+        /// </summary>
+        public byte sysid { get { return MAV.sysid; } set { MAV.sysid = value; } }
+        /// <summary>
+        /// mavlink remove compid
+        /// </summary>
+        public byte compid { get { return MAV.compid; } set { MAV.compid = value; } }
+        /// <summary>
+        /// storage for whole paramater list
+        /// </summary>
+        public Hashtable param { get { return MAV.param; } set { MAV.param = value; } }
+        /// <summary>
+        /// storage of a previous packet recevied of a specific type
+        /// </summary>
+        public byte[][] packets { get { return MAV.packets; } set { MAV.packets = value; } }
+        /// <summary>
+        /// mavlink ap type
+        /// </summary>
+        public MAV_TYPE aptype { get { return MAV.aptype; } set { MAV.aptype = value; } }
+        public MAV_AUTOPILOT apname { get { return MAV.apname; } set { MAV.apname = value; } }
+        /// <summary>
+        /// used as a snapshot of what is loaded on the ap atm. - derived from the stream
+        /// </summary>
+        public Dictionary<int, mavlink_mission_item_t> wps { get { return MAV.wps; } set { MAV.wps = value; } }
+        /// <summary>
+        /// Store the guided mode wp location
+        /// </summary>
+        public mavlink_mission_item_t GuidedMode { get { return MAV.GuidedMode; } set { MAV.GuidedMode = value; } }
+
+        internal int recvpacketcount { get { return MAV.recvpacketcount; } set { MAV.recvpacketcount = value; } }
+
+        public MAVState MAV = new MAVState();
+
+        public class MAVState
+        {
+            public MAVState()
+            {
+                this.sysid = 0;
+                this.compid = 0;
+                this.param = new Hashtable();
+                this.packets = new byte[0x100][];
+                this.aptype = 0;
+                this.apname = 0;
+                this.recvpacketcount = 0;
+            }
+
+            /// <summary>
+            /// the static global state of the currently connected MAV
+            /// </summary>
+            public CurrentState cs = new CurrentState();
+            /// <summary>
+            /// mavlink remote sysid
+            /// </summary>
+            public byte sysid { get; set; }
+            /// <summary>
+            /// mavlink remove compid
+            /// </summary>
+            public byte compid { get; set; }
+            /// <summary>
+            /// storage for whole paramater list
+            /// </summary>
+            public Hashtable param { get; set; }
+            /// <summary>
+            /// storage of a previous packet recevied of a specific type
+            /// </summary>
+            public byte[][] packets { get; set; }
+            /// <summary>
+            /// mavlink ap type
+            /// </summary>
+            public MAV_TYPE aptype { get; set; }
+            public MAV_AUTOPILOT apname { get; set; }
+            /// <summary>
+            /// used as a snapshot of what is loaded on the ap atm. - derived from the stream
+            /// </summary>
+            public Dictionary<int, mavlink_mission_item_t> wps = new Dictionary<int, mavlink_mission_item_t>();
+            /// <summary>
+            /// Store the guided mode wp location
+            /// </summary>
+            public mavlink_mission_item_t GuidedMode = new mavlink_mission_item_t();
+
+            internal int recvpacketcount = 0;
+        }
+
         private const double CONNECT_TIMEOUT_SECONDS = 30;
 
         /// <summary>
@@ -36,22 +120,7 @@ namespace ArdupilotMega
         /// used for outbound packet sending
         /// </summary>
         byte packetcount = 0;
-        /// <summary>
+      
-        /// mavlink remote sysid
-        /// </summary>
-        public byte sysid { get; set; }
-        /// <summary>
-        /// mavlink remove compid
-        /// </summary>
-        public byte compid { get; set; }
-        /// <summary>
-        /// storage for whole paramater list
-        /// </summary>
-        public Hashtable param { get; set; }
-        /// <summary>
-        /// storage of a previous packet recevied of a specific type
-        /// </summary>
-        public byte[][] packets { get; set; }
         /// <summary>
         /// used to calc packets per second on any single message type - used for stream rate comparaison
         /// </summary>
@@ -105,19 +174,7 @@ namespace ArdupilotMega
         /// mavlink version
         /// </summary>
         byte mavlinkversion = 0;
-        /// <summary>
+
-        /// mavlink ap type
-        /// </summary>
-        public MAV_TYPE aptype { get; set; }
-        public MAV_AUTOPILOT apname { get; set; }
-        /// <summary>
-        /// used as a snapshot of what is loaded on the ap atm. - derived from the stream
-        /// </summary>
-        public Dictionary<int, mavlink_mission_item_t> wps = new Dictionary<int, mavlink_mission_item_t>();
-        /// <summary>
-        /// Store the guided mode wp location
-        /// </summary>
-        public mavlink_mission_item_t GuidedMode = new mavlink_mission_item_t();
         /// <summary>
         /// turns on console packet display
         /// </summary>
@@ -135,7 +192,6 @@ namespace ArdupilotMega
         int bps2 = 0;
         public int bps { get; set; }
         public DateTime bpstime { get; set; }
-        int recvpacketcount = 0;
 
         float synclost;
         float packetslost = 0;
@@ -147,10 +203,7 @@ namespace ArdupilotMega
             // init fields
             this.BaseStream = new SerialPort();
             this.packetcount = 0;
-            this.sysid = 0;
+
-            this.compid = 0;
-            this.param = new Hashtable();
-            this.packets = new byte[0x100][];
             this.packetspersecond = new double[0x100];
             this.packetspersecondbuild = new DateTime[0x100];
             this._bytesReceivedSubj = new Subject<int>();
@@ -161,8 +214,7 @@ namespace ArdupilotMega
             this.lastvalidpacket = DateTime.Now;
             this.oldlogformat = false;
             this.mavlinkversion = 0;
-            this.aptype = 0;
+
-            this.apname = 0;
             this.debugmavlink = false;
             this.logreadmode = false;
             this.lastlogread = DateTime.MinValue;
@@ -173,7 +225,7 @@ namespace ArdupilotMega
             this.bps2 = 0;
             this.bps = 0;
             this.bpstime = DateTime.Now;
-            this.recvpacketcount = 0;
+ 
             this.packetslost = 0f;
             this.packetsnotlost = 0f;
             this.packetlosttimer = DateTime.Now;
@@ -1600,7 +1652,7 @@ namespace ArdupilotMega
                         loc.lat = ((wp.x));
                         loc.lng = ((wp.y));
                         /*
-                        if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
+                        if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane)
                         {
                             switch (loc.id)
                             {					// Switch to map APM command fields inot MAVLink command fields
@@ -2239,7 +2291,7 @@ namespace ArdupilotMega
                         }
                         else
                         {
-                            MainV2.cs.datetime = DateTime.Now;
+                            MainV2.comPort.MAV.cs.datetime = DateTime.Now;
 
                             DateTime to = DateTime.Now.AddMilliseconds(BaseStream.ReadTimeout);
 
@@ -2386,7 +2438,7 @@ namespace ArdupilotMega
                 packetsnotlost = (packetsnotlost * 0.8f);
             }
 
-            MainV2.cs.linkqualitygcs = (ushort)((packetsnotlost / (packetsnotlost + packetslost)) * 100.0);
+            MainV2.comPort.MAV.cs.linkqualitygcs = (ushort)((packetsnotlost / (packetsnotlost + packetslost)) * 100.0);
 
             if (bpstime.Second != DateTime.Now.Second && !logreadmode)
             {
@@ -2758,7 +2810,7 @@ namespace ArdupilotMega
             }
             catch { }
 
-            MainV2.cs.datetime = lastlogread;
+            MainV2.comPort.MAV.cs.datetime = lastlogread;
 
             int length = 5;
             int a = 0;
@@ -2795,7 +2847,7 @@ namespace ArdupilotMega
         public bool translateMode(string modein, ref MAVLink.mavlink_set_mode_t mode)
         {
             //MAVLink09.mavlink_set_mode_t mode = new MAVLink09.mavlink_set_mode_t();
-            mode.target_system = MainV2.comPort.sysid;
+            mode.target_system = MainV2.comPort.MAV.sysid;
 
             try
             {
@@ -2855,13 +2907,13 @@ namespace ArdupilotMega
                     switch (aptype)
                     {
                         case MAVLink.MAV_TYPE.FIXED_WING:
-                            MainV2.cs.firmware = MainV2.Firmwares.ArduPlane;
+                            MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduPlane;
                             break;
                         case MAVLink.MAV_TYPE.QUADROTOR:
-                            MainV2.cs.firmware = MainV2.Firmwares.ArduCopter2;
+                            MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduCopter2;
                             break;
                         case MAVLink.MAV_TYPE.GROUND_ROVER:
-                            MainV2.cs.firmware = MainV2.Firmwares.ArduRover;
+                            MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduRover;
                             break;
                         default:
                             break;

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -59,11 +59,11 @@ namespace ArdupilotMega
         {
             SharpKml.Dom.AltitudeMode altmode = SharpKml.Dom.AltitudeMode.Absolute;
 
-            if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane || MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
+            if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane || MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
             {
                 altmode = SharpKml.Dom.AltitudeMode.Absolute;
             }
-            else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+            else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
             {
                 altmode = SharpKml.Dom.AltitudeMode.RelativeToGround;
             }
@@ -392,7 +392,7 @@ namespace ArdupilotMega
                     catch (Exception ex) { log.Debug(ex.ToString()); CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return; }
                     mine.logreadmode = true;
 
-                    mine.packets.Initialize(); // clear
+                    mine.MAV.packets.Initialize(); // clear
 
                     CurrentState cs = new CurrentState();
 
@@ -561,7 +561,7 @@ namespace ArdupilotMega
  
                     mine.logreadmode = true;
 
-                    mine.packets.Initialize(); // clear
+                    mine.MAV.packets.Initialize(); // clear
 
                     StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile)+ Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".txt");
 
@@ -676,7 +676,7 @@ namespace ArdupilotMega
                 catch (Exception ex) { log.Debug(ex.ToString()); CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return options; }
                 MavlinkInterface.logreadmode = true;
 
-                MavlinkInterface.packets.Initialize(); // clear
+                MavlinkInterface.MAV.packets.Initialize(); // clear
 
                 CurrentState cs = new CurrentState();
 
@@ -1235,7 +1235,7 @@ namespace ArdupilotMega
                     catch (Exception ex) { log.Debug(ex.ToString()); CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return; }
                     mine.logreadmode = true;
 
-                    mine.packets.Initialize(); // clear
+                    mine.MAV.packets.Initialize(); // clear
 
                     StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".csv");
 
@@ -1300,7 +1300,7 @@ namespace ArdupilotMega
 
                         mine.logreadmode = true;
 
-                        mine.packets.Initialize(); // clear
+                        mine.MAV.packets.Initialize(); // clear
 
                         StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".param");
 
@@ -1312,9 +1312,9 @@ namespace ArdupilotMega
 
                         mine.getParamList();
 
-                        foreach (string item in mine.param.Keys)
+                        foreach (string item in mine.MAV.param.Keys)
                         {
-                            sw.WriteLine(item + "\t" + mine.param[item]);
+                            sw.WriteLine(item + "\t" + mine.MAV.param[item]);
                         }
 
                         sw.Close();
@@ -1367,7 +1367,7 @@ namespace ArdupilotMega
 
                     mine.logreadmode = true;
 
-                    mine.packets.Initialize(); // clear
+                    mine.MAV.packets.Initialize(); // clear
 
                     while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
                     {
@@ -1407,7 +1407,7 @@ namespace ArdupilotMega
                             sw.Write("\t" + wp.p4.ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
                             sw.Write("\t" + wp.lat.ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
                             sw.Write("\t" + wp.lng.ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
-                            sw.Write("\t" + (wp.alt / MainV2.cs.multiplierdist).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
+                            sw.Write("\t" + (wp.alt / MainV2.comPort.MAV.cs.multiplierdist).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
                             sw.Write("\t" + 1);
                             sw.WriteLine("");
                         }

Tools/ArdupilotMegaPlanner/Msi/installer.wxs

@@ -2,14 +2,14 @@
 <Wix xmlns="http://schemas.microsoft.com/wix/2006/wi" xmlns:netfx="http://schemas.microsoft.com/wix/NetFxExtension" xmlns:difx="http://schemas.microsoft.com/wix/DifxAppExtension" xmlns:iis='http://schemas.microsoft.com/wix/IIsExtension' >
 
 
-    <Product Id="*" Name="Mission Planner" Language="1033" Version="1.2.22" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
+    <Product Id="*" Name="Mission Planner" Language="1033" Version="1.2.25" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
 
         <Package Description="Mission Planner Installer" Comments="Mission Planner Installer" Manufacturer="Michael Oborne" InstallerVersion="200" Compressed="yes" />
 
 
 <Upgrade Id="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
-    <UpgradeVersion OnlyDetect="yes" Minimum="1.2.22" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
+    <UpgradeVersion OnlyDetect="yes" Minimum="1.2.25" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
-    <UpgradeVersion OnlyDetect="no" Maximum="1.2.22" Property="OLDERVERSIONBEINGUPGRADED" IncludeMaximum="no" />
+    <UpgradeVersion OnlyDetect="no" Maximum="1.2.25" Property="OLDERVERSIONBEINGUPGRADED" IncludeMaximum="no" />
 </Upgrade>
 
 <InstallExecuteSequence>
@@ -31,7 +31,7 @@
                             <Permission User="Everyone" GenericAll="yes" /> 
                         </CreateFolder>
                     </Component>
-<Component Id="_comp1" Guid="ed64115d-7954-4054-b1fe-074419886510">
+<Component Id="_comp1" Guid="8eda8864-af82-496a-aa0f-abec8aa5cf38">
 <File Id="_2" Source="..\bin\release\.gdbinit" />
 <File Id="_3" Source="..\bin\release\.gitignore" />
 <File Id="_4" Source="..\bin\release\aerosim3.91.txt" />
@@ -45,215 +45,223 @@
 <File Id="_12" Source="..\bin\release\ArdupilotMegaPlanner.application" />
 <File Id="_13" Source="..\bin\release\ArdupilotMegaPlanner.exe.config" />
 <File Id="_14" Source="..\bin\release\ArdupilotMegaPlanner.exe.manifest" />
-<File Id="_15" Source="..\bin\release\ArdupilotMegaPlanner10.application" />
+<File Id="_15" Source="..\bin\release\ArdupilotMegaPlanner10.exe" ><netfx:NativeImage Id="ngen_ArdupilotMegaPlannerexe"/> </File>
-<File Id="_16" Source="..\bin\release\ArdupilotMegaPlanner10.exe" ><netfx:NativeImage Id="ngen_ArdupilotMegaPlannerexe"/> </File>
+<File Id="_16" Source="..\bin\release\ArdupilotMegaPlanner10.exe.config" />
-<File Id="_17" Source="..\bin\release\ArdupilotMegaPlanner10.exe.config" />
+<File Id="_17" Source="..\bin\release\ArdupilotMegaPlanner10.pdb" />
-<File Id="_18" Source="..\bin\release\ArdupilotMegaPlanner10.exe.manifest" />
+<File Id="_18" Source="..\bin\release\block_plane_0.dae" />
-<File Id="_19" Source="..\bin\release\ArdupilotMegaPlanner10.pdb" />
+<File Id="_19" Source="..\bin\release\BSE.Windows.Forms.dll" />
-<File Id="_20" Source="..\bin\release\block_plane_0.dae" />
+<File Id="_20" Source="..\bin\release\BSE.Windows.Forms.pdb" />
-<File Id="_21" Source="..\bin\release\BSE.Windows.Forms.dll" />
+<File Id="_21" Source="..\bin\release\BSE.Windows.Forms.xml" />
-<File Id="_22" Source="..\bin\release\BSE.Windows.Forms.pdb" />
+<File Id="_22" Source="..\bin\release\Core.dll" />
-<File Id="_23" Source="..\bin\release\BSE.Windows.Forms.xml" />
+<File Id="_23" Source="..\bin\release\dataflashlog.xml" />
-<File Id="_24" Source="..\bin\release\Core.dll" />
+<File Id="_24" Source="..\bin\release\DirectShowLib-2005.dll" />
-<File Id="_25" Source="..\bin\release\dataflashlog.xml" />
+<File Id="_25" Source="..\bin\release\eeprom.bin" />
-<File Id="_26" Source="..\bin\release\DirectShowLib-2005.dll" />
+<File Id="_26" Source="..\bin\release\FDLayout.xml" />
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+<File Id="_152" Source="..\bin\release\m3u\hud.m3u" />
+<File Id="_153" Source="..\bin\release\m3u\map.m3u" />
+<File Id="_154" Source="..\bin\release\m3u\networklink.kml" />
 </Component>
 </Directory>
-<Directory Id="Resources152" Name="Resources">
+<Directory Id="pl154" Name="pl">
-<Component Id="_comp153" Guid="4843608a-23a2-40bd-b177-ccde23bdcd33">
+<Component Id="_comp155" Guid="b3f2efc0-2fff-44bf-a776-9e37a74ed100">
-<File Id="_154" Source="..\bin\release\Resources\MAVCmd.txt" />
+<File Id="_156" Source="..\bin\release\pl\ArdupilotMegaPlanner.resources.dll" />
-<File Id="_155" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf" />
+<File Id="_157" Source="..\bin\release\pl\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
-<Directory Id="ru_RU155" Name="ru-RU">
+<Directory Id="Resources157" Name="Resources">
-<Component Id="_comp156" Guid="e5da998d-4ea8-410f-8d1e-e6d400c17fb5">
+<Component Id="_comp158" Guid="c2f7719c-1373-4cda-a476-426c417a72b5">
-<File Id="_157" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner.resources.dll" />
+<File Id="_159" Source="..\bin\release\Resources\MAVCmd.txt" />
-<File Id="_158" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner10.resources.dll" />
+<File Id="_160" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf" />
 </Component>
 </Directory>
-<Directory Id="zh_Hans158" Name="zh-Hans">
+<Directory Id="ru_RU160" Name="ru-RU">
-<Component Id="_comp159" Guid="24c4ecba-7660-4a98-bac1-70f73ecf1eb1">
+<Component Id="_comp161" Guid="a4bf1286-c4fc-471d-bf53-cb370acdc205">
-<File Id="_160" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner.resources.dll" />
+<File Id="_162" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner.resources.dll" />
-<File Id="_161" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner10.resources.dll" />
+<File Id="_163" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
-<Directory Id="zh_TW161" Name="zh-TW">
+<Directory Id="zh_Hans163" Name="zh-Hans">
-<Component Id="_comp162" Guid="dc78168c-2aad-42db-8f0c-3269be35282c">
+<Component Id="_comp164" Guid="3052fa6a-f05f-4d91-aedd-2a12785684d7">
-<File Id="_163" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner.resources.dll" />
+<File Id="_165" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner.resources.dll" />
-<File Id="_164" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner10.resources.dll" />
+<File Id="_166" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner10.resources.dll" />
+</Component>
+</Directory>
+<Directory Id="zh_TW166" Name="zh-TW">
+<Component Id="_comp167" Guid="d6efa64a-9952-446a-afd5-b40fbad8c877">
+<File Id="_168" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner.resources.dll" />
+<File Id="_169" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 
@@ -311,26 +319,27 @@
             <ComponentRef Id="InstallDirPermissions" />
 
 <ComponentRef Id="_comp1" />
-<ComponentRef Id="_comp75" />
+<ComponentRef Id="_comp74" />
-<ComponentRef Id="_comp77" />
+<ComponentRef Id="_comp76" />
-<ComponentRef Id="_comp86" />
+<ComponentRef Id="_comp85" />
-<ComponentRef Id="_comp90" />
+<ComponentRef Id="_comp89" />
-<ComponentRef Id="_comp93" />
+<ComponentRef Id="_comp92" />
-<ComponentRef Id="_comp103" />
+<ComponentRef Id="_comp102" />
-<ComponentRef Id="_comp113" />
+<ComponentRef Id="_comp112" />
-<ComponentRef Id="_comp116" />
+<ComponentRef Id="_comp115" />
-<ComponentRef Id="_comp124" />
+<ComponentRef Id="_comp123" />
-<ComponentRef Id="_comp130" />
+<ComponentRef Id="_comp129" />
-<ComponentRef Id="_comp132" />
+<ComponentRef Id="_comp131" />
-<ComponentRef Id="_comp135" />
+<ComponentRef Id="_comp137" />
-<ComponentRef Id="_comp138" />
+<ComponentRef Id="_comp140" />
-<ComponentRef Id="_comp141" />
+<ComponentRef Id="_comp143" />
-<ComponentRef Id="_comp144" />
+<ComponentRef Id="_comp146" />
-<ComponentRef Id="_comp150" />
+<ComponentRef Id="_comp149" />
-<ComponentRef Id="_comp153" />
+<ComponentRef Id="_comp155" />
-<ComponentRef Id="_comp156" />
+<ComponentRef Id="_comp158" />
-<ComponentRef Id="_comp159" />
+<ComponentRef Id="_comp161" />
-<ComponentRef Id="_comp162" />
+<ComponentRef Id="_comp164" />
+<ComponentRef Id="_comp167" />
 
             
             <ComponentRef Id="ApplicationShortcut" />
@@ -350,7 +359,7 @@
     <Property Id="WIXUI_EXITDIALOGOPTIONALCHECKBOXTEXT" Value="Launch Mission Planner" />
 
     <!-- Step 3: Include the custom action -->
-    <Property Id="WixShellExecTarget" Value="[#_16]" />
+    <Property Id="WixShellExecTarget" Value="[#_15]" />
     <CustomAction Id="LaunchApplication" 
         BinaryKey="WixCA" 
         DllEntry="WixShellExec"

Tools/ArdupilotMegaPlanner/Presenter/ConfigCameraStabPresenter.cs

@@ -268,11 +268,11 @@ namespace ArdupilotMega.Presenter
 
         private object GetParam(string paramName, Type paramType)
         {
-            if (_mavlink.param.ContainsKey(paramName))
+            if (_mavlink.MAV.param.ContainsKey(paramName))
             {
                 return paramType == typeof (bool)
-                           ? _mavlink.param[paramName].ToString() == "1"
+                           ? _mavlink.MAV.param[paramName].ToString() == "1"
-                           : Convert.ChangeType(_mavlink.param[paramName].ToString(), paramType);
+                           : Convert.ChangeType(_mavlink.MAV.param[paramName].ToString(), paramType);
             }
             log.ErrorFormat("Could not get param {0}", paramName);
             return null;

Tools/ArdupilotMegaPlanner/Program.cs

@@ -125,6 +125,8 @@ namespace ArdupilotMega
             Splash = new ArdupilotMega.Splash();
             Splash.Show();
 
+            Application.DoEvents();
+
             try
             {
                 Thread.CurrentThread.Name = "Base Thread";

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.1.*")]
-[assembly: AssemblyFileVersion("1.2.25")]
+[assembly: AssemblyFileVersion("1.2.26")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/RAW_Sensor.cs

@@ -145,45 +145,45 @@ namespace ArdupilotMega
             //Console.WriteLine(DateTime.Now.Millisecond + " timer2 serial");
             try
             {
-                MainV2.cs.UpdateCurrentSettings(currentStateBindingSource);
+                MainV2.comPort.MAV.cs.UpdateCurrentSettings(currentStateBindingSource);
             }
             catch { }
 
             if (sw != null && sw.BaseStream.CanWrite)
             {
-                sw.WriteLine(string.Format("{0},{1},{2},{3},{4},{5},{6}",DateTime.Now.ToString(), MainV2.cs.ax, MainV2.cs.ay, MainV2.cs.az, MainV2.cs.gx,MainV2.cs.gy, MainV2.cs.gz));
+                sw.WriteLine(string.Format("{0},{1},{2},{3},{4},{5},{6}",DateTime.Now.ToString(), MainV2.comPort.MAV.cs.ax, MainV2.comPort.MAV.cs.ay, MainV2.comPort.MAV.cs.az, MainV2.comPort.MAV.cs.gx,MainV2.comPort.MAV.cs.gy, MainV2.comPort.MAV.cs.gz));
             }
 
             double time = (Environment.TickCount - tickStart) / 1000.0;
 
             if (chkax.Checked)
             {
-                list1.Add(time, ArdupilotMega.MainV2.cs.ax);
+                list1.Add(time, ArdupilotMega.MainV2.comPort.MAV.cs.ax);
             }
             else { list1.Clear(); }
             if (chkay.Checked)
             {
-                list2.Add(time, ArdupilotMega.MainV2.cs.ay);
+                list2.Add(time, ArdupilotMega.MainV2.comPort.MAV.cs.ay);
             }
             else { list2.Clear(); }
             if (chkaz.Checked)
             {
-                list3.Add(time, ArdupilotMega.MainV2.cs.az);
+                list3.Add(time, ArdupilotMega.MainV2.comPort.MAV.cs.az);
             }
             else { list3.Clear(); }
             if (chkgx.Checked)
             {
-                list4.Add(time, ArdupilotMega.MainV2.cs.gx);
+                list4.Add(time, ArdupilotMega.MainV2.comPort.MAV.cs.gx);
             }
             else { list4.Clear(); }
             if (chkgy.Checked)
             {
-                list5.Add(time, ArdupilotMega.MainV2.cs.gy);
+                list5.Add(time, ArdupilotMega.MainV2.comPort.MAV.cs.gy);
             }
             else { list5.Clear(); }
             if (chkgz.Checked)
             {
-                list6.Add(time, ArdupilotMega.MainV2.cs.gz);
+                list6.Add(time, ArdupilotMega.MainV2.comPort.MAV.cs.gz);
             }
             else { list6.Clear(); }
         }
@@ -237,7 +237,7 @@ namespace ArdupilotMega
                         //comPort.requestDatastream((byte)ArdupilotMega.MAVLink09.MAV_DATA_STREAM.POSITION, 3); // request location
                         //comPort.requestDatastream((byte)ArdupilotMega.MAVLink09.MAV_DATA_STREAM.EXTRA1, 3); // request attitude
                         //comPort.requestDatastream((byte)ArdupilotMega.MAVLink09.MAV_DATA_STREAM.EXTRA2, 3); // request vfr
-                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
+                        MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // request raw sensor
                         //comPort.requestDatastream((byte)ArdupilotMega.MAVLink09.MAV_DATA_STREAM.RC_CHANNELS, 3); // request rc info
                     }
                     catch
@@ -250,7 +250,7 @@ namespace ArdupilotMega
 
         private void CMB_rawupdaterate_SelectedIndexChanged(object sender, EventArgs e)
         {
-            MainV2.cs.ratesensors = (byte)int.Parse(CMB_rawupdaterate.Text);
+            MainV2.comPort.MAV.cs.ratesensors = (byte)int.Parse(CMB_rawupdaterate.Text);
             MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, (byte)int.Parse(CMB_rawupdaterate.Text)); // request raw sensor
         }
 

Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs

@@ -481,6 +481,14 @@ namespace ArdupilotMega
                         S9.DataSource = Range(414000, 100, 454000);
                         RS9.DataSource = Range(414000, 100, 454000);
                     }
+                    else if (freq == uploader.Uploader.Code.FREQ_868) 
+                    {
+                        S8.DataSource = Range(868000, 100, 869000);
+                        RS8.DataSource = Range(868000, 100, 869000);
+
+                        S9.DataSource = Range(868000, 100, 869000);
+                        RS9.DataSource = Range(868000, 100, 869000);
+                    }
 
                     if (board == uploader.Uploader.Code.DEVICE_ID_RFD900 || board == uploader.Uploader.Code.DEVICE_ID_RFD900A)
                     {

Tools/ArdupilotMegaPlanner/Script.cs

@@ -27,7 +27,7 @@ namespace ArdupilotMega
             engine = Python.CreateEngine(options);
             scope = engine.CreateScope();
 
-            scope.SetVariable("cs", MainV2.cs);
+            scope.SetVariable("cs", MainV2.comPort.MAV.cs);
             scope.SetVariable("Script", this);
             scope.SetVariable("mavutil", this);
 
@@ -35,7 +35,7 @@ namespace ArdupilotMega
             engine.CreateScriptSourceFromString("print cs.roll").Execute(scope);
 
 
-            object thisBoxed = MainV2.cs;
+            object thisBoxed = MainV2.comPort.MAV.cs;
             Type test = thisBoxed.GetType();
 
             foreach (var field in test.GetProperties())
@@ -104,8 +104,8 @@ namespace ArdupilotMega
 
         public float GetParam(string param)
         {
-            if (MainV2.comPort.param[param] != null)
+            if (MainV2.comPort.MAV.param[param] != null)
-                return (float)MainV2.comPort.param[param];
+                return (float)MainV2.comPort.MAV.param[param];
 
             return 0.0f;
         }
@@ -119,7 +119,7 @@ namespace ArdupilotMega
         public bool WaitFor(string message, int timeout)
         {
             int timein = 0;
-            while (!MainV2.cs.message.Contains(message))
+            while (!MainV2.comPort.MAV.cs.message.Contains(message))
             {
                 System.Threading.Thread.Sleep(5);
                 timein += 5;
@@ -135,41 +135,41 @@ namespace ArdupilotMega
             switch (channel)
             {
                 case 1:
-                    MainV2.cs.rcoverridech1 = pwm;
+                    MainV2.comPort.MAV.cs.rcoverridech1 = pwm;
                     rc.chan1_raw = pwm;
                     break;
                 case 2:
-                    MainV2.cs.rcoverridech2 = pwm;
+                    MainV2.comPort.MAV.cs.rcoverridech2 = pwm;
                     rc.chan2_raw = pwm;
                     break;
                 case 3:
-                    MainV2.cs.rcoverridech3 = pwm;
+                    MainV2.comPort.MAV.cs.rcoverridech3 = pwm;
                     rc.chan3_raw = pwm;
                     break;
                 case 4:
-                    MainV2.cs.rcoverridech4 = pwm;
+                    MainV2.comPort.MAV.cs.rcoverridech4 = pwm;
                     rc.chan4_raw = pwm;
                     break;
                 case 5:
-                    MainV2.cs.rcoverridech5 = pwm;
+                    MainV2.comPort.MAV.cs.rcoverridech5 = pwm;
                     rc.chan5_raw = pwm;
                     break;
                 case 6:
-                    MainV2.cs.rcoverridech6 = pwm;
+                    MainV2.comPort.MAV.cs.rcoverridech6 = pwm;
                     rc.chan6_raw = pwm;
                     break;
                 case 7:
-                    MainV2.cs.rcoverridech7 = pwm;
+                    MainV2.comPort.MAV.cs.rcoverridech7 = pwm;
                     rc.chan7_raw = pwm;
                     break;
                 case 8:
-                    MainV2.cs.rcoverridech8 = pwm;
+                    MainV2.comPort.MAV.cs.rcoverridech8 = pwm;
                     rc.chan8_raw = pwm;
                     break;
             }
 
-            rc.target_component = MainV2.comPort.compid;
+            rc.target_component = MainV2.comPort.MAV.compid;
-            rc.target_system = MainV2.comPort.sysid;
+            rc.target_system = MainV2.comPort.MAV.sysid;
 
             if (sendnow)
             {

Tools/ArdupilotMegaPlanner/SerialOutput.cs

@@ -68,14 +68,14 @@ namespace ArdupilotMega
             {
                 try
                 {
-                    double lat = (int)MainV2.cs.lat + ((MainV2.cs.lat - (int)MainV2.cs.lat) * .6f);
+                    double lat = (int)MainV2.comPort.MAV.cs.lat + ((MainV2.comPort.MAV.cs.lat - (int)MainV2.comPort.MAV.cs.lat) * .6f);
-                    double lng = (int)MainV2.cs.lng + ((MainV2.cs.lng - (int)MainV2.cs.lng) * .6f);
+                    double lng = (int)MainV2.comPort.MAV.cs.lng + ((MainV2.comPort.MAV.cs.lng - (int)MainV2.comPort.MAV.cs.lng) * .6f);
-                    string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.cs.lng < 0 ? "W" : "E", MainV2.cs.gpsstatus, MainV2.cs.satcount, MainV2.cs.gpshdop, MainV2.cs.alt, "M", 0, "M", "");
+                    string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.comPort.MAV.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.comPort.MAV.cs.lng < 0 ? "W" : "E", MainV2.comPort.MAV.cs.gpsstatus, MainV2.comPort.MAV.cs.satcount, MainV2.comPort.MAV.cs.gpshdop, MainV2.comPort.MAV.cs.alt, "M", 0, "M", "");
 
                     string checksum = GetChecksum(line);
                     comPort.WriteLine(line + "*" + checksum);
 
-                    line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9:ddMMyy},{10},", "RMC", DateTime.Now.ToUniversalTime(), "A", Math.Abs(lat * 100), MainV2.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.cs.lng < 0 ? "W" : "E", MainV2.cs.groundspeed * 3.6, MainV2.cs.groundcourse, DateTime.Now, 0);
+                    line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9:ddMMyy},{10},", "RMC", DateTime.Now.ToUniversalTime(), "A", Math.Abs(lat * 100), MainV2.comPort.MAV.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.comPort.MAV.cs.lng < 0 ? "W" : "E", MainV2.comPort.MAV.cs.groundspeed * 3.6, MainV2.comPort.MAV.cs.groundcourse, DateTime.Now, 0);
 
                     checksum = GetChecksum(line);
                     comPort.WriteLine(line + "*" + checksum);

Tools/ArdupilotMegaPlanner/SerialOutput2.cs

@@ -118,19 +118,19 @@ namespace ArdupilotMega
 
                     double x,y,z;
 
-                    GetGeo(out x, out y, out z, MainV2.cs.lat, MainV2.cs.lng, MainV2.cs.alt);
+                    GetGeo(out x, out y, out z, MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng, MainV2.comPort.MAV.cs.alt);
 
-                    writeline(string.Format("#5,{0},{1},{2},{3},{4},", x * 100, y * 100, z*100, MainV2.cs.gpshdop + 0.01, MainV2.cs.satcount));
+                    writeline(string.Format("#5,{0},{1},{2},{3},{4},", x * 100, y * 100, z*100, MainV2.comPort.MAV.cs.gpshdop + 0.01, MainV2.comPort.MAV.cs.satcount));
 
-                    writeline(string.Format("#6,{0},{1},{2},{3},", MainV2.cs.groundspeed * Math.Sin(MainV2.cs.groundcourse * deg2rad),
+                    writeline(string.Format("#6,{0},{1},{2},{3},", MainV2.comPort.MAV.cs.groundspeed * Math.Sin(MainV2.comPort.MAV.cs.groundcourse * deg2rad),
-                        MainV2.cs.groundspeed * Math.Cos(MainV2.cs.groundcourse * deg2rad),
+                        MainV2.comPort.MAV.cs.groundspeed * Math.Cos(MainV2.comPort.MAV.cs.groundcourse * deg2rad),
-                        MainV2.cs.verticalspeed,2));
+                        MainV2.comPort.MAV.cs.verticalspeed,2));
 
-                    writeline(string.Format("#7,{0},{1},{2},", MainV2.cs.roll * deg2rad, MainV2.cs.pitch * deg2rad, MainV2.cs.yaw * deg2rad));
+                    writeline(string.Format("#7,{0},{1},{2},", MainV2.comPort.MAV.cs.roll * deg2rad, MainV2.comPort.MAV.cs.pitch * deg2rad, MainV2.comPort.MAV.cs.yaw * deg2rad));
 
-                    writeline(string.Format("#8,{0},{1},{2},", MainV2.cs.alt , MainV2.cs.alt , MainV2.cs.press_temp));
+                    writeline(string.Format("#8,{0},{1},{2},", MainV2.comPort.MAV.cs.alt , MainV2.comPort.MAV.cs.alt , MainV2.comPort.MAV.cs.press_temp));
 
-                    writeline(string.Format("#9,{0},{1},{2},", MainV2.cs.mx, MainV2.cs.my, MainV2.cs.mz));
+                    writeline(string.Format("#9,{0},{1},{2},", MainV2.comPort.MAV.cs.mx, MainV2.comPort.MAV.cs.my, MainV2.comPort.MAV.cs.mz));
 
                   //  writeline(string.Format("#10,{0},{1},{2},", 1.354,-1.549,0.972));
 

Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataRepository.cs

@@ -47,7 +47,7 @@ namespace ArdupilotMega.Utilities
             // Either it will be pulled from a file in the ArduPlane hierarchy or the ArduCopter hierarchy
              try
              {
-                 var element = _parameterMetaDataXML.Element("Params").Element(MainV2.cs.firmware.ToString());
+                 var element = _parameterMetaDataXML.Element("Params").Element(MainV2.comPort.MAV.cs.firmware.ToString());
                  if (element != null && element.HasElements)
                  {
                      var node = element.Element(nodeKey);

Tools/ArdupilotMegaPlanner/dataflashlog.xml

@@ -130,6 +130,15 @@
       <F17>INS Lat Vel</F17>
       <F18>INS Lon Vel</F18>
     </INAV>
+    <CAMERA>
+      <F1>Time</F1>
+      <F2>Lat</F2>
+      <F3>Lon</F3>
+      <F4>Alt</F4>
+      <F5>Roll</F5>
+      <F6>Pitch</F6>
+      <F7>Yaw</F7>
+    </CAMERA>
     <PID-1>
       <F1>Err</F1>
       <F2>P</F2>

Tools/ArdupilotMegaPlanner/georefimage.cs

@@ -133,7 +133,7 @@ namespace ArdupilotMega
                 mine.logplaybackfile = new BinaryReader(File.Open(fn, FileMode.Open, FileAccess.Read, FileShare.Read));
                 mine.logreadmode = true;
 
-                mine.packets.Initialize(); // clear
+                mine.MAV.packets.Initialize(); // clear
 
                 CurrentState cs = new CurrentState();