APM Planner 1.0.99

trial Scripting - rc based
fix zoom to cancel
add srtm alt and auto download

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -581,6 +581,7 @@
     <None Include="Resources\new frames-09.png" />
     <Content Include="dataflashlog.xml">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+      <SubType>Designer</SubType>
     </Content>
     <None Include="Resources\plane2.png" />
     <None Include="Resources\quad2.png" />

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs

@@ -22,6 +22,7 @@
             this.bindingSource1 = new System.Windows.Forms.BindingSource(this.components);
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabActions = new System.Windows.Forms.TabPage();
+            this.BUT_script = new ArdupilotMega.MyButton();
             this.BUT_joystick = new ArdupilotMega.MyButton();
             this.BUT_quickmanual = new ArdupilotMega.MyButton();
             this.BUT_quickrtl = new ArdupilotMega.MyButton();
@@ -236,6 +237,7 @@
             // 
             // tabActions
             // 
+            this.tabActions.Controls.Add(this.BUT_script);
             this.tabActions.Controls.Add(this.BUT_joystick);
             this.tabActions.Controls.Add(this.BUT_quickmanual);
             this.tabActions.Controls.Add(this.BUT_quickrtl);
@@ -254,6 +256,13 @@
             this.tabActions.Name = "tabActions";
             this.tabActions.UseVisualStyleBackColor = true;
             // 
+            // BUT_script
+            // 
+            resources.ApplyResources(this.BUT_script, "BUT_script");
+            this.BUT_script.Name = "BUT_script";
+            this.BUT_script.UseVisualStyleBackColor = true;
+            this.BUT_script.Click += new System.EventHandler(this.BUT_script_Click);
+            // 
             // BUT_joystick
             // 
             resources.ApplyResources(this.BUT_joystick, "BUT_joystick");
@@ -1331,5 +1340,6 @@
         private MyLabel lbl_logpercent;
         private System.Windows.Forms.ToolStripMenuItem pointCameraHereToolStripMenuItem;
         private System.Windows.Forms.SplitContainer splitContainer1;
+        private MyButton BUT_script;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -1539,5 +1539,101 @@ namespace ArdupilotMega.GCSViews
             MainV2.comPort.setMountControl(gotolocation.Lat, gotolocation.Lng, (int)(intalt / MainV2.cs.multiplierdist), true);
 
         }
+
+        private void BUT_script_Click(object sender, EventArgs e)
+        {
+
+            System.Threading.Thread t11 = new System.Threading.Thread(new System.Threading.ThreadStart(ScriptStart))
+            {
+                IsBackground = true,
+                Name = "Script Thread"
+            };
+            t11.Start();
+        }
+
+        void ScriptStart()
+        {
+            string myscript = @"
+print 'Start Script'
+for chan in range(1,9):
+    Script.SendRC(chan,1500,False)
+Script.SendRC(3,Script.GetParam('RC3_MIN'),True)
+
+Script.Sleep(5000)
+while cs.lat == 0:
+    print 'Waiting for GPS'
+    Script.Sleep(1000)
+print 'Got GPS'
+jo = 10 * 13
+print jo
+Script.SendRC(3,1000,False)
+Script.SendRC(4,2000,True)
+cs.messages.Clear()
+Script.WaitFor('ARMING MOTORS',30000)
+Script.SendRC(4,1500,True)
+print 'Motors Armed!'
+
+Script.SendRC(3,1700,True)
+while cs.alt < 50:
+    Script.Sleep(50)
+
+Script.SendRC(5,2000,True) # acro
+
+Script.SendRC(1,2000,False) # roll
+Script.SendRC(3,1370,True) # throttle
+while cs.roll > -45: # top hald 0 - 180
+    Script.Sleep(5)
+while cs.roll < -45: # -180 - -45
+    Script.Sleep(5)
+
+Script.SendRC(5,1500,False) # stabalise
+Script.SendRC(1,1500,True) # level roll
+Script.Sleep(2000) # 2 sec to stabalise
+Script.SendRC(3,1300,True) # throttle back to land
+
+thro = 1350 # will decend
+
+while cs.alt > 0.1:
+    Script.Sleep(300)
+
+Script.SendRC(3,1000,False)
+Script.SendRC(4,1000,True)
+Script.WaitFor('DISARMING MOTORS',30000)
+Script.SendRC(4,1500,True)
+
+print 'Roll complete'
+
+";
+
+            MessageBox.Show("This is Very ALPHA");
+
+            Form scriptedit = new Form();
+
+            scriptedit.Size = new System.Drawing.Size(500,500);
+
+            TextBox tb = new TextBox();
+
+            tb.Dock = DockStyle.Fill;
+
+            tb.ScrollBars = ScrollBars.Both;
+            tb.Multiline = true;
+
+            tb.Location = new Point(0,0);
+            tb.Size = new System.Drawing.Size(scriptedit.Size.Width-30,scriptedit.Size.Height-30);
+
+            scriptedit.Controls.Add(tb);
+
+            tb.Text = myscript;
+
+            scriptedit.ShowDialog();
+
+            if (DialogResult.Yes == MessageBox.Show("Run Script", "Run this script?", MessageBoxButtons.YesNo))
+            {
+
+                Script scr = new Script();
+
+                scr.runScript(tb.Text);
+            }
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.resx

@@ -208,7 +208,7 @@
     <value>hud1</value>
   </data>
   <data name="&gt;&gt;hud1.Type" xml:space="preserve">
-    <value>hud.HUD, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>hud.HUD, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;hud1.Parent" xml:space="preserve">
     <value>SubMainLeft.Panel1</value>
@@ -228,6 +228,33 @@
   <data name="&gt;&gt;SubMainLeft.Panel1.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
+  <data name="BUT_script.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_script.Location" type="System.Drawing.Point, System.Drawing">
+    <value>17, 93</value>
+  </data>
+  <data name="BUT_script.Size" type="System.Drawing.Size, System.Drawing">
+    <value>66, 23</value>
+  </data>
+  <data name="BUT_script.TabIndex" type="System.Int32, mscorlib">
+    <value>78</value>
+  </data>
+  <data name="BUT_script.Text" xml:space="preserve">
+    <value>Script</value>
+  </data>
+  <data name="&gt;&gt;BUT_script.Name" xml:space="preserve">
+    <value>BUT_script</value>
+  </data>
+  <data name="&gt;&gt;BUT_script.Type" xml:space="preserve">
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+  </data>
+  <data name="&gt;&gt;BUT_script.Parent" xml:space="preserve">
+    <value>tabActions</value>
+  </data>
+  <data name="&gt;&gt;BUT_script.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
   <data name="BUT_joystick.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
@@ -253,13 +280,13 @@
     <value>BUT_joystick</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.Parent" xml:space="preserve">
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.ZOrder" xml:space="preserve">
-    <value>0</value>
+    <value>1</value>
   </data>
   <data name="BUT_quickmanual.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -283,13 +310,13 @@
     <value>BUT_quickmanual</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.Parent" xml:space="preserve">
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="BUT_quickrtl.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -313,13 +340,13 @@
     <value>BUT_quickrtl</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.Parent" xml:space="preserve">
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="BUT_quickauto.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -343,13 +370,13 @@
     <value>BUT_quickauto</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.Parent" xml:space="preserve">
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
   </data>
   <data name="CMB_setwp.Items" xml:space="preserve">
     <value>0 (Home)</value>
@@ -373,7 +400,7 @@
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;CMB_setwp.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
   </data>
   <data name="BUT_setwp.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -397,13 +424,13 @@
     <value>BUT_setwp</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.Parent" xml:space="preserve">
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
   </data>
   <data name="CMB_modes.Location" type="System.Drawing.Point, System.Drawing">
     <value>4, 64</value>
@@ -424,7 +451,7 @@
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;CMB_modes.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>7</value>
   </data>
   <data name="BUT_setmode.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -448,13 +475,13 @@
     <value>BUT_setmode</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.Parent" xml:space="preserve">
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>8</value>
   </data>
   <data name="BUT_clear_track.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -478,13 +505,13 @@
     <value>BUT_clear_track</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.Parent" xml:space="preserve">
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>9</value>
   </data>
   <data name="CMB_action.Location" type="System.Drawing.Point, System.Drawing">
     <value>4, 6</value>
@@ -505,7 +532,7 @@
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;CMB_action.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>10</value>
   </data>
   <data name="BUT_Homealt.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -529,13 +556,13 @@
     <value>BUT_Homealt</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.Parent" xml:space="preserve">
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>11</value>
   </data>
   <data name="BUT_RAWSensor.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -559,13 +586,13 @@
     <value>BUT_RAWSensor</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.Parent" xml:space="preserve">
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.ZOrder" xml:space="preserve">
-    <value>11</value>
+    <value>12</value>
   </data>
   <data name="BUTrestartmission.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -589,13 +616,13 @@
     <value>BUTrestartmission</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.Parent" xml:space="preserve">
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.ZOrder" xml:space="preserve">
-    <value>12</value>
+    <value>13</value>
   </data>
   <data name="BUTactiondo.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -619,13 +646,13 @@
     <value>BUTactiondo</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.Parent" xml:space="preserve">
     <value>tabActions</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.ZOrder" xml:space="preserve">
-    <value>13</value>
+    <value>14</value>
   </data>
   <data name="tabActions.Location" type="System.Drawing.Point, System.Drawing">
     <value>4, 22</value>
@@ -673,7 +700,7 @@
     <value>Gvspeed</value>
   </data>
   <data name="&gt;&gt;Gvspeed.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;Gvspeed.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -703,7 +730,7 @@
     <value>Gheading</value>
   </data>
   <data name="&gt;&gt;Gheading.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;Gheading.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -733,7 +760,7 @@
     <value>Galt</value>
   </data>
   <data name="&gt;&gt;Galt.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;Galt.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -766,7 +793,7 @@
     <value>Gspeed</value>
   </data>
   <data name="&gt;&gt;Gspeed.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;Gspeed.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -847,7 +874,7 @@
     <value>lbl_logpercent</value>
   </data>
   <data name="&gt;&gt;lbl_logpercent.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;lbl_logpercent.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -898,7 +925,7 @@
     <value>BUT_log2kml</value>
   </data>
   <data name="&gt;&gt;BUT_log2kml.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_log2kml.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -949,7 +976,7 @@
     <value>BUT_playlog</value>
   </data>
   <data name="&gt;&gt;BUT_playlog.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_playlog.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -976,7 +1003,7 @@
     <value>BUT_loadtelem</value>
   </data>
   <data name="&gt;&gt;BUT_loadtelem.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_loadtelem.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1162,7 +1189,7 @@
     <value>lbl_winddir</value>
   </data>
   <data name="&gt;&gt;lbl_winddir.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;lbl_winddir.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1192,7 +1219,7 @@
     <value>lbl_windvel</value>
   </data>
   <data name="&gt;&gt;lbl_windvel.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;lbl_windvel.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1427,7 +1454,7 @@
     <value>TXT_lat</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1484,7 +1511,7 @@
     <value>label1</value>
   </data>
   <data name="&gt;&gt;label1.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;label1.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1514,7 +1541,7 @@
     <value>TXT_long</value>
   </data>
   <data name="&gt;&gt;TXT_long.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;TXT_long.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1544,7 +1571,7 @@
     <value>TXT_alt</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1745,7 +1772,7 @@
     <value>label6</value>
   </data>
   <data name="&gt;&gt;label6.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;label6.Parent" xml:space="preserve">
     <value>$this</value>
@@ -1823,6 +1850,6 @@
     <value>FlightData</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -342,7 +342,7 @@ namespace ArdupilotMega.GCSViews
         {
             TXT_mouselat.Text = lat.ToString();
             TXT_mouselong.Text = lng.ToString();
-            TXT_mousealt.Text = srtm.getAltitude(lat, lng).ToString("0");
+            TXT_mousealt.Text = srtm.getAltitude(lat, lng, MainMap.Zoom).ToString("0");
 
             try
             {
@@ -2754,16 +2754,18 @@ namespace ArdupilotMega.GCSViews
         private void BUT_zoomto_Click(object sender, EventArgs e)
         {
             string place = "Perth, Australia";
-            Common.InputBox("Location", "Enter your location", ref place);
+            if (DialogResult.OK == Common.InputBox("Location", "Enter your location", ref place))
+            {
 
-            GeoCoderStatusCode status = MainMap.SetCurrentPositionByKeywords(place);
+                GeoCoderStatusCode status = MainMap.SetCurrentPositionByKeywords(place);
-            if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
+                if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
-            {
+                {
-                MessageBox.Show("Google Maps Geocoder can't find: '" + place + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
+                    MessageBox.Show("Google Maps Geocoder can't find: '" + place + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
-            }
+                }
-            else
+                else
-            {
+                {
-                MainMap.Zoom = 15;
+                    MainMap.Zoom = 15;
+                }
             }
         }
     }

Tools/ArdupilotMegaPlanner/HUD.cs

@@ -264,7 +264,7 @@ namespace hud
             if (DateTime.Now.Second != countdate.Second)
             {
                 countdate = DateTime.Now;
-                Console.WriteLine("HUD " + count + " hz drawtime " + (huddrawtime / count) + " gl " + opengl);
+                //Console.WriteLine("HUD " + count + " hz drawtime " + (huddrawtime / count) + " gl " + opengl);
                 count = 0;
                 huddrawtime = 0;
             }

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -21,7 +21,6 @@ using System.Threading;
 using System.Net.Sockets;
 using IronPython.Hosting;
 
-
 namespace ArdupilotMega
 {
     public partial class MainV2 : Form
@@ -109,15 +108,10 @@ namespace ArdupilotMega
 
             //return;
 
-            var engine = Python.CreateEngine();
-            var scope = engine.CreateScope();
 
-            scope.SetVariable("MainV2",this);
+            // preload
-            Console.WriteLine(DateTime.Now.Millisecond);
+            Python.CreateEngine();
-            engine.CreateScriptSourceFromString("print 'hello world from python'").Execute(scope);
+
-            Console.WriteLine(DateTime.Now.Millisecond);
-            engine.CreateScriptSourceFromString("MainV2.testpython()").Execute(scope);
-            Console.WriteLine(DateTime.Now.Millisecond);
             var t = Type.GetType("Mono.Runtime");
             MONO = (t != null);
 
@@ -1100,7 +1094,7 @@ namespace ArdupilotMega
 
                     if (heatbeatsend.Second != DateTime.Now.Second)
                     {
-                        Console.WriteLine("remote lost {0}", cs.packetdropremote);
+//                        Console.WriteLine("remote lost {0}", cs.packetdropremote);
 
                         MAVLink.__mavlink_heartbeat_t htb = new MAVLink.__mavlink_heartbeat_t();
 

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.0.98")]
+[assembly: AssemblyFileVersion("1.0.99")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Script.cs

@@ -2,6 +2,7 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using IronPython.Hosting;
 
 namespace ArdupilotMega
 {
@@ -9,12 +10,27 @@ namespace ArdupilotMega
     {
         DateTime timeout = DateTime.Now;
         List<string> items = new List<string>();
+        Microsoft.Scripting.Hosting.ScriptEngine engine;
+        Microsoft.Scripting.Hosting.ScriptScope scope;
 
         // keeps history
         MAVLink.__mavlink_rc_channels_override_t rc = new MAVLink.__mavlink_rc_channels_override_t();
 
         public Script()
         {
+            engine = Python.CreateEngine();
+            scope = engine.CreateScope();
+
+            scope.SetVariable("cs", MainV2.cs);
+            scope.SetVariable("Script", this);
+
+            Console.WriteLine(DateTime.Now.Millisecond);
+            engine.CreateScriptSourceFromString("print 'hello world from python'").Execute(scope);
+            Console.WriteLine(DateTime.Now.Millisecond);
+            engine.CreateScriptSourceFromString("print cs.roll").Execute(scope);
+            Console.WriteLine(DateTime.Now.Millisecond);
+
+
             object thisBoxed = MainV2.cs;
             Type test = thisBoxed.GetType();
 
@@ -35,6 +51,23 @@ namespace ArdupilotMega
             }
         }
 
+
+        public void Sleep(int ms) {
+            System.Threading.Thread.Sleep(ms);
+        }
+
+        public void runScript(string script)
+        {
+            try
+            {
+                engine.CreateScriptSourceFromString(script).Execute(scope);
+            }
+            catch (Exception e)
+            {
+                System.Windows.Forms.MessageBox.Show("Error running script " + e.Message);
+            }
+        }
+
         public enum Conditional
         {
             NONE = 0,
@@ -51,36 +84,34 @@ namespace ArdupilotMega
             return MainV2.comPort.setParam(param, value);
         }
 
+        public float GetParam(string param)
+        {
+            if (MainV2.comPort.param[param] != null)
+                return (float)MainV2.comPort.param[param];
+
+            return 0.0f;
+        }
+
         public bool ChangeMode(string mode)
         {
             MainV2.comPort.setMode(mode);
             return true;
         }
 
-        public bool WaitFor(string message)
+        public bool WaitFor(string message, int timeout)
         {
-            while (MainV2.cs.message != message) {
+            int timein = 0;
+            while (!MainV2.cs.message.Contains(message)) {
                 System.Threading.Thread.Sleep(5);
+                timein += 5;
+                if (timein > timeout)
+                    return false;
             }
 
             return true;
         }
         
-        public bool WaitFor(string item, Conditional cond,double value ,int timeoutms)
+        public bool SendRC(int channel, ushort pwm,bool sendnow)
-        {
-            timeout = DateTime.Now;
-            while (DateTime.Now < timeout.AddMilliseconds(timeoutms))
-            {
-                //if (item)
-                {
-
-                }
-            }
-
-            return false;
-        }
-
-        public bool sendRC(int channel, ushort pwm)
         {
             switch (channel)
             {
@@ -118,18 +149,18 @@ namespace ArdupilotMega
                     break;
             }
 
-            MainV2.comPort.sendPacket(rc);
+            rc.target_component = MainV2.comPort.compid;
-            System.Threading.Thread.Sleep(20);
+            rc.target_system = MainV2.comPort.sysid;
-            MainV2.comPort.sendPacket(rc);
+
-            MainV2.comPort.sendPacket(rc);
+            if (sendnow)
+            {
+                MainV2.comPort.sendPacket(rc);
+                System.Threading.Thread.Sleep(20);
+                MainV2.comPort.sendPacket(rc);
+                MainV2.comPort.sendPacket(rc);
+            }
 
             return true;
         }
-
-        void convertItemtoMessage()
-        {
-
-        }
-
     }
 }

Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application

@@ -11,7 +11,7 @@
           <dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
         </dsig:Transforms>
         <dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
-        <dsig:DigestValue>XqmS8DEyaXOEHAzbfxq+pbxDUg4=</dsig:DigestValue>
+        <dsig:DigestValue>QOAVY4eRCMREZxVv8+wq0bmXS7U=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>

Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml

@@ -42,17 +42,19 @@
       <F7>Nav Throttle</F7>
       <F8>Angle boost</F8>
       <F9>Manual boost</F9>
+      <F10>climb rate</F10>
+      <F11></F11>
       <F10>rc3 servo out</F10>
       <F11>alt hold int</F11>
       <F12>thro int</F12>
     </CTUN>
     <PM>
-      <F1>control mode</F1>
+      <F1>time</F1>
-      <F2>yaw mode</F2>
+      <F2>gyro sat</F2>
-      <F3>r p mode</F3>
+      <F3>adc const</F3>
-      <F4>thro mode</F4>
+      <F4>renorm sqrt</F4>
-      <F5>thro cruise</F5>
+      <F5>renorm blowup</F5>
-      <F6>thro int</F6>
+      <F6>fix count</F6>
     </PM>
     <RAW>
       <F1>Gyro X</F1>

Tools/ArdupilotMegaPlanner/dataflashlog.xml

@@ -42,17 +42,19 @@
       <F7>Nav Throttle</F7>
       <F8>Angle boost</F8>
       <F9>Manual boost</F9>
+      <F10>climb rate</F10>
+      <F11></F11>
       <F10>rc3 servo out</F10>
       <F11>alt hold int</F11>
       <F12>thro int</F12>
     </CTUN>
     <PM>
-      <F1>control mode</F1>
+      <F1>time</F1>
-      <F2>yaw mode</F2>
+      <F2>gyro sat</F2>
-      <F3>r p mode</F3>
+      <F3>adc const</F3>
-      <F4>thro mode</F4>
+      <F4>renorm sqrt</F4>
-      <F5>thro cruise</F5>
+      <F5>renorm blowup</F5>
-      <F6>thro int</F6>
+      <F6>fix count</F6>
     </PM>
     <RAW>
       <F1>Gyro X</F1>

Tools/ArdupilotMegaPlanner/srtm.cs

@@ -3,6 +3,10 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.IO;
+using System.Net;
+using System.Text.RegularExpressions;
+using ICSharpCode.SharpZipLib.Zip;
+using System.Threading;
 
 namespace ArdupilotMega
 {
@@ -10,7 +14,15 @@ namespace ArdupilotMega
     {
         public static string datadirectory;
 
-        public static int getAltitude(double lat, double lng)
+        static List<string> allhgts = new List<string>();
+
+        static object objlock = new object();
+
+        static Thread requestThread;
+
+        static List<string> queue = new List<string>();
+
+        public static int getAltitude(double lat, double lng, double zoom)
         {
             short alt = 0;
 
@@ -36,136 +48,296 @@ namespace ArdupilotMega
 
             string filename2 = "srtm_" + Math.Round((lng + 2.5 + 180) / 5, 0).ToString("00") + "_" + Math.Round((60 - lat + 2.5) / 5, 0).ToString("00") + ".asc";
 
-            if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename))
+            try
-            { // srtm hgt files
-                FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open, FileAccess.Read);
-
-                float posx = 0;
-                float row = 0;
-
-                if (fs.Length <= (1201 * 1201 * 2))
-                {
-                    posx = (int)(((float)(lng - x)) * (1201 * 2));
-                    row = (int)(((float)(lat - y)) * 1201) * (1201 * 2);
-                    row = (1201 * 1201 * 2) - row;
-                }
-                else
-                {
-                    posx = (int)(((float)(lng - x)) * (3601 * 2));
-                    row = (int)(((float)(lat - y)) * 3601) * (3601 * 2);
-                    row = (3601 * 3601 * 2) - row;
-                }
-
-                if (posx % 2 == 1)
-                {
-                    posx--;
-                }
-
-                //Console.WriteLine(filename + " row " + row + " posx" + posx);
-
-                byte[] data = new byte[2];
-
-                fs.Seek((int)(row + posx), SeekOrigin.Begin);
-                fs.Read(data, 0, data.Length);
-
-                fs.Close();
-                fs.Dispose();
-
-                Array.Reverse(data);
-
-                alt = BitConverter.ToInt16(data, 0);
-
-                return alt;
-            }
-            else if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename2))
             {
-                // this is way to slow - and cacheing it will chew memory 6001 * 6001 * 4 = 144048004 bytes
-                FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename2, FileMode.Open, FileAccess.Read);
 
-                StreamReader sr = new StreamReader(fs);
+                if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename))
+                { // srtm hgt files
+                    FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open, FileAccess.Read, FileShare.Read);
 
-                int nox = 0;
+                    float posx = 0;
-                int noy = 0;
+                    float row = 0;
-                float left = 0;
-                float top = 0;
-                int nodata = -9999;
-                float cellsize = 0;
 
-                int rowcounter = 0;
+                    if (fs.Length <= (1201 * 1201 * 2))
-
-                float wantrow = 0;
-                float wantcol = 0;
-
-
-                while (!sr.EndOfStream)
-                {
-                    string line = sr.ReadLine();
-
-                    if (line.StartsWith("ncols"))
                     {
-                        nox = int.Parse(line.Substring(line.IndexOf(' ')));
+                        posx = (int)(((float)(lng - x)) * (1201 * 2));
-
+                        row = (int)(((float)(lat - y)) * 1201) * (1201 * 2);
-                        //hgtdata = new int[nox * noy];
+                        row = (1201 * 1201 * 2) - row;
-                    }
-                    else if (line.StartsWith("nrows"))
-                    {
-                        noy = int.Parse(line.Substring(line.IndexOf(' ')));
-
-                        //hgtdata = new int[nox * noy];
-                    }
-                    else if (line.StartsWith("xllcorner"))
-                    {
-                        left = float.Parse(line.Substring(line.IndexOf(' ')));
-                    }
-                    else if (line.StartsWith("yllcorner"))
-                    {
-                        top = float.Parse(line.Substring(line.IndexOf(' ')));
-                    }
-                    else if (line.StartsWith("cellsize"))
-                    {
-                        cellsize = float.Parse(line.Substring(line.IndexOf(' ')));
-                    }
-                    else if (line.StartsWith("NODATA_value"))
-                    {
-                        nodata = int.Parse(line.Substring(line.IndexOf(' ')));
                     }
                     else
                     {
-                        string[] data = line.Split(new char[] { ' ' });
+                        posx = (int)(((float)(lng - x)) * (3601 * 2));
-
+                        row = (int)(((float)(lat - y)) * 3601) * (3601 * 2);
-                        if (data.Length == (nox + 1))
+                        row = (3601 * 3601 * 2) - row;
-                        {
-
-
-
-                            wantcol = (float)((lng - Math.Round(left,0)));
-
-                            wantrow = (float)((lat - Math.Round(top,0)));
-
-                            wantrow =(int)( wantrow / cellsize);
-                            wantcol =(int)( wantcol / cellsize);
-
-                            wantrow = noy - wantrow;
-
-                            if (rowcounter == wantrow)
-                            {
-                                Console.WriteLine("{0} {1} {2} {3} ans {4} x {5}", lng, lat, left, top, data[(int)wantcol], (nox + wantcol * cellsize));
-
-                                return int.Parse(data[(int)wantcol]);
-                            }
-
-                            rowcounter++;
-                        }
                     }
 
+                    if (posx % 2 == 1)
+                    {
+                        posx--;
+                    }
+
+                    //Console.WriteLine(filename + " row " + row + " posx" + posx);
+
+                    byte[] data = new byte[2];
+
+                    fs.Seek((int)(row + posx), SeekOrigin.Begin);
+                    fs.Read(data, 0, data.Length);
+
+                    fs.Close();
+                    fs.Dispose();
+
+                    Array.Reverse(data);
+
+                    alt = BitConverter.ToInt16(data, 0);
+
+                    return alt;
+                }
+                else if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename2))
+                {
+                    // this is way to slow - and cacheing it will chew memory 6001 * 6001 * 4 = 144048004 bytes
+                    FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename2, FileMode.Open, FileAccess.Read);
+
+                    StreamReader sr = new StreamReader(fs);
+
+                    int nox = 0;
+                    int noy = 0;
+                    float left = 0;
+                    float top = 0;
+                    int nodata = -9999;
+                    float cellsize = 0;
+
+                    int rowcounter = 0;
+
+                    float wantrow = 0;
+                    float wantcol = 0;
 
 
+                    while (!sr.EndOfStream)
+                    {
+                        string line = sr.ReadLine();
+
+                        if (line.StartsWith("ncols"))
+                        {
+                            nox = int.Parse(line.Substring(line.IndexOf(' ')));
+
+                            //hgtdata = new int[nox * noy];
+                        }
+                        else if (line.StartsWith("nrows"))
+                        {
+                            noy = int.Parse(line.Substring(line.IndexOf(' ')));
+
+                            //hgtdata = new int[nox * noy];
+                        }
+                        else if (line.StartsWith("xllcorner"))
+                        {
+                            left = float.Parse(line.Substring(line.IndexOf(' ')));
+                        }
+                        else if (line.StartsWith("yllcorner"))
+                        {
+                            top = float.Parse(line.Substring(line.IndexOf(' ')));
+                        }
+                        else if (line.StartsWith("cellsize"))
+                        {
+                            cellsize = float.Parse(line.Substring(line.IndexOf(' ')));
+                        }
+                        else if (line.StartsWith("NODATA_value"))
+                        {
+                            nodata = int.Parse(line.Substring(line.IndexOf(' ')));
+                        }
+                        else
+                        {
+                            string[] data = line.Split(new char[] { ' ' });
+
+                            if (data.Length == (nox + 1))
+                            {
+
+
+
+                                wantcol = (float)((lng - Math.Round(left, 0)));
+
+                                wantrow = (float)((lat - Math.Round(top, 0)));
+
+                                wantrow = (int)(wantrow / cellsize);
+                                wantcol = (int)(wantcol / cellsize);
+
+                                wantrow = noy - wantrow;
+
+                                if (rowcounter == wantrow)
+                                {
+                                    Console.WriteLine("{0} {1} {2} {3} ans {4} x {5}", lng, lat, left, top, data[(int)wantcol], (nox + wantcol * cellsize));
+
+                                    return int.Parse(data[(int)wantcol]);
+                                }
+
+                                rowcounter++;
+                            }
+                        }
+
+
+
+                    }
+
+                    return alt;
+                }
+                else // get something
+                {
+                    if (zoom >= 15)
+                    {
+                        if (requestThread == null)
+                        {
+                            Console.WriteLine("Getting " + filename);
+                            queue.Add(filename);
+
+                            requestThread = new Thread(requestRunner);
+                            requestThread.IsBackground = true;
+                            requestThread.Start();
+                        }
+                        else
+                        {
+                            lock (objlock)
+                            {
+                                if (!queue.Contains(filename))
+                                {
+                                    Console.WriteLine("Getting " + filename);
+                                    queue.Add(filename);
+                                }
+                            }
+                        }
+                    }
                 }
 
-                return alt;
             }
+            catch { alt = 0; }
 
             return alt;
         }
+
+        static void requestRunner()
+        {
+            while (true)
+            {
+                try
+                {
+                    string item = "";
+                    lock (objlock)
+                    {
+                        if (queue.Count > 0)
+                        {
+                            item = queue[0];
+                        }
+                    }
+
+                    if (item != "")
+                    {
+                        get3secfile(item);
+                        lock (objlock)
+                        {
+                            queue.Remove(item);
+                        }
+                    }
+                }
+                catch { }
+                Thread.Sleep(100);
+            }
+        }
+
+        static void get3secfile(object name)
+        {
+            string baseurl = "http://dds.cr.usgs.gov/srtm/version2_1/SRTM3/";
+
+            // check file doesnt already exist
+            if (File.Exists(datadirectory + Path.DirectorySeparatorChar + (string)name))
+            {
+                return;
+            }
+
+            List<string> list = getListing(baseurl);
+
+            foreach (string item in list)
+            {
+                List<string> hgtfiles = getListing(item);
+
+                foreach (string hgt in hgtfiles)
+                {
+                    if (hgt.Contains((string)name))
+                    {
+                        // get file
+
+                        gethgt(hgt, (string)name);
+                        return;
+                    }
+                }
+            }
+        }
+
+        static void gethgt(string url, string filename)
+        {
+            try
+            {
+
+                WebRequest req = HttpWebRequest.Create(url);
+
+                WebResponse res = req.GetResponse();
+
+                Stream resstream = res.GetResponseStream();
+
+                BinaryWriter bw = new BinaryWriter(File.Create(datadirectory + Path.DirectorySeparatorChar + filename + ".zip"));
+
+                byte[] buf1 = new byte[1024];
+
+                while (resstream.CanRead)
+                {
+
+                    int len = resstream.Read(buf1, 0, 1024);
+                    if (len == 0)
+                        break;
+                    bw.Write(buf1, 0, len);
+
+                }
+
+                bw.Close();
+
+                FastZip fzip = new FastZip();
+
+                fzip.ExtractZip(datadirectory + Path.DirectorySeparatorChar + filename + ".zip", datadirectory, "");
+            }
+            catch { }
+        }
+
+        static List<string> getListing(string url)
+        {
+            List<string> list = new List<string>();
+
+            try
+            {
+
+                WebRequest req = HttpWebRequest.Create(url);
+
+                WebResponse res = req.GetResponse();
+
+                StreamReader resstream = new StreamReader(res.GetResponseStream());
+
+                string data = resstream.ReadToEnd();
+
+                Regex regex = new Regex("href=\"([^\"]+)\"", RegexOptions.IgnoreCase);
+                if (regex.IsMatch(data))
+                {
+                    MatchCollection matchs = regex.Matches(data);
+                    for (int i = 0; i < matchs.Count; i++)
+                    {
+                        if (matchs[i].Groups[1].Value.ToString().Contains(".."))
+                            continue;
+                        if (matchs[i].Groups[1].Value.ToString().Contains("http"))
+                            continue;
+
+                        list.Add(url.TrimEnd(new char[] { '/', '\\' }) + "/" + matchs[i].Groups[1].Value.ToString());
+
+                    }
+                }
+            }
+            catch { }
+
+            return list;
+        }
     }
 }