mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-11 02:18:29 -04:00
APM Planner 1.1.2
fix kml overlay add jsbsim as simulator generate gpx on log kml create make georefrenceimage accessable (control-f)
This commit is contained in:
Michael Oborne
parent
ced26d7ba2
commit
297ecbec1f
@ -172,15 +172,6 @@
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<SpecificVersion>False</SpecificVersion>
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<HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\IronPython-2.6.1\Microsoft.Scripting.ExtensionAttribute.dll</HintPath>
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</Reference>
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<Reference Include="OpenGlobe.Core">
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<HintPath>..\..\..\..\..\Desktop\DIYDrones\virtualglobebook-OpenGlobe-ddf1d7e\Source\Examples\Chapter13\ClipmapTerrainOnGlobe\bin\Debug\OpenGlobe.Core.dll</HintPath>
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</Reference>
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<Reference Include="OpenGlobe.Renderer">
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<HintPath>..\..\..\..\..\Desktop\DIYDrones\virtualglobebook-OpenGlobe-ddf1d7e\Source\Examples\Chapter13\ClipmapTerrainOnGlobe\bin\Debug\OpenGlobe.Renderer.dll</HintPath>
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</Reference>
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<Reference Include="OpenGlobe.Scene">
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<HintPath>..\..\..\..\..\Desktop\DIYDrones\virtualglobebook-OpenGlobe-ddf1d7e\Source\Examples\Chapter13\ClipmapTerrainOnGlobe\bin\Debug\OpenGlobe.Scene.dll</HintPath>
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</Reference>
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<Reference Include="OpenTK, Version=1.0.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
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<SpecificVersion>False</SpecificVersion>
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<HintPath>..\..\..\..\..\Desktop\DIYDrones\virtualglobebook-OpenGlobe-ddf1d7e\ThirdParty\OpenTKGL4\Binaries\OpenTK\Release\OpenTK.dll</HintPath>
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@ -237,7 +228,9 @@
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<Compile Include="ResEdit.Designer.cs">
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<DependentUpon>ResEdit.cs</DependentUpon>
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</Compile>
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<Compile Include="georefimage.cs" />
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<Compile Include="georefimage.cs">
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<SubType>Form</SubType>
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</Compile>
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<Compile Include="HIL\Aircraft.cs" />
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<Compile Include="HIL\Point3d.cs" />
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<Compile Include="HIL\QuadCopter.cs" />
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@ -403,6 +396,9 @@
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<EmbeddedResource Include="Camera.resx">
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<DependentUpon>Camera.cs</DependentUpon>
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</EmbeddedResource>
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<EmbeddedResource Include="georefimage.resx">
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<DependentUpon>georefimage.cs</DependentUpon>
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</EmbeddedResource>
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<EmbeddedResource Include="ResEdit.resx">
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<DependentUpon>ResEdit.cs</DependentUpon>
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</EmbeddedResource>
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@ -576,6 +572,9 @@
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<CopyToOutputDirectory>Always</CopyToOutputDirectory>
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<SubType>Designer</SubType>
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</Content>
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<Content Include="JSBSim.exe">
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<CopyToOutputDirectory>Always</CopyToOutputDirectory>
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</Content>
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<Content Include="mavcmd.xml">
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<CopyToOutputDirectory>Always</CopyToOutputDirectory>
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</Content>
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@ -19,6 +19,7 @@ using System.Reflection;
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using System.ComponentModel;
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using System.Threading;
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using SharpKml.Base;
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using SharpKml.Dom;
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@ -658,19 +659,65 @@ namespace ArdupilotMega.GCSViews
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void parser_ElementAdded(object sender, SharpKml.Base.ElementEventArgs e)
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{
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processKML(e.Element);
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}
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SharpKml.Dom.Polygon polygon = e.Element as SharpKml.Dom.Polygon;
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if (polygon != null)
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private void processKML(SharpKml.Dom.Element Element)
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{
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try
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{
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Console.WriteLine(Element.ToString() + " " + Element.Parent);
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}
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catch { }
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SharpKml.Dom.Document doc = Element as SharpKml.Dom.Document;
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SharpKml.Dom.Placemark pm = Element as SharpKml.Dom.Placemark;
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SharpKml.Dom.Folder folder = Element as SharpKml.Dom.Folder;
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SharpKml.Dom.Polygon polygon = Element as SharpKml.Dom.Polygon;
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SharpKml.Dom.LineString ls = Element as SharpKml.Dom.LineString;
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if (doc != null)
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{
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foreach (var feat in doc.Features)
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{
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GMapPolygon kmlpolygon = new GMapPolygon(new List<PointLatLng>(), "kmlpolygon");
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foreach (var loc in polygon.OuterBoundary.LinearRing.Coordinates)
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{
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kmlpolygon.Points.Add(new PointLatLng(loc.Latitude,loc.Longitude));
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}
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kmlpolygons.Polygons.Add(kmlpolygon);
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//Console.WriteLine("feat " + feat.GetType());
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//processKML((Element)feat);
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}
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} else
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if (folder != null )
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{
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foreach (Feature feat in folder.Features)
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{
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//Console.WriteLine("feat "+feat.GetType());
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//processKML(feat);
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}
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}
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else if (pm != null)
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{
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}
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else if (polygon != null)
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{
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GMapPolygon kmlpolygon = new GMapPolygon(new List<PointLatLng>(), "kmlpolygon");
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foreach (var loc in polygon.OuterBoundary.LinearRing.Coordinates)
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{
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kmlpolygon.Points.Add(new PointLatLng(loc.Latitude, loc.Longitude));
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}
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kmlpolygons.Polygons.Add(kmlpolygon);
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}
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else if (ls != null)
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{
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GMapRoute kmlroute = new GMapRoute(new List<PointLatLng>(), "kmlroute");
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foreach (var loc in ls.Coordinates)
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{
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kmlroute.Points.Add(new PointLatLng(loc.Latitude, loc.Longitude));
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}
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kmlpolygons.Routes.Add(kmlroute);
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}
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}
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private void ChangeColumnHeader(string command)
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@ -2792,9 +2839,9 @@ namespace ArdupilotMega.GCSViews
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// this is a mono fix for the zoom bar
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Console.WriteLine("panelmap "+panelMap.Size.ToString());
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MainMap.Size = new Size(panelMap.Size.Width - 50,panelMap.Size.Height);
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trackBar1.Location = new Point(panelMap.Size.Width - 50,trackBar1.Location.Y);
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trackBar1.Location = new System.Drawing.Point(panelMap.Size.Width - 50,trackBar1.Location.Y);
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trackBar1.Size = new System.Drawing.Size(trackBar1.Size.Width, panelMap.Size.Height - trackBar1.Location.Y);
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label11.Location = new Point(panelMap.Size.Width - 50, label11.Location.Y);
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label11.Location = new System.Drawing.Point(panelMap.Size.Width - 50, label11.Location.Y);
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}
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private void BUT_zoomto_Click(object sender, EventArgs e)
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@ -2828,11 +2875,17 @@ namespace ArdupilotMega.GCSViews
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try
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{
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kmlpolygons.Polygons.Clear();
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kmlpolygons.Routes.Clear();
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string kml = new StreamReader(File.OpenRead(file)).ReadToEnd();
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kml = kml.Replace("<Snippet/>", "");
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var parser = new SharpKml.Base.Parser();
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parser.ElementAdded += new EventHandler<SharpKml.Base.ElementEventArgs>(parser_ElementAdded);
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parser.Parse(File.OpenRead(file));
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parser.ElementAdded += parser_ElementAdded;
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parser.ParseString(kml,true);
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}
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catch (Exception ex) { MessageBox.Show("Bad KML File :" + ex.ToString()); }
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}
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@ -112,6 +112,7 @@
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this.CHK_heli = new System.Windows.Forms.CheckBox();
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this.RAD_aerosimrc = new System.Windows.Forms.RadioButton();
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this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
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this.RAD_JSBSim = new System.Windows.Forms.RadioButton();
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((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).BeginInit();
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this.panel1.SuspendLayout();
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this.panel2.SuspendLayout();
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@ -692,10 +693,19 @@
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this.RAD_aerosimrc.UseVisualStyleBackColor = true;
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this.RAD_aerosimrc.CheckedChanged += new System.EventHandler(this.RAD_aerosimrc_CheckedChanged);
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//
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// RAD_JSBSim
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//
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resources.ApplyResources(this.RAD_JSBSim, "RAD_JSBSim");
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this.RAD_JSBSim.Name = "RAD_JSBSim";
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this.toolTip1.SetToolTip(this.RAD_JSBSim, resources.GetString("RAD_JSBSim.ToolTip"));
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this.RAD_JSBSim.UseVisualStyleBackColor = true;
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this.RAD_JSBSim.CheckedChanged += new System.EventHandler(this.RAD_JSBSim_CheckedChanged);
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//
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// Simulation
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//
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resources.ApplyResources(this, "$this");
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this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
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this.Controls.Add(this.RAD_JSBSim);
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this.Controls.Add(this.RAD_aerosimrc);
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this.Controls.Add(this.CHK_heli);
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this.Controls.Add(this.BUT_startxplane);
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@ -825,5 +835,6 @@
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private System.Windows.Forms.CheckBox CHK_heli;
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private System.Windows.Forms.RadioButton RAD_aerosimrc;
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private System.Windows.Forms.ToolTip toolTip1;
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private System.Windows.Forms.RadioButton RAD_JSBSim;
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}
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}
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@ -22,7 +22,8 @@ namespace ArdupilotMega.GCSViews
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UdpClient XplanesSEND;
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UdpClient MavLink;
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Socket SimulatorRECV;
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//TcpClient FlightGearSEND;
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TcpClient JSBSimSEND;
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UdpClient SITLSEND;
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EndPoint Remote = (EndPoint)(new IPEndPoint(IPAddress.Any, 0));
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byte[] udpdata = new byte[113 * 9 + 5]; // 113 types - 9 items per type (index+8) + 5 byte header
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float[][] DATA = new float[113][];
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@ -246,7 +247,22 @@ namespace ArdupilotMega.GCSViews
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}
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else
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{
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//SetupTcpFlightGear(); // old style
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if (RAD_JSBSim.Checked)
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{
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System.Diagnostics.ProcessStartInfo _procstartinfo = new System.Diagnostics.ProcessStartInfo();
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_procstartinfo.WorkingDirectory = Path.GetDirectoryName(Application.ExecutablePath);
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_procstartinfo.Arguments = "--realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=jsbsim/fgout.xml --script=jsbsim/rascal_test.xml";
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_procstartinfo.FileName = "JSBSim.exe";
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// Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar +
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_procstartinfo.UseShellExecute = true;
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System.Diagnostics.Process.Start(_procstartinfo);
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SITLSEND = new UdpClient(simIP, 5501);
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}
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SetupTcpJSBSim(); // old style
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SetupUDPXplanes(); // fg udp style
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SetupUDPMavLink(); // pass traffic - raw
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}
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@ -560,14 +576,14 @@ namespace ArdupilotMega.GCSViews
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if (hzcounttime.Second != DateTime.Now.Second)
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{
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// Console.WriteLine("SIM hz {0}", hzcount);
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//Console.WriteLine("SIM hz {0}", hzcount);
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hzcount = 0;
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hzcounttime = DateTime.Now;
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}
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System.Threading.Thread.Sleep(5); // this controls send speed to sim
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System.Threading.Thread.Sleep(1); // this controls send speed to sim
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}
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}
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@ -587,7 +603,25 @@ namespace ArdupilotMega.GCSViews
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SimulatorRECV.Bind(ipep);
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OutputLog.AppendText("Listerning on port " + recvPort + " (sim->planner)\n");
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OutputLog.AppendText("Listerning on port UDP " + recvPort + " (sim->planner)\n");
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}
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private void SetupTcpJSBSim()
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{
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try
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{
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JSBSimSEND = new TcpClient();
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JSBSimSEND.Client.NoDelay = true;
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JSBSimSEND.Connect(simIP, simPort);
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OutputLog.AppendText("Sending to port TCP " + simPort + " (planner->sim)\n");
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JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("info\n"));
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JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set attitude/phi-rad 0\n"));
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JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set attitude/theta-rad 0\n"));
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JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("resume\n"));
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}
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catch { }
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}
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private void SetupUDPXplanes()
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@ -595,7 +629,7 @@ namespace ArdupilotMega.GCSViews
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// setup sender
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XplanesSEND = new UdpClient(simIP, simPort);
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OutputLog.AppendText("Sending to port " + simPort + " (planner->sim)\n");
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OutputLog.AppendText("Sending to port UDP " + simPort + " (planner->sim)\n");
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}
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private void SetupUDPMavLink()
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@ -944,7 +978,7 @@ namespace ArdupilotMega.GCSViews
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asp.airspeed = ((float)Math.Sqrt((yvec * yvec) + (xvec * xvec)));
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}
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else if (receviedbytes > 0x100)
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else if (receviedbytes == 408)
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{
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FGNetFDM fdm = new FGNetFDM();
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@ -997,7 +1031,7 @@ namespace ArdupilotMega.GCSViews
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gps.v = ((float)Math.Sqrt((fdm.v_north * fdm.v_north) + (fdm.v_east * fdm.v_east)) * ft2m);
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#endif
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asp.airspeed = fdm.vcas * kts2fps * ft2m;
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asp.airspeed = fdm.vcas * ft2m;
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}
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else
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{
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@ -1080,6 +1114,37 @@ namespace ArdupilotMega.GCSViews
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return;
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}
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if (RAD_JSBSim.Checked && chkSensor.Checked)
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{
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byte[] sitlout = new byte[16 * 8 + 1 * 4]; // 16 * double + 1 * int
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int a = 0;
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.latitude), a, sitlout, a, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.longitude), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.altitude), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psi), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.v_north), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.v_east), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.A_X_pilot), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.A_Y_pilot), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.A_Z_pilot), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.phidot), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.thetadot), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psidot), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.phi), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.theta), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psi), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((double)lastfdmdata.vcas), 0, sitlout, a += 8, 8);
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Array.Copy(BitConverter.GetBytes((int)0x4c56414e), 0, sitlout, a += 8, 4);
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SITLSEND.Send(sitlout, sitlout.Length);
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return;
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}
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#if MAVLINK10
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TimeSpan gpsspan = DateTime.Now - lastgpsupdate;
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@ -1354,7 +1419,7 @@ namespace ArdupilotMega.GCSViews
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updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[18][1] * deg2rad, DATA[18][0] * deg2rad, DATA[19][2] * deg2rad, DATA[18][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out);
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}
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if (RAD_softFlightGear.Checked)
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if (RAD_softFlightGear.Checked || RAD_JSBSim.Checked)
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{
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updateScreenDisplay(lastfdmdata.latitude, lastfdmdata.longitude, lastfdmdata.altitude * .3048, lastfdmdata.phi, lastfdmdata.theta, lastfdmdata.psi, lastfdmdata.psi, roll_out, pitch_out, rudder_out, throttle_out);
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}
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@ -1392,6 +1457,23 @@ namespace ArdupilotMega.GCSViews
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catch { }
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}
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//JSBSim
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if (RAD_JSBSim.Checked)
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{
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roll_out = Constrain(roll_out * REV_roll, -1f, 1f);
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pitch_out = Constrain(-pitch_out * REV_pitch, -1f,1f);
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rudder_out = Constrain(rudder_out * REV_rudder, -1f, 1f);
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throttle_out = Constrain(throttle_out, -0.0f, 1f);
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string cmd = string.Format("set fcs/aileron-cmd-norm {0}\r\nset fcs/elevator-cmd-norm {1}\r\nset fcs/rudder-cmd-norm {2}\r\nset fcs/throttle-cmd-norm {3}\r\n",roll_out,pitch_out,rudder_out,throttle_out);
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//Console.Write(cmd);
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byte[] data = System.Text.Encoding.ASCII.GetBytes(cmd);
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JSBSimSEND.Client.Send(data);
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}
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// Flightgear
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if (RAD_softFlightGear.Checked)
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@ -1975,5 +2057,10 @@ namespace ArdupilotMega.GCSViews
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RAD_softFlightGear.Checked = false;
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}
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}
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private void RAD_JSBSim_CheckedChanged(object sender, EventArgs e)
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{
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}
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}
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}
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File diff suppressed because it is too large
Load Diff
@ -243,19 +243,26 @@ namespace hud
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starttime = DateTime.Now;
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if (opengl)
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try
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{
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MakeCurrent();
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GL.Clear(ClearBufferMask.ColorBufferBit);
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if (opengl)
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{
|
||||
MakeCurrent();
|
||||
|
||||
GL.Clear(ClearBufferMask.ColorBufferBit);
|
||||
|
||||
}
|
||||
|
||||
doPaint(e);
|
||||
|
||||
if (opengl)
|
||||
{
|
||||
this.SwapBuffers();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
doPaint(e);
|
||||
|
||||
if (opengl) {
|
||||
this.SwapBuffers();
|
||||
}
|
||||
catch (Exception ex) { Console.WriteLine(ex.ToString()); }
|
||||
|
||||
count++;
|
||||
|
||||
|
||||
@ -41,6 +41,7 @@ namespace ArdupilotMega
|
||||
public Model model;
|
||||
public string[] ntun;
|
||||
public string[] ctun;
|
||||
public int datetime;
|
||||
}
|
||||
|
||||
enum serialstatus
|
||||
@ -364,16 +365,24 @@ namespace ArdupilotMega
|
||||
{
|
||||
try
|
||||
{
|
||||
if (lastpos.X != 0 && oldlastpos != lastpos)
|
||||
if (lastpos.X != 0 && oldlastpos.X != lastpos.X && oldlastpos.Y != lastpos.Y)
|
||||
{
|
||||
Data dat = new Data();
|
||||
|
||||
try
|
||||
{
|
||||
dat.datetime = int.Parse(lastline.Split(',', ':')[1]);
|
||||
}
|
||||
catch { }
|
||||
|
||||
runmodel = new Model();
|
||||
|
||||
runmodel.Location.longitude = lastpos.X;
|
||||
runmodel.Location.latitude = lastpos.Y;
|
||||
runmodel.Location.altitude = lastpos.Z;
|
||||
|
||||
oldlastpos = lastpos;
|
||||
|
||||
runmodel.Orientation.roll = double.Parse(items[1], new System.Globalization.CultureInfo("en-US")) / -100;
|
||||
runmodel.Orientation.tilt = double.Parse(items[2], new System.Globalization.CultureInfo("en-US")) / -100;
|
||||
runmodel.Orientation.heading = double.Parse(items[3], new System.Globalization.CultureInfo("en-US")) / 100;
|
||||
@ -398,9 +407,51 @@ namespace ArdupilotMega
|
||||
List<Core.Geometry.Point3D>[] position = new List<Core.Geometry.Point3D>[200];
|
||||
int positionindex = 0;
|
||||
|
||||
private void writeGPX(string filename)
|
||||
{
|
||||
System.Xml.XmlTextWriter xw = new System.Xml.XmlTextWriter(Path.GetDirectoryName(filename) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(filename) + ".gpx",Encoding.ASCII);
|
||||
|
||||
xw.WriteStartElement("gpx");
|
||||
|
||||
xw.WriteStartElement("trk");
|
||||
|
||||
xw.WriteStartElement("trkseg");
|
||||
|
||||
DateTime start = new DateTime(DateTime.Now.Year,DateTime.Now.Month,DateTime.Now.Day,0,0,0);
|
||||
|
||||
foreach (Data mod in flightdata)
|
||||
{
|
||||
xw.WriteStartElement("trkpt");
|
||||
xw.WriteAttributeString("lat",mod.model.Location.latitude.ToString());
|
||||
xw.WriteAttributeString("lon", mod.model.Location.longitude.ToString());
|
||||
|
||||
xw.WriteElementString("ele", mod.model.Location.altitude.ToString());
|
||||
xw.WriteElementString("time", start.AddMilliseconds(mod.datetime).ToString("yyyy-MM-ddTHH:mm:sszzzzzz"));
|
||||
xw.WriteElementString("course", (mod.model.Orientation.heading).ToString());
|
||||
|
||||
xw.WriteElementString("roll", mod.model.Orientation.roll.ToString());
|
||||
xw.WriteElementString("pitch", mod.model.Orientation.tilt.ToString());
|
||||
//xw.WriteElementString("speed", mod.model.Orientation.);
|
||||
//xw.WriteElementString("fix", mod.model.Location.altitude);
|
||||
|
||||
xw.WriteEndElement();
|
||||
}
|
||||
|
||||
xw.WriteEndElement();
|
||||
xw.WriteEndElement();
|
||||
xw.WriteEndElement();
|
||||
|
||||
xw.Close();
|
||||
}
|
||||
|
||||
private void writeKML(string filename)
|
||||
{
|
||||
try
|
||||
{
|
||||
writeGPX(filename);
|
||||
}
|
||||
catch { }
|
||||
|
||||
Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink };
|
||||
|
||||
AltitudeMode altmode = AltitudeMode.absolute;
|
||||
|
||||
@ -81,10 +81,6 @@ namespace ArdupilotMega
|
||||
|
||||
public MainV2()
|
||||
{
|
||||
//new temp().ShowDialog();
|
||||
//return;
|
||||
|
||||
|
||||
Form splash = new Splash();
|
||||
splash.Show();
|
||||
|
||||
@ -96,17 +92,8 @@ namespace ArdupilotMega
|
||||
|
||||
Application.DoEvents();
|
||||
|
||||
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
|
||||
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
|
||||
|
||||
srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm";
|
||||
|
||||
georefimage temp = new georefimage();
|
||||
|
||||
//temp.dowork(244 + 60*60*24 * -1 );
|
||||
|
||||
//return;
|
||||
|
||||
var t = Type.GetType("Mono.Runtime");
|
||||
MONO = (t != null);
|
||||
|
||||
|
||||
@ -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("1.1.1")]
|
||||
[assembly: AssemblyFileVersion("1.1.2")]
|
||||
[assembly: NeutralResourcesLanguageAttribute("")]
|
||||
|
||||
@ -2,10 +2,6 @@
|
||||
<configuration>
|
||||
<configSections>
|
||||
</configSections>
|
||||
<startup>
|
||||
<supportedRuntime version="v2.0.50727"/>
|
||||
</startup>
|
||||
<!--<startup useLegacyV2RuntimeActivationPolicy="true">
|
||||
<supportedRuntime version="v4.0"/>
|
||||
</startup>-->
|
||||
<startup useLegacyV2RuntimeActivationPolicy="true">
|
||||
</startup>
|
||||
</configuration>
|
||||
|
||||
@ -1,3 +1 @@
|
||||
|
||||
*.pdb
|
||||
*.xml
|
||||
@ -4,14 +4,14 @@
|
||||
<description asmv2:publisher="Michael Oborne" asmv2:product="ArdupilotMegaPlanner" xmlns="urn:schemas-microsoft-com:asm.v1" />
|
||||
<deployment install="true" />
|
||||
<dependency>
|
||||
<dependentAssembly dependencyType="install" codebase="ArdupilotMegaPlanner.exe.manifest" size="25308">
|
||||
<dependentAssembly dependencyType="install" codebase="ArdupilotMegaPlanner.exe.manifest" size="23682">
|
||||
<assemblyIdentity name="ArdupilotMegaPlanner.exe" version="0.0.0.1" publicKeyToken="0000000000000000" language="en-US" processorArchitecture="x86" type="win32" />
|
||||
<hash>
|
||||
<dsig:Transforms>
|
||||
<dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
|
||||
</dsig:Transforms>
|
||||
<dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
|
||||
<dsig:DigestValue>mN7pjMOs48ZdF2S8vaEAJbtq8b4=</dsig:DigestValue>
|
||||
<dsig:DigestValue>+BB2J7z2to1UULmX82O0PxoC594=</dsig:DigestValue>
|
||||
</hash>
|
||||
</dependentAssembly>
|
||||
</dependency>
|
||||
|
||||
@ -2,10 +2,6 @@
|
||||
<configuration>
|
||||
<configSections>
|
||||
</configSections>
|
||||
<startup>
|
||||
<supportedRuntime version="v2.0.50727"/>
|
||||
</startup>
|
||||
<!--<startup useLegacyV2RuntimeActivationPolicy="true">
|
||||
<supportedRuntime version="v4.0"/>
|
||||
</startup>-->
|
||||
<startup useLegacyV2RuntimeActivationPolicy="true">
|
||||
</startup>
|
||||
</configuration>
|
||||
|
||||
2
Tools/ArdupilotMegaPlanner/bin/Release/jsbsim/fgout.xml
Normal file
2
Tools/ArdupilotMegaPlanner/bin/Release/jsbsim/fgout.xml
Normal file
@ -0,0 +1,2 @@
|
||||
<?xml version="1.0"?>
|
||||
<output name="localhost" type="FLIGHTGEAR" port="5123" protocol="udp" rate="1000"/>
|
||||
@ -0,0 +1,33 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sf.net/JSBSimScript.xsl"?>
|
||||
<runscript xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
||||
xsi:noNamespaceSchemaLocation="http://jsbsim.sf.net/JSBSimScript.xsd"
|
||||
name="Testing Rascal110">
|
||||
|
||||
<description>
|
||||
test ArduPlane using Rascal110 and JSBSim
|
||||
</description>
|
||||
|
||||
<use aircraft="Rascal" initialize="reset_CMAC"/>
|
||||
|
||||
<!-- we control the servos via the jsbsim console
|
||||
interface on TCP 5124 -->
|
||||
<input port="5124"/>
|
||||
|
||||
<run start="0" end="10000000" dt="0.001">
|
||||
<property value="0"> simulation/notify-time-trigger </property>
|
||||
|
||||
<event name="start engine">
|
||||
<condition> simulation/sim-time-sec le 0.01 </condition>
|
||||
<set name="propulsion/engine[0]/set-running" value="1"/>
|
||||
<notify/>
|
||||
</event>
|
||||
|
||||
<event name="Trim">
|
||||
<condition>simulation/sim-time-sec ge 0.01</condition>
|
||||
<set name="simulation/do_simple_trim" value="2"/>
|
||||
<notify/>
|
||||
</event>
|
||||
</run>
|
||||
|
||||
</runscript>
|
||||
@ -5,14 +5,26 @@ using System.Text;
|
||||
using System.Drawing;
|
||||
using System.Drawing.Imaging;
|
||||
using System.IO;
|
||||
using System.Windows.Forms;
|
||||
|
||||
namespace ArdupilotMega
|
||||
{
|
||||
class georefimage
|
||||
class georefimage : Form
|
||||
{
|
||||
private OpenFileDialog openFileDialog1;
|
||||
private MyButton BUT_browselog;
|
||||
private MyButton BUT_browsedir;
|
||||
private TextBox TXT_logfile;
|
||||
private TextBox TXT_jpgdir;
|
||||
private TextBox TXT_offsetseconds;
|
||||
private MyButton BUT_doit;
|
||||
private FolderBrowserDialog folderBrowserDialog1;
|
||||
private Label label1;
|
||||
private TextBox TXT_outputlog;
|
||||
|
||||
public string logFile = "";
|
||||
public string dirWithImages = "";
|
||||
internal georefimage() {
|
||||
InitializeComponent();
|
||||
}
|
||||
|
||||
DateTime getPhotoTime(string fn)
|
||||
{
|
||||
@ -69,18 +81,18 @@ namespace ArdupilotMega
|
||||
return list;
|
||||
}
|
||||
|
||||
public void dowork(float offsetseconds)
|
||||
public void dowork(string logFile, string dirWithImages, float offsetseconds)
|
||||
{
|
||||
DateTime localmin = DateTime.MaxValue;
|
||||
DateTime localmax = DateTime.MinValue;
|
||||
|
||||
DateTime startTime = DateTime.MinValue;
|
||||
|
||||
logFile = @"C:\temp\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
|
||||
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
|
||||
|
||||
List<string[]> list = readLog(logFile);
|
||||
|
||||
dirWithImages = @"C:\temp\farm 1-10-2011\100SSCAM";
|
||||
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
|
||||
|
||||
string[] files = Directory.GetFiles(dirWithImages);
|
||||
|
||||
@ -91,6 +103,8 @@ namespace ArdupilotMega
|
||||
sw.WriteLine("#longitude and latitude - in degrees");
|
||||
sw.WriteLine("#name utc longitude latitude height");
|
||||
|
||||
int first = 0;
|
||||
|
||||
foreach (string file in files)
|
||||
{
|
||||
if (file.ToLower().EndsWith(".jpg"))
|
||||
@ -112,18 +126,33 @@ namespace ArdupilotMega
|
||||
}
|
||||
|
||||
Console.WriteLine("min " + localmin + " max " + localmax);
|
||||
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
|
||||
}
|
||||
|
||||
|
||||
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(file) + " time " + dt + "\r\n");
|
||||
|
||||
foreach (string[] arr in list)
|
||||
{
|
||||
Application.DoEvents();
|
||||
|
||||
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
|
||||
|
||||
|
||||
if (first == 0)
|
||||
{
|
||||
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + " vs Log " + crap + "\r\n");
|
||||
|
||||
TXT_outputlog.AppendText("offset should be about " + (dt -crap).TotalSeconds + "\r\n");
|
||||
|
||||
first++;
|
||||
}
|
||||
|
||||
Console.Write("ph " + dt + " log " + crap + " \r");
|
||||
|
||||
if (dt.Equals(crap))
|
||||
{
|
||||
TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + "\r\n");
|
||||
|
||||
sw2.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[5] + " " + arr[4] + " " + arr[7]);
|
||||
sw.WriteLine(Path.GetFileNameWithoutExtension(file) + "\t" + crap.ToString("yyyy:MM:dd HH:mm:ss") +"\t"+ arr[5] + "\t" + arr[4] + "\t" + arr[7]);
|
||||
sw.Flush();
|
||||
@ -141,6 +170,159 @@ namespace ArdupilotMega
|
||||
sw2.Close();
|
||||
sw.Close();
|
||||
|
||||
MessageBox.Show("Done");
|
||||
|
||||
}
|
||||
|
||||
private void InitializeComponent()
|
||||
{
|
||||
this.openFileDialog1 = new System.Windows.Forms.OpenFileDialog();
|
||||
this.BUT_browselog = new ArdupilotMega.MyButton();
|
||||
this.BUT_browsedir = new ArdupilotMega.MyButton();
|
||||
this.TXT_logfile = new System.Windows.Forms.TextBox();
|
||||
this.TXT_jpgdir = new System.Windows.Forms.TextBox();
|
||||
this.TXT_offsetseconds = new System.Windows.Forms.TextBox();
|
||||
this.BUT_doit = new ArdupilotMega.MyButton();
|
||||
this.folderBrowserDialog1 = new System.Windows.Forms.FolderBrowserDialog();
|
||||
this.TXT_outputlog = new System.Windows.Forms.TextBox();
|
||||
this.label1 = new System.Windows.Forms.Label();
|
||||
this.SuspendLayout();
|
||||
//
|
||||
// openFileDialog1
|
||||
//
|
||||
this.openFileDialog1.FileName = "openFileDialog1";
|
||||
//
|
||||
// BUT_browselog
|
||||
//
|
||||
this.BUT_browselog.Location = new System.Drawing.Point(351, 12);
|
||||
this.BUT_browselog.Name = "BUT_browselog";
|
||||
this.BUT_browselog.Size = new System.Drawing.Size(75, 23);
|
||||
this.BUT_browselog.TabIndex = 0;
|
||||
this.BUT_browselog.Text = "Browse Log";
|
||||
this.BUT_browselog.UseVisualStyleBackColor = true;
|
||||
this.BUT_browselog.Click += new System.EventHandler(this.BUT_browselog_Click);
|
||||
//
|
||||
// BUT_browsedir
|
||||
//
|
||||
this.BUT_browsedir.Location = new System.Drawing.Point(351, 41);
|
||||
this.BUT_browsedir.Name = "BUT_browsedir";
|
||||
this.BUT_browsedir.Size = new System.Drawing.Size(75, 23);
|
||||
this.BUT_browsedir.TabIndex = 1;
|
||||
this.BUT_browsedir.Text = "Browse Directory";
|
||||
this.BUT_browsedir.UseVisualStyleBackColor = true;
|
||||
this.BUT_browsedir.Click += new System.EventHandler(this.BUT_browsedir_Click);
|
||||
//
|
||||
// TXT_logfile
|
||||
//
|
||||
this.TXT_logfile.Location = new System.Drawing.Point(28, 14);
|
||||
this.TXT_logfile.Name = "TXT_logfile";
|
||||
this.TXT_logfile.Size = new System.Drawing.Size(317, 20);
|
||||
this.TXT_logfile.TabIndex = 2;
|
||||
this.TXT_logfile.Text = "C:\\Users\\hog\\Pictures\\farm 1-10-2011\\100SSCAM\\2011-10-01 11-48 1.log";
|
||||
//
|
||||
// TXT_jpgdir
|
||||
//
|
||||
this.TXT_jpgdir.Location = new System.Drawing.Point(28, 43);
|
||||
this.TXT_jpgdir.Name = "TXT_jpgdir";
|
||||
this.TXT_jpgdir.Size = new System.Drawing.Size(317, 20);
|
||||
this.TXT_jpgdir.TabIndex = 3;
|
||||
this.TXT_jpgdir.Text = "C:\\Users\\hog\\Pictures\\farm 1-10-2011\\100SSCAM";
|
||||
//
|
||||
// TXT_offsetseconds
|
||||
//
|
||||
this.TXT_offsetseconds.Location = new System.Drawing.Point(180, 69);
|
||||
this.TXT_offsetseconds.Name = "TXT_offsetseconds";
|
||||
this.TXT_offsetseconds.Size = new System.Drawing.Size(100, 20);
|
||||
this.TXT_offsetseconds.TabIndex = 4;
|
||||
this.TXT_offsetseconds.Text = "-86156";
|
||||
//
|
||||
// BUT_doit
|
||||
//
|
||||
this.BUT_doit.Location = new System.Drawing.Point(194, 105);
|
||||
this.BUT_doit.Name = "BUT_doit";
|
||||
this.BUT_doit.Size = new System.Drawing.Size(75, 23);
|
||||
this.BUT_doit.TabIndex = 5;
|
||||
this.BUT_doit.Text = "Do It";
|
||||
this.BUT_doit.UseVisualStyleBackColor = true;
|
||||
this.BUT_doit.Click += new System.EventHandler(this.BUT_doit_Click);
|
||||
//
|
||||
// TXT_outputlog
|
||||
//
|
||||
this.TXT_outputlog.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
|
||||
| System.Windows.Forms.AnchorStyles.Left)
|
||||
| System.Windows.Forms.AnchorStyles.Right)));
|
||||
this.TXT_outputlog.Location = new System.Drawing.Point(28, 144);
|
||||
this.TXT_outputlog.Multiline = true;
|
||||
this.TXT_outputlog.Name = "TXT_outputlog";
|
||||
this.TXT_outputlog.ReadOnly = true;
|
||||
this.TXT_outputlog.ScrollBars = System.Windows.Forms.ScrollBars.Both;
|
||||
this.TXT_outputlog.Size = new System.Drawing.Size(398, 143);
|
||||
this.TXT_outputlog.TabIndex = 6;
|
||||
//
|
||||
// label1
|
||||
//
|
||||
this.label1.AutoSize = true;
|
||||
this.label1.Location = new System.Drawing.Point(94, 75);
|
||||
this.label1.Name = "label1";
|
||||
this.label1.Size = new System.Drawing.Size(78, 13);
|
||||
this.label1.TabIndex = 7;
|
||||
this.label1.Text = "Seconds offset";
|
||||
//
|
||||
// georefimage
|
||||
//
|
||||
this.ClientSize = new System.Drawing.Size(453, 299);
|
||||
this.Controls.Add(this.label1);
|
||||
this.Controls.Add(this.TXT_outputlog);
|
||||
this.Controls.Add(this.BUT_doit);
|
||||
this.Controls.Add(this.TXT_offsetseconds);
|
||||
this.Controls.Add(this.TXT_jpgdir);
|
||||
this.Controls.Add(this.TXT_logfile);
|
||||
this.Controls.Add(this.BUT_browsedir);
|
||||
this.Controls.Add(this.BUT_browselog);
|
||||
this.Name = "georefimage";
|
||||
this.ResumeLayout(false);
|
||||
this.PerformLayout();
|
||||
|
||||
}
|
||||
|
||||
private void BUT_browselog_Click(object sender, EventArgs e)
|
||||
{
|
||||
openFileDialog1.Filter = "Logs|*.log";
|
||||
openFileDialog1.ShowDialog();
|
||||
|
||||
if (File.Exists(openFileDialog1.FileName))
|
||||
{
|
||||
TXT_logfile.Text = openFileDialog1.FileName;
|
||||
}
|
||||
}
|
||||
|
||||
private void BUT_browsedir_Click(object sender, EventArgs e)
|
||||
{
|
||||
folderBrowserDialog1.ShowDialog();
|
||||
|
||||
if (folderBrowserDialog1.SelectedPath != "")
|
||||
{
|
||||
TXT_jpgdir.Text = folderBrowserDialog1.SelectedPath;
|
||||
}
|
||||
}
|
||||
|
||||
private void BUT_doit_Click(object sender, EventArgs e)
|
||||
{
|
||||
if (!File.Exists(TXT_logfile.Text))
|
||||
return;
|
||||
if (!Directory.Exists(TXT_jpgdir.Text))
|
||||
return;
|
||||
float seconds;
|
||||
if (float.TryParse(TXT_offsetseconds.Text, out seconds) == false)
|
||||
return;
|
||||
|
||||
BUT_doit.Enabled = false;
|
||||
try
|
||||
{
|
||||
dowork(TXT_logfile.Text, TXT_jpgdir.Text, seconds);
|
||||
}
|
||||
catch { }
|
||||
BUT_doit.Enabled = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
126
Tools/ArdupilotMegaPlanner/georefimage.resx
Normal file
126
Tools/ArdupilotMegaPlanner/georefimage.resx
Normal file
@ -0,0 +1,126 @@
|
||||
<?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="openFileDialog1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
|
||||
<value>17, 17</value>
|
||||
</metadata>
|
||||
<metadata name="folderBrowserDialog1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
|
||||
<value>297, 17</value>
|
||||
</metadata>
|
||||
</root>
|
||||
27
Tools/ArdupilotMegaPlanner/temp.Designer.cs
generated
27
Tools/ArdupilotMegaPlanner/temp.Designer.cs
generated
@ -44,7 +44,7 @@
|
||||
this.BUT_geinjection = new ArdupilotMega.MyButton();
|
||||
this.BUT_clearcustommaps = new ArdupilotMega.MyButton();
|
||||
this.BUT_lang_edit = new ArdupilotMega.MyButton();
|
||||
this.myButton1 = new ArdupilotMega.MyButton();
|
||||
this.BUT_georefimage = new ArdupilotMega.MyButton();
|
||||
this.SuspendLayout();
|
||||
//
|
||||
// button1
|
||||
@ -175,7 +175,7 @@
|
||||
//
|
||||
// BUT_geinjection
|
||||
//
|
||||
this.BUT_geinjection.Location = new System.Drawing.Point(190, 199);
|
||||
this.BUT_geinjection.Location = new System.Drawing.Point(150, 229);
|
||||
this.BUT_geinjection.Name = "BUT_geinjection";
|
||||
this.BUT_geinjection.Size = new System.Drawing.Size(209, 40);
|
||||
this.BUT_geinjection.TabIndex = 14;
|
||||
@ -185,7 +185,7 @@
|
||||
//
|
||||
// BUT_clearcustommaps
|
||||
//
|
||||
this.BUT_clearcustommaps.Location = new System.Drawing.Point(405, 199);
|
||||
this.BUT_clearcustommaps.Location = new System.Drawing.Point(365, 229);
|
||||
this.BUT_clearcustommaps.Name = "BUT_clearcustommaps";
|
||||
this.BUT_clearcustommaps.Size = new System.Drawing.Size(209, 40);
|
||||
this.BUT_clearcustommaps.TabIndex = 15;
|
||||
@ -195,7 +195,7 @@
|
||||
//
|
||||
// BUT_lang_edit
|
||||
//
|
||||
this.BUT_lang_edit.Location = new System.Drawing.Point(405, 138);
|
||||
this.BUT_lang_edit.Location = new System.Drawing.Point(365, 164);
|
||||
this.BUT_lang_edit.Name = "BUT_lang_edit";
|
||||
this.BUT_lang_edit.Size = new System.Drawing.Size(75, 23);
|
||||
this.BUT_lang_edit.TabIndex = 16;
|
||||
@ -203,22 +203,21 @@
|
||||
this.BUT_lang_edit.UseVisualStyleBackColor = true;
|
||||
this.BUT_lang_edit.Click += new System.EventHandler(this.BUT_lang_edit_Click);
|
||||
//
|
||||
// myButton1
|
||||
// BUT_georefimage
|
||||
//
|
||||
this.myButton1.Location = new System.Drawing.Point(30, 174);
|
||||
this.myButton1.Name = "myButton1";
|
||||
this.myButton1.Size = new System.Drawing.Size(75, 23);
|
||||
this.myButton1.TabIndex = 17;
|
||||
this.myButton1.Text = "myButton1";
|
||||
this.myButton1.UseVisualStyleBackColor = true;
|
||||
this.myButton1.Click += new System.EventHandler(this.myButton1_Click);
|
||||
this.BUT_georefimage.Location = new System.Drawing.Point(263, 164);
|
||||
this.BUT_georefimage.Name = "BUT_georefimage";
|
||||
this.BUT_georefimage.Size = new System.Drawing.Size(96, 23);
|
||||
this.BUT_georefimage.TabIndex = 0;
|
||||
this.BUT_georefimage.Text = "Geo ref images";
|
||||
this.BUT_georefimage.Click += new System.EventHandler(this.BUT_georefimage_Click);
|
||||
//
|
||||
// temp
|
||||
//
|
||||
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
|
||||
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
|
||||
this.ClientSize = new System.Drawing.Size(731, 281);
|
||||
this.Controls.Add(this.myButton1);
|
||||
this.Controls.Add(this.BUT_georefimage);
|
||||
this.Controls.Add(this.BUT_lang_edit);
|
||||
this.Controls.Add(this.BUT_clearcustommaps);
|
||||
this.Controls.Add(this.BUT_geinjection);
|
||||
@ -261,7 +260,7 @@
|
||||
private MyButton BUT_geinjection;
|
||||
private MyButton BUT_clearcustommaps;
|
||||
private MyButton BUT_lang_edit;
|
||||
private MyButton myButton1;
|
||||
private MyButton BUT_georefimage;
|
||||
//private SharpVectors.Renderers.Forms.SvgPictureBox svgPictureBox1;
|
||||
|
||||
}
|
||||
|
||||
@ -14,11 +14,6 @@ using System.Net;
|
||||
using GMap.NET.WindowsForms;
|
||||
using GMap.NET.CacheProviders;
|
||||
|
||||
using OpenGlobe.Core;
|
||||
using OpenGlobe.Renderer;
|
||||
using OpenGlobe.Scene;
|
||||
|
||||
|
||||
namespace ArdupilotMega
|
||||
{
|
||||
public partial class temp : Form
|
||||
@ -867,222 +862,14 @@ namespace ArdupilotMega
|
||||
|
||||
Console.WriteLine("Removed {0} images",removed);
|
||||
}
|
||||
|
||||
private void BUT_lang_edit_Click(object sender, EventArgs e)
|
||||
{
|
||||
new resedit.Form1().Show();
|
||||
}
|
||||
|
||||
GraphicsWindow _window;
|
||||
SceneState _sceneState;
|
||||
CameraLookAtPoint _lookCamera;
|
||||
CameraFly _flyCamera;
|
||||
ClearState _clearState;
|
||||
GlobeClipmapTerrain _clipmap;
|
||||
HeadsUpDisplay _hud;
|
||||
Font _hudFont;
|
||||
RayCastedGlobe _globe;
|
||||
ClearState _clearDepth;
|
||||
Ellipsoid _ellipsoid;
|
||||
|
||||
private void myButton1_Click(object sender, EventArgs e)
|
||||
private void BUT_georefimage_Click(object sender, EventArgs e)
|
||||
{
|
||||
|
||||
|
||||
_window = Device.CreateWindow(800, 600, "Chapter 13: Clipmap Terrain on a Globe");
|
||||
|
||||
_ellipsoid = Ellipsoid.Wgs84;
|
||||
|
||||
WorldWindTerrainSource terrainSource = new WorldWindTerrainSource();
|
||||
GMapRestImagery imagery = new GMapRestImagery();
|
||||
_clipmap = new GlobeClipmapTerrain(_window.Context, terrainSource, imagery, _ellipsoid, 511);
|
||||
_clipmap.HeightExaggeration = 1.0f;
|
||||
|
||||
|
||||
|
||||
IList<GridResolution> gridResolutions = new List<GridResolution>();
|
||||
gridResolutions.Add(new GridResolution(
|
||||
new Interval(0, 1000000, IntervalEndpoint.Closed, IntervalEndpoint.Open),
|
||||
new Vector2D(0.005, 0.005)));
|
||||
gridResolutions.Add(new GridResolution(
|
||||
new Interval(1000000, 2000000, IntervalEndpoint.Closed, IntervalEndpoint.Open),
|
||||
new Vector2D(0.01, 0.01)));
|
||||
gridResolutions.Add(new GridResolution(
|
||||
new Interval(2000000, 20000000, IntervalEndpoint.Closed, IntervalEndpoint.Open),
|
||||
new Vector2D(0.05, 0.05)));
|
||||
gridResolutions.Add(new GridResolution(
|
||||
new Interval(20000000, double.MaxValue, IntervalEndpoint.Closed, IntervalEndpoint.Open),
|
||||
new Vector2D(0.1, 0.1)));
|
||||
|
||||
|
||||
|
||||
_sceneState = new SceneState();
|
||||
_sceneState.DiffuseIntensity = 0.90f;
|
||||
_sceneState.SpecularIntensity = 0.05f;
|
||||
_sceneState.AmbientIntensity = 0.05f;
|
||||
_sceneState.Camera.FieldOfViewY = Math.PI / 3.0;
|
||||
|
||||
_clearState = new ClearState();
|
||||
_clearState.Color = Color.White;
|
||||
|
||||
_sceneState.Camera.PerspectiveNearPlaneDistance = 0.000001 * _ellipsoid.MaximumRadius;
|
||||
_sceneState.Camera.PerspectiveFarPlaneDistance = 10.0 * _ellipsoid.MaximumRadius;
|
||||
_sceneState.SunPosition = new Vector3D(200000, 300000, 200000) * _ellipsoid.MaximumRadius;
|
||||
|
||||
_lookCamera = new CameraLookAtPoint(_sceneState.Camera, _window, _ellipsoid);
|
||||
_lookCamera.Range = 1.5 * _ellipsoid.MaximumRadius;
|
||||
|
||||
_globe = new RayCastedGlobe(_window.Context);
|
||||
_globe.Shape = _ellipsoid;
|
||||
Bitmap bitmap = new Bitmap("NE2_50M_SR_W_4096.jpg");
|
||||
_globe.Texture = Device.CreateTexture2D(bitmap, TextureFormat.RedGreenBlue8, false);
|
||||
//_globe.GridResolutions = new GridResolutionCollection(gridResolutions);
|
||||
|
||||
_clearDepth = new ClearState();
|
||||
_clearDepth.Buffers = ClearBuffers.DepthBuffer | ClearBuffers.StencilBuffer;
|
||||
|
||||
//_window.Keyboard.KeyDown += OnKeyDown;
|
||||
|
||||
_window.Resize += OnResize;
|
||||
_window.RenderFrame += OnRenderFrame;
|
||||
_window.PreRenderFrame += OnPreRenderFrame;
|
||||
|
||||
_hudFont = new Font("Arial", 16);
|
||||
_hud = new HeadsUpDisplay();
|
||||
_hud.Color = Color.Blue;
|
||||
|
||||
//_flyCamera = new CameraFly(_sceneState.Camera, _window);
|
||||
//_flyCamera.MovementRate = 1200.0;
|
||||
//_flyCamera.InputEnabled = true;
|
||||
|
||||
_sceneState.Camera.Target = new Vector3D(115, -35, 100.0);
|
||||
|
||||
_window.Run(30);
|
||||
|
||||
|
||||
new georefimage().Show();
|
||||
}
|
||||
|
||||
private void OnResize()
|
||||
{
|
||||
_window.Context.Viewport = new Rectangle(0, 0, _window.Width, _window.Height);
|
||||
_sceneState.Camera.AspectRatio = _window.Width / (double)_window.Height;
|
||||
}
|
||||
|
||||
private void OnRenderFrame()
|
||||
{
|
||||
Context context = _window.Context;
|
||||
context.Clear(_clearState);
|
||||
|
||||
_globe.Render(context, _sceneState);
|
||||
|
||||
context.Clear(_clearDepth);
|
||||
|
||||
_clipmap.Render(context, _sceneState);
|
||||
|
||||
//_sceneState.Camera.Target = new Vector3D(115000, -350000, 100000.0);
|
||||
|
||||
if (_hud != null)
|
||||
{
|
||||
//_hud.Render(context, _sceneState);
|
||||
}
|
||||
}
|
||||
|
||||
private void OnPreRenderFrame()
|
||||
{
|
||||
Context context = _window.Context;
|
||||
_clipmap.PreRender(context, _sceneState);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public class GMapRestImagery : RasterSource
|
||||
{
|
||||
GMapControl MainMap;
|
||||
public GMapRestImagery()
|
||||
{
|
||||
//_baseUri = baseUri;
|
||||
|
||||
_levels = new RasterLevel[NumberOfLevels];
|
||||
_levelsCollection = new RasterLevelCollection(_levels);
|
||||
|
||||
double deltaLongitude = LevelZeroDeltaLongitudeDegrees;
|
||||
double deltaLatitude = LevelZeroDeltaLatitudeDegrees;
|
||||
for (int i = 0; i < _levels.Length; ++i)
|
||||
{
|
||||
int longitudePosts = (int)Math.Round(360.0 / deltaLongitude) * TileLongitudePosts + 1;
|
||||
int latitudePosts = (int)Math.Round(180 / deltaLatitude) * TileLatitudePosts + 1;
|
||||
_levels[i] = new RasterLevel(this, i, _extent, longitudePosts, latitudePosts, TileLongitudePosts, TileLatitudePosts);
|
||||
deltaLongitude /= 2.0;
|
||||
deltaLatitude /= 2.0;
|
||||
}
|
||||
|
||||
MainMap = new GMapControl();
|
||||
MainMap.MapType = GMap.NET.MapType.GoogleSatellite;
|
||||
|
||||
MainMap.CacheLocation = Path.GetDirectoryName(Application.ExecutablePath) + "/gmapcache/";
|
||||
}
|
||||
|
||||
public override GeodeticExtent Extent
|
||||
{
|
||||
get { return _extent; }
|
||||
}
|
||||
|
||||
public int TileLongitudePosts
|
||||
{
|
||||
get { return 256; }
|
||||
}
|
||||
|
||||
public int TileLatitudePosts
|
||||
{
|
||||
get { return 256; }
|
||||
}
|
||||
|
||||
public override RasterLevelCollection Levels
|
||||
{
|
||||
get { return _levelsCollection; }
|
||||
}
|
||||
|
||||
public override Texture2D LoadTileTexture(RasterTileIdentifier identifier)
|
||||
{
|
||||
//if (identifier.Level > 4)
|
||||
//return null;
|
||||
int level = identifier.Level; // 0 is -180 long
|
||||
int longitudeIndex = ((_levels[level].LongitudePosts / _levels[level].LongitudePostsPerTile) / 2 / 2) + identifier.X; // (_levels[level].LongitudePosts / _levels[level].LongitudePostsPerTile) -
|
||||
int latitudeIndex = identifier.Y; // (_levels[level].LatitudePosts / _levels[level].LatitudePostsPerTile) -
|
||||
|
||||
int damn = (1 << level) - latitudeIndex - 1;
|
||||
|
||||
Console.WriteLine(" z {0} lat {1} lon {2} ", level, damn, longitudeIndex);
|
||||
|
||||
GMap.NET.PureImage img = MainMap.Manager.ImageCacheLocal.GetImageFromCache(GMap.NET.MapType.GoogleSatellite, new GMap.NET.GPoint(longitudeIndex, damn), level);
|
||||
|
||||
Application.DoEvents();
|
||||
|
||||
try
|
||||
{
|
||||
Bitmap bitmap = new Bitmap(new Bitmap(img.Data), 256, 256);
|
||||
Graphics e = Graphics.FromImage(bitmap);
|
||||
e.DrawString(level + " " +longitudeIndex + "," + damn, new Font("Arial", 20), Brushes.White, new PointF(0, 0));
|
||||
|
||||
return Device.CreateTexture2DRectangle(bitmap, TextureFormat.RedGreenBlue8);
|
||||
}
|
||||
catch {
|
||||
try
|
||||
{
|
||||
return null;
|
||||
}
|
||||
catch { return null; }
|
||||
}
|
||||
}
|
||||
|
||||
private Uri _baseUri;
|
||||
private GeodeticExtent _extent = new GeodeticExtent(-0, -90, 360, 90);
|
||||
private int _tilesLoaded;
|
||||
private RasterLevel[] _levels;
|
||||
private RasterLevelCollection _levelsCollection;
|
||||
|
||||
private const int NumberOfLevels = 20;
|
||||
private const double LevelZeroDeltaLongitudeDegrees = 180;
|
||||
private const double LevelZeroDeltaLatitudeDegrees = 180;
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user