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

ArduCopter/APM_Config.h

@@ -41,9 +41,6 @@
 
 #define ACCEL_ALT_HOLD 0		// disabled by default, work in progress
 
-// See the config.h and defines.h files for how to set this up!
-//
-
 // lets use Manual throttle during Loiter
 //#define LOITER_THR			THROTTLE_MANUAL
 # define RTL_YAW 			YAW_HOLD

ArduCopter/ArduCopter.pde

@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "ArduCopter V2.0.50 Beta"
+#define THISFIRMWARE "ArduCopter V2.0.51"
 /*
 ArduCopter Version 2.0 Beta
 Authors:	Jason Short
@@ -262,6 +262,11 @@ static byte 	oldSwitchPosition;					// for remembering the control mode switch
 static int16_t  motor_out[8];
 static bool		do_simple 			= false;
 
+static int16_t rc_override[8] = {0,0,0,0,0,0,0,0};
+static bool rc_override_active = false;
+static uint32_t rc_override_fs_timer = 0;
+
+
 // Heli
 // ----
 #if FRAME_CONFIG ==	HELI_FRAME
@@ -480,6 +485,7 @@ static int32_t 			perf_mon_timer;
 //static float 			imu_health; 						// Metric based on accel gain deweighting
 static int16_t			gps_fix_count;
 static byte				gps_watchdog;
+static int				pmTest1;
 
 // System Timers
 // --------------
@@ -1051,7 +1057,7 @@ void update_throttle_mode(void)
 		case THROTTLE_MANUAL:
 			if (g.rc_3.control_in > 0){
 			    #if FRAME_CONFIG == HELI_FRAME
-				    g.rc_3.servo_out = heli_get_angle_boost(heli_get_scaled_throttle(g.rc_3.control_in));
+				    g.rc_3.servo_out = heli_get_angle_boost(g.rc_3.control_in);
 				#else
 					angle_boost = get_angle_boost(g.rc_3.control_in);
 					g.rc_3.servo_out = g.rc_3.control_in + angle_boost;
@@ -1071,6 +1077,24 @@ void update_throttle_mode(void)
 			// fall through
 
 		case THROTTLE_AUTO:
+
+			// calculate angle boost
+			angle_boost = get_angle_boost(g.throttle_cruise);
+
+			// manual command up or down?
+			if(manual_boost != 0){
+
+				//remove alt_hold_velocity when implemented
+				#if FRAME_CONFIG == HELI_FRAME
+					g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost + get_z_damping());
+				#else
+					g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost + get_z_damping();
+				#endif
+
+				// reset next_WP.alt
+				next_WP.alt = max(current_loc.alt, 100);
+
+			}else{
 				// 10hz, 			don't run up i term
 				if(invalid_throttle && motor_auto_armed == true){
 
@@ -1078,27 +1102,14 @@ void update_throttle_mode(void)
 					altitude_error = get_altitude_error();
 
 					// get the AP throttle
-				nav_throttle = get_nav_throttle(altitude_error);//, 250); //150 =  target speed of 1.5m/s
+					nav_throttle = get_nav_throttle(altitude_error);
-				//Serial.printf("in:%d, cr:%d, NT:%d, I:%1.4f\n", g.rc_3.control_in,altitude_error,  nav_throttle, g.pi_throttle.get_integrator());
 
 					// clear the new data flag
 					invalid_throttle = false;
 				}
-			angle_boost = get_angle_boost(g.throttle_cruise);
 
-			if(manual_boost != 0){
-				//remove alt_hold_velocity when implemented
 				#if FRAME_CONFIG == HELI_FRAME
-					g.rc_3.servo_out = heli_get_angle_boost(heli_get_scaled_throttle(g.throttle_cruise + nav_throttle + manual_boost + get_z_damping()));
+					g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle + get_z_damping());
-				#else
-					g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost + get_z_damping();
-				#endif
-				// reset next_WP.alt
-				next_WP.alt = max(current_loc.alt, 100);
-			}else{
-				#if FRAME_CONFIG == HELI_FRAME
-					//g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle + get_z_damping());
-					g.rc_3.servo_out = heli_get_angle_boost(heli_get_scaled_throttle(g.throttle_cruise + nav_throttle + get_z_damping()));
 				#else
 					g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost + get_z_damping();
 				#endif
@@ -1244,14 +1255,23 @@ static void update_altitude()
 
 	#else
 		// This is real life
-		// calc the vertical accel rate
-		int temp_baro_alt	= (barometer._offset_press - barometer.RawPress) << 1; // invert and scale
-		baro_rate 			= (temp_baro_alt - old_baro_alt) * 10;
-		old_baro_alt		= temp_baro_alt;
 
 		// read in Actual Baro Altitude
 		baro_alt 			= (baro_alt + read_barometer()) >> 1;
 
+		// calc the vertical accel rate
+		#if CLIMB_RATE_BARO == 0
+		int temp_baro_alt	= (barometer._offset_press - barometer.RawPress) << 2; // invert and scale
+		temp_baro_alt		= (float)temp_baro_alt * .1 + (float)old_baro_alt * .9;
+
+		baro_rate 			= (temp_baro_alt - old_baro_alt) * 10;
+		old_baro_alt		= temp_baro_alt;
+
+		#else
+		baro_rate 			= (baro_alt - old_baro_alt) * 10;
+		old_baro_alt		= baro_alt;
+		#endif
+
 		// sonar_alt is calculaed in a faster loop and filtered with a mode filter
 	#endif
 
@@ -1386,7 +1406,7 @@ static void tuning(){
 			break;
 
 		case CH6_THROTTLE_KP:
-			g.rc_6.set_range(0,1000);
+			g.rc_6.set_range(0,1000);       // 0 to 1
 			g.pi_throttle.kP(tuning_value);
 			break;
 
@@ -1424,6 +1444,11 @@ static void tuning(){
 			g.heli_ext_gyro_gain = tuning_value * 1000;
 			break;
 		#endif
+
+		case CH6_THR_HOLD_KP:
+			g.rc_6.set_range(0,1000);     // 0 to 1
+			g.pi_alt_hold.kP(tuning_value);
+			break;
 	}
 }
 
@@ -1466,8 +1491,8 @@ static void update_nav_wp()
 		if (circle_angle > 6.28318531)
 			circle_angle -= 6.28318531;
 
-		target_WP.lng = next_WP.lng + (g.loiter_radius * cos(1.57 - circle_angle) * scaleLongUp);
+		target_WP.lng = next_WP.lng + (g.loiter_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp);
-		target_WP.lat = next_WP.lat + (g.loiter_radius * sin(1.57 - circle_angle));
+		target_WP.lat = next_WP.lat + (g.loiter_radius * 100 * sin(1.57 - circle_angle));
 
 		// calc the lat and long error to the target
 		calc_location_error(&target_WP);

ArduCopter/Attitude.pde

@@ -133,7 +133,6 @@ static void reset_hold_I(void)
 {
 	g.pi_loiter_lat.reset_I();
 	g.pi_loiter_lon.reset_I();
-	g.pi_crosstrack.reset_I();
 }
 
 // Zeros out navigation Integrators if we are changing mode, have passed a waypoint, etc.

ArduCopter/GCS_Mavlink.pde

@@ -980,7 +980,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 			// set frame of waypoint
 			uint8_t frame;
 
-			if (tell_command.options & WP_OPTION_ALT_RELATIVE) {
+			if (tell_command.options & MASK_OPTIONS_RELATIVE_ALT) {
 				frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; // reference frame
 			} else {
 				frame = MAV_FRAME_GLOBAL; // reference frame
@@ -1294,7 +1294,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 				guided_WP = tell_command;
 
 				// add home alt if needed
-				if (guided_WP.options & WP_OPTION_ALT_RELATIVE){
+				if (guided_WP.options & MASK_OPTIONS_RELATIVE_ALT){
 					guided_WP.alt += home.alt;
 				}
 
@@ -1322,7 +1322,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 					break;
 
 				if(packet.seq != 0)
-					set_command_with_index(tell_command, packet.seq);
+					set_cmd_with_index(tell_command, packet.seq);
 
 				// update waypoint receiving state machine
 				waypoint_timelast_receive = millis();
@@ -1367,6 +1367,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
 			// find the requested parameter
 			vp = AP_Var::find(key);
+
 			if ((NULL != vp) &&							 		// exists
 					!isnan(packet.param_value) &&			   // not nan
 					!isinf(packet.param_value)) {			   // not inf
@@ -1382,19 +1383,27 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 				// handle variables with standard type IDs
 				if (var_type == AP_Var::k_typeid_float) {
 					((AP_Float *)vp)->set_and_save(packet.param_value);
+					Log_Write_Data(1, (float)((AP_Float *)vp)->get());
 
 				} else if (var_type == AP_Var::k_typeid_float16) {
 					((AP_Float16 *)vp)->set_and_save(packet.param_value);
+					Log_Write_Data(2, (float)((AP_Float *)vp)->get());
 
 				} else if (var_type == AP_Var::k_typeid_int32) {
 					if (packet.param_value < 0) rounding_addition = -rounding_addition;
 					((AP_Int32 *)vp)->set_and_save(packet.param_value+rounding_addition);
+					Log_Write_Data(3, (int32_t)((AP_Float *)vp)->get());
+
 				} else if (var_type == AP_Var::k_typeid_int16) {
 					if (packet.param_value < 0) rounding_addition = -rounding_addition;
 					((AP_Int16 *)vp)->set_and_save(packet.param_value+rounding_addition);
+					Log_Write_Data(4, (int32_t)((AP_Float *)vp)->get());
+
 				} else if (var_type == AP_Var::k_typeid_int8) {
 					if (packet.param_value < 0) rounding_addition = -rounding_addition;
 					((AP_Int8 *)vp)->set_and_save(packet.param_value+rounding_addition);
+					Log_Write_Data(5, (int32_t)((AP_Float *)vp)->get());
+
 				} else {
 					// we don't support mavlink set on this parameter
 					break;
@@ -1410,6 +1419,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 					vp->cast_to_float(),
 					_count_parameters(),
 					-1); // XXX we don't actually know what its index is...
+
 			}
 
 			break;

ArduCopter/Log.pde

@@ -20,8 +20,8 @@ static int8_t	select_logs(uint8_t argc, 		const Menu::arg *argv);
 // This is the help function
 // PSTR is an AVR macro to read strings from flash memory
 // printf_P is a version of print_f that reads from flash memory
-static int8_t	help_log(uint8_t argc, 			const Menu::arg *argv)
+//static int8_t	help_log(uint8_t argc, 			const Menu::arg *argv)
-{
+/*{
 	Serial.printf_P(PSTR("\n"
 						 "Commands:\n"
 						 "  dump <n>"
@@ -30,7 +30,7 @@ static int8_t	help_log(uint8_t argc, 			const Menu::arg *argv)
 						 "  disable <name> | all\n"
 						 "\n"));
     return 0;
-}
+}*/
 
 // Creates a constant array of structs representing menu options
 // and stores them in Flash memory, not RAM.
@@ -40,8 +40,7 @@ const struct Menu::command log_menu_commands[] PROGMEM = {
 	{"dump",	dump_log},
 	{"erase",	erase_logs},
 	{"enable",	select_logs},
-	{"disable",	select_logs},
+	{"disable",	select_logs}
-	{"help",	help_log}
 };
 
 // A Macro to create the Menu
@@ -698,15 +697,16 @@ static void Log_Write_Control_Tuning()
 	DataFlash.WriteInt(angle_boost);					//8
 	DataFlash.WriteInt(manual_boost);					//9
 	DataFlash.WriteInt(climb_rate);						//10
-//#if HIL_MODE == HIL_MODE_ATTITUDE
-//	DataFlash.WriteInt(0);								//10
-//#else
-//	DataFlash.WriteInt((int)(barometer.RawPress - barometer._offset_press));//10
-//#endif
 
-	DataFlash.WriteInt(g.rc_3.servo_out);				//11
+#if HIL_MODE == HIL_MODE_ATTITUDE
-	DataFlash.WriteInt(g.pi_alt_hold.get_integrator());	//12
+	DataFlash.WriteInt(0);								//11
-	DataFlash.WriteInt(g.pi_throttle.get_integrator());	//13
+#else
+	DataFlash.WriteInt((int)(barometer.RawPress - barometer._offset_press));//11
+#endif
+
+	DataFlash.WriteInt(g.rc_3.servo_out);				//12
+	DataFlash.WriteInt(g.pi_alt_hold.get_integrator());	//13
+	DataFlash.WriteInt(g.pi_throttle.get_integrator());	//14
 
 	DataFlash.WriteByte(END_BYTE);
 }
@@ -718,7 +718,7 @@ static void Log_Read_Control_Tuning()
 
 	Serial.printf_P(PSTR("CTUN, "));
 
-	for(int8_t i = 1; i < 13; i++ ){
+	for(int8_t i = 1; i < 14; i++ ){
 		temp = DataFlash.ReadInt();
 		Serial.printf("%d, ", temp);
 	}
@@ -901,6 +901,29 @@ static void Log_Read_Startup()
 	Serial.printf_P(PSTR("START UP\n"));
 }
 
+static void Log_Write_Data(int8_t _type, float _data)
+{
+	Log_Write_Data(_type, (int32_t)(_data * 1000));
+}
+
+static void Log_Write_Data(int8_t _type, int32_t _data)
+{
+	DataFlash.WriteByte(HEAD_BYTE1);
+	DataFlash.WriteByte(HEAD_BYTE2);
+	DataFlash.WriteByte(LOG_DATA_MSG);
+	DataFlash.WriteByte(_type);
+	DataFlash.WriteLong(_data);
+	DataFlash.WriteByte(END_BYTE);
+}
+
+// Read a mode packet
+static void Log_Read_Data()
+{
+	int8_t  temp1 = DataFlash.ReadByte();
+	int32_t temp2 = DataFlash.ReadLong();
+	Serial.printf_P(PSTR("DATA: %d, %ld\n"), temp1, temp2);
+}
+
 
 // Read the DataFlash log memory : Packet Parser
 static void Log_Read(int start_page, int end_page)
@@ -981,6 +1004,10 @@ static void Log_Read(int start_page, int end_page)
 					case LOG_GPS_MSG:
 						Log_Read_GPS();
 						break;
+
+					case LOG_DATA_MSG:
+						Log_Read_Data();
+						break;
 				}
 				break;
 		}
@@ -1000,6 +1027,8 @@ static void Log_Write_Raw() {}
 static void Log_Write_GPS() {}
 static void Log_Write_Current() {}
 static void Log_Write_Attitude() {}
+static void Log_Write_Data(int8_t _type, float _data){}
+static void Log_Write_Data(int8_t _type, int32_t _data){}
 #ifdef OPTFLOW_ENABLED
 static void Log_Write_Optflow() {}
 #endif

ArduCopter/Parameters.h

@@ -17,7 +17,7 @@ public:
 	// The increment will prevent old parameters from being used incorrectly
 	// by newer code.
 	//
-	static const uint16_t k_format_version = 112;
+	static const uint16_t k_format_version = 113;
 
 	// The parameter software_type is set up solely for ground station use
 	// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
@@ -55,7 +55,8 @@ public:
 
 	// Misc
 	//
-	k_param_log_bitmask,
+	k_param_log_bitmask = 20,
+    k_param_log_last_filenumber,
 
 	#if FRAME_CONFIG ==	HELI_FRAME
 	//
@@ -107,8 +108,8 @@ public:
 	//
 	// 160: Navigation parameters
 	//
-	k_param_crosstrack_entry_angle = 160,
+	k_param_RTL_altitude = 160,
-	k_param_RTL_altitude,
+	k_param_crosstrack_gain,
 
 	//
 	// 180: Radio settings
@@ -171,7 +172,6 @@ public:
 	k_param_pi_nav_lon,
 	k_param_pi_alt_hold,
 	k_param_pi_throttle,
-	k_param_pi_crosstrack,
 	k_param_pi_acro_roll,
 	k_param_pi_acro_pitch,
 
@@ -189,9 +189,14 @@ public:
     AP_Int8		serial3_baud;
 
 
-	// Crosstrack navigation
+	AP_Int16	RTL_altitude;
-	//
+	AP_Int8		sonar_enabled;
-	AP_Int16	crosstrack_entry_angle;
+	AP_Int8		battery_monitoring;	// 0=disabled, 1=3 cell lipo, 2=4 cell lipo, 3=total voltage only, 4=total voltage and current
+	AP_Int16	pack_capacity;		// Battery pack capacity less reserve
+	AP_Int8		compass_enabled;
+    AP_Int8		optflow_enabled;
+    AP_Float	input_voltage;
+	AP_Float	low_voltage;
 
 	// Waypoints
 	//
@@ -202,6 +207,7 @@ public:
 	AP_Int8		waypoint_radius;
 	AP_Int16	loiter_radius;
 	AP_Int16	waypoint_speed_max;
+	AP_Float	crosstrack_gain;
 
 	// Throttle
 	//
@@ -222,30 +228,16 @@ public:
     AP_Int8     flight_mode6;
     AP_Int8     simple_modes;
 
-	// Radio settings
-	//
-	//AP_Var_group pwm_roll;
-	//AP_Var_group pwm_pitch;
-	//AP_Var_group pwm_throttle;
-	//AP_Var_group pwm_yaw;
-
 	// Misc
 	//
 	AP_Int16	log_bitmask;
-	AP_Int16	RTL_altitude;
+    AP_Int16	log_last_filenumber;
 
-	AP_Int8		sonar_enabled;
-	AP_Int8		battery_monitoring;	// 0=disabled, 1=3 cell lipo, 2=4 cell lipo, 3=total voltage only, 4=total voltage and current
-	AP_Int16	pack_capacity;		// Battery pack capacity less reserve
-	AP_Int8		compass_enabled;
 	AP_Int8		esc_calibrate;
 	AP_Int8		radio_tuning;
-
 	AP_Int8		frame_orientation;
 	AP_Float	top_bottom_ratio;
-    AP_Int8		optflow_enabled;
+
-    AP_Float	input_voltage;
-	AP_Float	low_voltage;
 
 	#if FRAME_CONFIG ==	HELI_FRAME
 	// Heli
@@ -272,6 +264,7 @@ public:
 	RC_Channel	rc_8;
 	RC_Channel	rc_camera_pitch;
 	RC_Channel	rc_camera_roll;
+
 	AP_Float	camera_pitch_gain;
 	AP_Float	camera_roll_gain;
 
@@ -292,7 +285,6 @@ public:
 
 	APM_PI		pi_alt_hold;
 	APM_PI		pi_throttle;
-	APM_PI		pi_crosstrack;
 
 	APM_PI		pi_acro_roll;
 	APM_PI		pi_acro_pitch;
@@ -310,9 +302,7 @@ public:
 	sysid_my_gcs			(255,						k_param_sysid_my_gcs,					PSTR("SYSID_MYGCS")),
     serial3_baud			(SERIAL3_BAUD/1000,         k_param_serial3_baud,					PSTR("SERIAL3_BAUD")),
 
-	//crosstrack_gain			(XTRACK_GAIN * 100,			k_param_crosstrack_gain,				PSTR("XTRK_GAIN_SC")),
+	RTL_altitude			(ALT_HOLD_HOME * 100,		k_param_RTL_altitude,					PSTR("ALT_HOLD_RTL")),
-	crosstrack_entry_angle	(XTRACK_ENTRY_ANGLE * 100,	k_param_crosstrack_entry_angle, 		PSTR("XTRK_ANGLE_CD")),
-
 	sonar_enabled			(DISABLED,					k_param_sonar,							PSTR("SONAR_ENABLE")),
 	battery_monitoring 		(DISABLED,					k_param_battery_monitoring,				PSTR("BATT_MONITOR")),
 	pack_capacity			(HIGH_DISCHARGE,			k_param_pack_capacity,					PSTR("BATT_CAPACITY")),
@@ -326,8 +316,9 @@ public:
 	command_index			(0,							k_param_command_index,					PSTR("WP_INDEX")),
 	command_nav_index		(0,							k_param_command_nav_index,				PSTR("WP_MUST_INDEX")),
 	waypoint_radius			(WP_RADIUS_DEFAULT,			k_param_waypoint_radius,				PSTR("WP_RADIUS")),
-	loiter_radius			(LOITER_RADIUS * 100,	    k_param_loiter_radius,					PSTR("WP_LOITER_RAD")),
+	loiter_radius			(LOITER_RADIUS,	    		k_param_loiter_radius,					PSTR("WP_LOITER_RAD")),
 	waypoint_speed_max		(WAYPOINT_SPEED_MAX,		k_param_waypoint_speed_max,				PSTR("WP_SPEED_MAX")),
+	crosstrack_gain			(CROSSTRACK_GAIN,			k_param_crosstrack_gain,				PSTR("XTRK_GAIN_SC")),
 
 	throttle_min			(0,							k_param_throttle_min,					PSTR("THR_MIN")),
 	throttle_max			(1000, 						k_param_throttle_max,					PSTR("THR_MAX")),
@@ -345,7 +336,7 @@ public:
     simple_modes            (0,             			k_param_simple_modes,					PSTR("SIMPLE")),
 
 	log_bitmask				(DEFAULT_LOG_BITMASK,		k_param_log_bitmask,					PSTR("LOG_BITMASK")),
-	RTL_altitude			(ALT_HOLD_HOME * 100,		k_param_RTL_altitude,					PSTR("ALT_HOLD_RTL")),
+    log_last_filenumber     (0,							k_param_log_last_filenumber,    		PSTR("LOG_LASTFILE")),
 	esc_calibrate 			(0, 						k_param_esc_calibrate, 					PSTR("ESC")),
 	radio_tuning 			(0, 						k_param_radio_tuning, 					PSTR("TUNE")),
 	frame_orientation 		(FRAME_ORIENTATION, 		k_param_frame_orientation, 				PSTR("FRAME")),
@@ -408,7 +399,6 @@ public:
 
 	pi_alt_hold			(k_param_pi_alt_hold,			PSTR("THR_ALT_"),	THR_HOLD_P,			THR_HOLD_I,			THR_HOLD_IMAX),
 	pi_throttle			(k_param_pi_throttle,			PSTR("THR_RATE_"),	THROTTLE_P,			THROTTLE_I,			THROTTLE_IMAX),
-	pi_crosstrack		(k_param_pi_crosstrack,			PSTR("XTRACK_"),	XTRACK_P,			XTRACK_I,			XTRACK_IMAX),
 
 	pi_acro_roll		(k_param_pi_acro_roll,			PSTR("ACRO_RLL_"),	ACRO_ROLL_P,		ACRO_ROLL_I,		ACRO_ROLL_IMAX * 100),
 	pi_acro_pitch		(k_param_pi_acro_pitch,			PSTR("ACRO_PIT_"),	ACRO_PITCH_P,		ACRO_PITCH_I,		ACRO_PITCH_IMAX * 100),

ArduCopter/commands.pde

@@ -50,7 +50,7 @@ static struct Location get_cmd_with_index(int i)
 	}
 
 	// Add on home altitude if we are a nav command (or other command with altitude) and stored alt is relative
-	//if((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) && temp.options & WP_OPTION_ALT_RELATIVE){
+	//if((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) && temp.options & MASK_OPTIONS_RELATIVE_ALT){
 		//temp.alt += home.alt;
 	//}
 
@@ -65,8 +65,9 @@ static struct Location get_cmd_with_index(int i)
 
 // Setters
 // -------
-static void set_command_with_index(struct Location temp, int i)
+static void set_cmd_with_index(struct Location temp, int i)
 {
+
 	i = constrain(i, 0, g.command_total.get());
 	//Serial.printf("set_command: %d with id: %d\n", i, temp.id);
 
@@ -203,7 +204,7 @@ static void init_home()
 	// Save Home to EEPROM
 	// -------------------
 	// no need to save this to EPROM
-	set_command_with_index(home, 0);
+	set_cmd_with_index(home, 0);
 	print_wp(&home, 0);
 
 	// Save prev loc this makes the calcs look better before commands are loaded

ArduCopter/commands_logic.pde

@@ -222,7 +222,7 @@ static void do_takeoff()
 	Location temp = current_loc;
 
 	// command_nav_queue.alt is a relative altitude!!!
-	if (command_nav_queue.options & WP_OPTION_ALT_RELATIVE) {
+	if (command_nav_queue.options & MASK_OPTIONS_RELATIVE_ALT) {
 		temp.alt = command_nav_queue.alt + home.alt;
 		//Serial.printf("rel alt: %ld",temp.alt);
 	} else {
@@ -242,7 +242,7 @@ static void do_nav_wp()
 	wp_control = WP_MODE;
 
 	// command_nav_queue.alt is a relative altitude!!!
-	if (command_nav_queue.options & WP_OPTION_ALT_RELATIVE) {
+	if (command_nav_queue.options & MASK_OPTIONS_RELATIVE_ALT) {
 		command_nav_queue.alt	+= home.alt;
 	}
 	set_next_WP(&command_nav_queue);
@@ -258,7 +258,7 @@ static void do_nav_wp()
 	loiter_time_max = command_nav_queue.p1 * 1000;
 
 	// if we don't require an altitude minimum, we save this flag as passed (1)
-	if((next_WP.options & WP_OPTION_ALT_REQUIRED) == 0){
+	if((next_WP.options & MASK_OPTIONS_RELATIVE_ALT) == 0){
 		// we don't need to worry about it
 		wp_verify_byte |= NAV_ALTITUDE;
 	}
@@ -383,7 +383,7 @@ static bool verify_land()
 static bool verify_nav_wp()
 {
 	// Altitude checking
-	if(next_WP.options & WP_OPTION_ALT_REQUIRED){
+	if(next_WP.options & MASK_OPTIONS_RELATIVE_ALT){
 		// we desire a certain minimum altitude
 		if (current_loc.alt > next_WP.alt){
 			// we have reached that altitude

ArduCopter/config.h

@@ -71,7 +71,7 @@
 //
 
 #ifndef CH7_OPTION
-# define CH7_OPTION		CH7_SET_HOVER
+# define CH7_OPTION		CH7_SAVE_WP
 #endif
 
 
@@ -343,7 +343,7 @@
 
 // RTL Mode
 #ifndef RTL_YAW
-# define RTL_YAW 			YAW_AUTO
+# define RTL_YAW 			YAW_HOLD
 #endif
 
 #ifndef RTL_RP
@@ -519,7 +519,7 @@
 
 // RATE control
 #ifndef THROTTLE_P
-# define THROTTLE_P		1.0			//
+# define THROTTLE_P		0.5			//
 #endif
 #ifndef THROTTLE_I
 # define THROTTLE_I		0.0			//
@@ -532,24 +532,10 @@
 //////////////////////////////////////////////////////////////////////////////
 // Crosstrack compensation
 //
-#ifndef XTRACK_ENTRY_ANGLE
+#ifndef CROSSTRACK_GAIN
-# define XTRACK_ENTRY_ANGLE   30 // deg
+# define CROSSTRACK_GAIN		4
 #endif
 
-#ifndef XTRACK_P
-# define XTRACK_P		2			// trying a lower val
-#endif
-#ifndef XTRACK_I
-# define XTRACK_I		0.00		//with 4m error, 12.5s windup
-#endif
-#ifndef XTRACK_D
-# define XTRACK_D		0.00		// upped with filter
-#endif
-#ifndef XTRACK_IMAX
-# define XTRACK_IMAX		10
-#endif
-
-
 
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////

ArduCopter/control_modes.pde

@@ -107,7 +107,7 @@ static void read_trim_switch()
 				current_loc.id = MAV_CMD_NAV_WAYPOINT;
 
 				// save command
-				set_command_with_index(current_loc, CH7_wp_index);
+				set_cmd_with_index(current_loc, CH7_wp_index);
 
 				// save the index
 				g.command_total.set_and_save(CH7_wp_index + 1);

ArduCopter/defines.h

@@ -120,6 +120,8 @@
 #define POSITION 8			// AUTO control
 #define NUM_MODES 9
 
+#define INITIALISING 9     // in startup routines
+
 #define SIMPLE_1 1
 #define SIMPLE_2 2
 #define SIMPLE_3 4
@@ -138,7 +140,7 @@
 #define CH6_RATE_KP 4
 #define CH6_RATE_KI 5
 #define	CH6_YAW_RATE_KP 6
-// Altitude
+// Altitude rate controller
 #define CH6_THROTTLE_KP 7
 // Extras
 #define CH6_TOP_BOTTOM_RATIO 8
@@ -149,6 +151,9 @@
 #define CH6_LOITER_P 12
 #define CH6_HELI_EXTERNAL_GYRO 13
 
+// altitude controller
+#define CH6_THR_HOLD_KP 14
+
 // nav byte mask
 // -------------
 #define NAV_LOCATION 1
@@ -166,7 +171,7 @@
 #define CIRCLE_MODE 3
 
 // Waypoint options
-#define WP_OPTION_ALT_RELATIVE 		1
+#define MASK_OPTIONS_RELATIVE_ALT 		1
 #define WP_OPTION_ALT_CHANGE 			2
 #define WP_OPTION_YAW 					4
 #define WP_OPTION_ALT_REQUIRED			8
@@ -236,6 +241,7 @@ enum gcs_severity {
 #define LOG_STARTUP_MSG 		0x0A
 #define LOG_MOTORS_MSG 			0x0B
 #define LOG_OPTFLOW_MSG 		0x0C
+#define LOG_DATA_MSG 			0x0D
 #define LOG_INDEX_MSG			0xF0
 #define MAX_NUM_LOGS			50
 
@@ -332,6 +338,8 @@ enum gcs_severity {
 #define B_LED_PIN 36
 #define C_LED_PIN 35
 
+// RADIANS
+#define RADX100 0.000174533
 
 // EEPROM addresses
 #define EEPROM_MAX_ADDR		4096

ArduCopter/heli.pde

@@ -5,8 +5,8 @@
 #define HELI_SERVO_AVERAGING_DIGITAL 0  // 250Hz
 #define HELI_SERVO_AVERAGING_ANALOG  2  // 125Hz
 
-static float heli_throttle_scaler = 0;
 static bool heli_swash_initialised = false;
+static int heli_throttle_mid = 0;  // throttle mid point in pwm form (i.e. 0 ~ 1000)
 
 // heli_servo_averaging:
 //   0 or 1 = no averaging, 250hz
@@ -19,8 +19,6 @@ static bool heli_swash_initialised = false;
 static void heli_init_swash()
 {
     int i;
-	int tilt_max[CH_3+1];
-	int total_tilt_max = 0;
 
 	// swash servo initialisation
 	g.heli_servo_1.set_range(0,1000);
@@ -38,23 +36,38 @@ static void heli_init_swash()
 	heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90 - g.heli_phase_angle));
 	heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90 - g.heli_phase_angle));
 
-	// collective min / max
+	// ensure g.heli_coll values are reasonable
-	total_tilt_max = 0;
+	if( g.heli_coll_min >= g.heli_coll_max ) {
-	for( i=CH_1; i<=CH_3; i++ ) {
+	    g.heli_coll_min = 1000;
-	    tilt_max[i] = max(abs(heli_rollFactor[i]*g.heli_roll_max), abs(heli_pitchFactor[i]*g.heli_pitch_max))/100;
+		g.heli_coll_max = 2000;
-		total_tilt_max = max(total_tilt_max,tilt_max[i]);
+	}
+	g.heli_coll_mid = constrain(g.heli_coll_mid, g.heli_coll_min, g.heli_coll_max);
+	
+	// servo min/max values
+	if( g.heli_servo_1.get_reverse() ) {
+		g.heli_servo_1.radio_min = 3000 - g.heli_coll_max + (g.heli_servo_1.radio_trim-1500);
+		g.heli_servo_1.radio_max = 3000 - g.heli_coll_min + (g.heli_servo_1.radio_trim-1500);
+	}else{
+		g.heli_servo_1.radio_min = g.heli_coll_min + (g.heli_servo_1.radio_trim-1500);
+		g.heli_servo_1.radio_max = g.heli_coll_max + (g.heli_servo_1.radio_trim-1500);
+	}
+	if( g.heli_servo_2.get_reverse() ) {
+		g.heli_servo_2.radio_min = 3000 - g.heli_coll_max + (g.heli_servo_2.radio_trim-1500);
+		g.heli_servo_2.radio_max = 3000 - g.heli_coll_min + (g.heli_servo_2.radio_trim-1500);
+	}else{
+		g.heli_servo_2.radio_min = g.heli_coll_min + (g.heli_servo_2.radio_trim-1500);
+		g.heli_servo_2.radio_max = g.heli_coll_max + (g.heli_servo_2.radio_trim-1500);
+	}
+	if( g.heli_servo_3.get_reverse() ) {
+		g.heli_servo_3.radio_min = 3000 - g.heli_coll_max + (g.heli_servo_3.radio_trim-1500);
+		g.heli_servo_3.radio_max = 3000 - g.heli_coll_min + (g.heli_servo_3.radio_trim-1500);
+	}else{
+		g.heli_servo_3.radio_min = g.heli_coll_min + (g.heli_servo_3.radio_trim-1500);
+		g.heli_servo_3.radio_max = g.heli_coll_max + (g.heli_servo_3.radio_trim-1500);
 	}
 	
-	// servo min/max values - or should I use set_range?
+	// calculate throttle mid point
-	g.heli_servo_1.radio_min = g.heli_coll_min - tilt_max[CH_1];
+	heli_throttle_mid = (g.heli_coll_mid-g.heli_coll_min)*(1000.0/(g.heli_coll_max-g.heli_coll_min));
-	g.heli_servo_1.radio_max = g.heli_coll_max + tilt_max[CH_1];
-	g.heli_servo_2.radio_min = g.heli_coll_min - tilt_max[CH_2];
-	g.heli_servo_2.radio_max = g.heli_coll_max + tilt_max[CH_2];
-	g.heli_servo_3.radio_min = g.heli_coll_min - tilt_max[CH_3];
-	g.heli_servo_3.radio_max = g.heli_coll_max + tilt_max[CH_3];
-
-	// scaler for changing channel 3 radio input into collective range
-	heli_throttle_scaler = ((float)(g.heli_coll_max - g.heli_coll_min))/1000;
 	
 	// reset the servo averaging
 	for( i=0; i<=3; i++ )
@@ -72,7 +85,7 @@ static void heli_init_swash()
 
 static void heli_move_servos_to_mid()
 {
-	heli_move_swash(0,0,1500,0);
+	heli_move_swash(0,0,500,0);
 }
 
 //
@@ -80,7 +93,7 @@ static void heli_move_servos_to_mid()
 //                 - expected ranges:
 //                       roll : -4500 ~ 4500
 //                       pitch: -4500 ~ 4500
-//                       collective: 1000 ~ 2000
+//                       collective: 0 ~ 1000
 //                       yaw:   -4500 ~ 4500
 //
 static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_out)
@@ -92,6 +105,29 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
 	    // we must be in set-up mode so mark swash as uninitialised
 	    heli_swash_initialised = false;
 		
+		// free up servo ranges
+		if( g.heli_servo_1.get_reverse() ) {
+			g.heli_servo_1.radio_min = 3000 - g.rc_3.radio_max + (g.heli_servo_1.radio_trim-1500);
+			g.heli_servo_1.radio_max = 3000 - g.rc_3.radio_min + (g.heli_servo_1.radio_trim-1500);
+		}else{
+			g.heli_servo_1.radio_min = g.rc_3.radio_min + (g.heli_servo_1.radio_trim-1500);
+			g.heli_servo_1.radio_max = g.rc_3.radio_max + (g.heli_servo_1.radio_trim-1500);
+		}
+		if( g.heli_servo_2.get_reverse() ) {
+			g.heli_servo_2.radio_min = 3000 - g.rc_3.radio_max + (g.heli_servo_2.radio_trim-1500);
+			g.heli_servo_2.radio_max = 3000 - g.rc_3.radio_min + (g.heli_servo_2.radio_trim-1500);
+		}else{
+			g.heli_servo_2.radio_min = g.rc_3.radio_min + (g.heli_servo_2.radio_trim-1500);
+			g.heli_servo_2.radio_max = g.rc_3.radio_max + (g.heli_servo_2.radio_trim-1500);
+		}
+		if( g.heli_servo_3.get_reverse() ) {
+			g.heli_servo_3.radio_min = 3000 - g.rc_3.radio_max + (g.heli_servo_3.radio_trim-1500);
+			g.heli_servo_3.radio_max = 3000 - g.rc_3.radio_min + (g.heli_servo_3.radio_trim-1500);
+		}else{
+			g.heli_servo_3.radio_min = g.rc_3.radio_min + (g.heli_servo_3.radio_trim-1500);
+			g.heli_servo_3.radio_max = g.rc_3.radio_max + (g.heli_servo_3.radio_trim-1500);
+		}
+		
 	}else{  // regular flight mode
 		
 		// check if we need to reinitialise the swash
@@ -102,7 +138,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
 	    // ensure values are acceptable:
 		roll_out = constrain(roll_out, (int)-g.heli_roll_max, (int)g.heli_roll_max);
 		pitch_out = constrain(pitch_out, (int)-g.heli_pitch_max, (int)g.heli_pitch_max);
-		coll_out = constrain(coll_out, (int)g.heli_coll_min, (int)g.heli_coll_max);
+		coll_out = constrain(coll_out, 0, 1000);
 		
 		// rudder feed forward based on collective
 		#if HIL_MODE == HIL_MODE_DISABLED  // don't do rudder feed forward in simulator
@@ -113,9 +149,9 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
 	}
 
 	// swashplate servos
-	g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + coll_out - 1000 + (g.heli_servo_1.radio_trim-1500);
+	g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + coll_out + (g.heli_servo_1.radio_trim-1500);
-	g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + coll_out - 1000 + (g.heli_servo_2.radio_trim-1500);
+	g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + coll_out + (g.heli_servo_2.radio_trim-1500);
-	g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + coll_out - 1000 + (g.heli_servo_3.radio_trim-1500);
+	g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + coll_out + (g.heli_servo_3.radio_trim-1500);
 	g.heli_servo_4.servo_out = yaw_out + yaw_offset;
 
 	// use servo_out to calculate pwm_out and radio_out
@@ -171,8 +207,8 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
 static void init_motors_out()
 {
 	#if INSTANT_PWM == 0
-	ICR5 = 5000;	// 400 hz output 	CH 1, 2, 9
+	ICR5 = 8000;	// 250 hz output 	CH 1, 2, 9
-	ICR1 = 5000;	// 400 hz output	CH 3, 4, 10
+	ICR1 = 8000;	// 250 hz output	CH 3, 4, 10
 	ICR3 = 40000;	// 50 hz output		CH 7, 8, 11
 	#endif
 }
@@ -194,7 +230,7 @@ static void output_motors_armed()
 	g.rc_3.calc_pwm();
 	g.rc_4.calc_pwm();
 
-	heli_move_swash( g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.radio_out, g.rc_4.servo_out );
+	heli_move_swash( g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.servo_out, g.rc_4.servo_out );
 }
 
 // for helis - armed or disarmed we allow servos to move
@@ -212,25 +248,16 @@ static void output_motor_test()
 {
 }
 
-// heli_get_scaled_throttle - user's throttle scaled to collective range
+// heli_angle_boost - adds a boost depending on roll/pitch values
-// input is expected to be in the range of 0~1000 (ie. pwm)
-// also does equivalent of angle_boost
-static int heli_get_scaled_throttle(int throttle)
-{
-    float scaled_throttle = (g.heli_coll_min - 1000) + throttle * heli_throttle_scaler;
-	return scaled_throttle;
-}
-
-// heli_angle_boost - takes servo_out position
-// adds a boost depending on roll/pitch values
 // equivalent of quad's angle_boost function
-// pwm_out value should be 0 ~ 1000
+// throttle value should be 0 ~ 1000
-static int heli_get_angle_boost(int pwm_out)
+static int heli_get_angle_boost(int throttle)
 {
     float angle_boost_factor = cos_pitch_x * cos_roll_x;
 	angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0);
-    int throttle_above_center = max(1000 + pwm_out - g.heli_coll_mid,0);
+	int throttle_above_mid = max(throttle - heli_throttle_mid,0);
-	return pwm_out + throttle_above_center*angle_boost_factor;
+	return throttle + throttle_above_mid*angle_boost_factor;
+	
 }
 
 #endif // HELI_FRAME

ArduCopter/navigation.pde

@@ -67,7 +67,8 @@ static void calc_loiter(int x_error, int y_error)
 	int y_target_speed = g.pi_loiter_lat.get_pi(y_error, dTnav);
 
 	// find the rates:
-	float temp		= radians((float)g_gps->ground_course/100.0);
+	//float temp		= radians((float)g_gps->ground_course/100.0);
+	float temp		= g_gps->ground_course * RADX100;
 
 	#ifdef OPTFLOW_ENABLED
 		// calc the cos of the error to tell how fast we are moving towards the target in cm
@@ -172,7 +173,8 @@ static void calc_nav_rate(int max_speed)
 	}
 
 	// XXX target_angle should be the original  desired target angle!
-	float temp		= radians((target_bearing - g_gps->ground_course)/100.0);
+	//float temp		= radians((target_bearing - g_gps->ground_course)/100.0);
+	float temp 		= (target_bearing - g_gps->ground_course) * RADX100;
 
 	// push us towards the original track
 	update_crosstrack();
@@ -209,8 +211,11 @@ static void update_crosstrack(void)
 	// Crosstrack Error
 	// ----------------
 	if (cross_track_test() < 5000) {	 // If we are too far off or too close we don't do track following
-		crosstrack_error = sin(radians((target_bearing - original_target_bearing) / 100)) * wp_distance;	 // Meters we are off track line
+		float temp = (target_bearing - original_target_bearing) * RADX100;
-		crosstrack_error = constrain(crosstrack_error * 4, -1200, 1200);
+		//radians((target_bearing - original_target_bearing) / 100)
+		crosstrack_error = sin(temp) * wp_distance;	 // Meters we are off track line
+
+		crosstrack_error = constrain(crosstrack_error * g.crosstrack_gain, -1200, 1200);
 	}
 }
 
@@ -225,7 +230,9 @@ static int32_t cross_track_test()
 // nav_roll, nav_pitch
 static void calc_nav_pitch_roll()
 {
-	float temp  	 = radians((float)(9000 - (dcm.yaw_sensor - original_target_bearing))/100.0);
+	float temp	 = (9000l - (dcm.yaw_sensor - original_target_bearing)) * RADX100;
+	//t: 1.5465, t1: -10.9451, t2: 1.5359, t3: 1.5465
+
 	float _cos_yaw_x = cos(temp);
 	float _sin_yaw_y = sin(temp);
 

ArduCopter/radio.pde

@@ -54,11 +54,6 @@ static void init_rc_in()
 
 static void init_rc_out()
 {
-	#if ARM_AT_STARTUP == 1
-		motor_armed = 1;
-	#endif
-
-
 	APM_RC.Init();		// APM Radio initialization
 	init_motors_out();
 
@@ -74,22 +69,42 @@ static void init_rc_out()
 	APM_RC.OutputCh(CH_5, 1500);
 	APM_RC.OutputCh(CH_6, 1500);
 
-	// don't fuss if we are calibrating
-	if(g.esc_calibrate == 1)
-		return;
-
-    if(g.rc_3.radio_min <= 1200){
-        output_min();
-    }
-
 	for(byte i = 0; i < 5; i++){
 		delay(20);
 		read_radio();
 	}
 
-    // sanity check
+    // sanity check - prevent unconfigured radios from outputting
     if(g.rc_3.radio_min >= 1300){
         g.rc_3.radio_min = g.rc_3.radio_in;
+    }
+
+	// we are full throttle
+	if(g.rc_3.control_in == 800){
+		if(g.esc_calibrate == 0){
+			// we will enter esc_calibrate mode on next reboot
+			g.esc_calibrate.set_and_save(1);
+			// send miinimum throttle out to ESC
+			output_min();
+			// block until we restart
+			while(1){
+				//Serial.println("esc");
+				delay(200);
+				dancing_light();
+			}
+		}else{
+			//Serial.println("esc init");
+			// clear esc flag
+			g.esc_calibrate.set_and_save(0);
+			// block until we restart
+	        init_esc();
+		}
+	}else{
+		// did we abort the calibration?
+		if(g.esc_calibrate == 1)
+			g.esc_calibrate.set_and_save(0);
+
+		// send miinimum throttle out to ESC
 		output_min();
 	}
 }

ArduCopter/setup.pde

@@ -16,7 +16,6 @@ static int8_t	setup_compass			(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_tune				(uint8_t argc, const Menu::arg *argv);
 //static int8_t	setup_mag_offset		(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_declination		(uint8_t argc, const Menu::arg *argv);
-static int8_t	setup_esc				(uint8_t argc, const Menu::arg *argv);
 #ifdef OPTFLOW_ENABLED
 static int8_t	setup_optflow			(uint8_t argc, const Menu::arg *argv);
 #endif
@@ -36,7 +35,6 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
 	{"radio",			setup_radio},
 	{"frame",			setup_frame},
 	{"motors",			setup_motors},
-	{"esc",				setup_esc},
 	{"level",			setup_accel},
 	{"modes",			setup_flightmodes},
 	{"battery",			setup_batt_monitor},
@@ -72,9 +70,9 @@ setup_mode(uint8_t argc, const Menu::arg *argv)
 
 	if(g.rc_1.radio_min >= 1300){
 		delay(1000);
-		Serial.printf_P(PSTR("\n!Warning, your radio is not configured!"));
+		Serial.printf_P(PSTR("\n!Warning, radio not configured!"));
 		delay(1000);
-		Serial.printf_P(PSTR("\n Type 'radio' to configure now.\n\n"));
+		Serial.printf_P(PSTR("\n Type 'radio' now.\n\n"));
 	}
 
 	// Run the setup menu.  When the menu exits, we will return to the main menu.
@@ -122,7 +120,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
 {
 	int c;
 
-	Serial.printf_P(PSTR("\n'Y' + Enter to factory reset, any other key to abort:\n"));
+	Serial.printf_P(PSTR("\n'Y' = factory reset, any other key to abort:\n"));
 
 	do {
 		c = Serial.read();
@@ -192,7 +190,7 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
 	g.rc_8.radio_trim = 1500;
 
 
-	Serial.printf_P(PSTR("\nMove all controls to each extreme. Hit Enter to save: "));
+	Serial.printf_P(PSTR("\nMove all controls to extremes. Enter to save: "));
 	while(1){
 
 		delay(20);
@@ -230,29 +228,6 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
 	return(0);
 }
 
-static int8_t
-setup_esc(uint8_t argc, const Menu::arg *argv)
-{
-	Serial.printf_P(PSTR("\nESC Calibration:\n"
-						"-1 Unplug USB and battery\n"
-						"-2 Move CLI/FLY switch to FLY mode\n"
-						"-3 Move throttle to max, connect battery\n"
-						"-4 After two long beeps, throttle to 0, then test\n\n"
-						" Press Enter to cancel.\n"));
-
-
-	g.esc_calibrate.set_and_save(1);
-
-	while(1){
-		delay(20);
-
-		if(Serial.available() > 0){
-			g.esc_calibrate.set_and_save(0);
-			return(0);
-		}
-	}
-}
-
 static int8_t
 setup_motors(uint8_t argc, const Menu::arg *argv)
 {
@@ -288,7 +263,7 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
 	} else if (!strcmp_P(argv[1].str, PSTR("v"))) {
 		g.frame_orientation.set_and_save(V_FRAME);
 	}else{
-		Serial.printf_P(PSTR("\nOptions:[x,+,v]\n"));
+		Serial.printf_P(PSTR("\nOp:[x,+,v]\n"));
 		report_frame();
 		return 0;
 	}
@@ -304,7 +279,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 	byte _oldSwitchPosition = 0;
 	byte mode = 0;
 
-	Serial.printf_P(PSTR("\nMove mode switch to edit, aileron: select modes, rudder: Simple on/off\n"));
+	Serial.printf_P(PSTR("\nMode switch to edit, aileron: select modes, rudder: Simple on/off\n"));
 	print_hit_enter();
 
 	while(1){
@@ -406,7 +381,7 @@ setup_compass(uint8_t argc, const Menu::arg *argv)
 		g.compass_enabled.set_and_save(false);
 
 	}else{
-		Serial.printf_P(PSTR("\nOptions:[on,off]\n"));
+		Serial.printf_P(PSTR("\nOp:[on,off]\n"));
 		report_compass();
 		return 0;
 	}
@@ -426,7 +401,7 @@ setup_batt_monitor(uint8_t argc, const Menu::arg *argv)
 		g.battery_monitoring.set_and_save(argv[1].i);
 
 	} else {
-		Serial.printf_P(PSTR("\nOptions: off, 1-4"));
+		Serial.printf_P(PSTR("\nOp: off, 1-4"));
 	}
 
 	report_batt_monitor();
@@ -443,7 +418,7 @@ setup_sonar(uint8_t argc, const Menu::arg *argv)
 		g.sonar_enabled.set_and_save(false);
 
 	}else{
-		Serial.printf_P(PSTR("\nOptions:[on, off]\n"));
+		Serial.printf_P(PSTR("\nOp:[on, off]\n"));
 		report_sonar();
 		return 0;
 	}
@@ -691,7 +666,7 @@ setup_gyro(uint8_t argc, const Menu::arg *argv)
 		g.heli_ext_gyro_gain.save();
 
 	}else{
-		Serial.printf_P(PSTR("\nOptions:[on, off] gain\n"));
+		Serial.printf_P(PSTR("\nOp:[on, off] gain\n"));
 	}
 
 	report_gyro();
@@ -783,7 +758,7 @@ setup_optflow(uint8_t argc, const Menu::arg *argv)
 		g.optflow_enabled = false;
 
 	}else{
-		Serial.printf_P(PSTR("\nOptions:[on, off]\n"));
+		Serial.printf_P(PSTR("\nOp:[on, off]\n"));
 		report_optflow();
 		return 0;
 	}
@@ -801,12 +776,12 @@ setup_optflow(uint8_t argc, const Menu::arg *argv)
 
 static void report_batt_monitor()
 {
-	Serial.printf_P(PSTR("\nBatt Mointor\n"));
+	Serial.printf_P(PSTR("\nBatt Mon:\n"));
 	print_divider();
 	if(g.battery_monitoring == 0)	print_enabled(false);
-	if(g.battery_monitoring == 1)	Serial.printf_P(PSTR("3 cells"));
+	if(g.battery_monitoring == 1)	Serial.printf_P(PSTR("3c"));
-	if(g.battery_monitoring == 2)	Serial.printf_P(PSTR("4 cells"));
+	if(g.battery_monitoring == 2)	Serial.printf_P(PSTR("4c"));
-	if(g.battery_monitoring == 3)	Serial.printf_P(PSTR("batt volts"));
+	if(g.battery_monitoring == 3)	Serial.printf_P(PSTR("volts"));
 	if(g.battery_monitoring == 4)	Serial.printf_P(PSTR("volts and cur"));
 	print_blanks(2);
 }
@@ -897,7 +872,7 @@ static void report_compass()
 	Vector3f offsets = compass.get_offsets();
 
 	// mag offsets
-	Serial.printf_P(PSTR("Mag offsets: %4.4f, %4.4f, %4.4f"),
+	Serial.printf_P(PSTR("Mag off: %4.4f, %4.4f, %4.4f"),
 							offsets.x,
 							offsets.y,
 							offsets.z);
@@ -964,7 +939,7 @@ static void report_heli()
 static void report_gyro()
 {
 
-	Serial.printf_P(PSTR("External Gyro:\n"));
+	Serial.printf_P(PSTR("Gyro:\n"));
 	print_divider();
 
 	print_enabled( g.heli_ext_gyro_enabled );
@@ -1018,7 +993,7 @@ print_switch(byte p, byte m, bool b)
 static void
 print_done()
 {
-	Serial.printf_P(PSTR("\nSaved Settings\n\n"));
+	Serial.printf_P(PSTR("\nSaved\n"));
 }
 
 
@@ -1038,7 +1013,7 @@ static void zero_eeprom(void)
 static void
 print_accel_offsets(void)
 {
-	Serial.printf_P(PSTR("Accel offsets: %4.2f, %4.2f, %4.2f\n"),
+	Serial.printf_P(PSTR("A_off: %4.2f, %4.2f, %4.2f\n"),
 						(float)imu.ax(),
 						(float)imu.ay(),
 						(float)imu.az());
@@ -1047,7 +1022,7 @@ print_accel_offsets(void)
 static void
 print_gyro_offsets(void)
 {
-	Serial.printf_P(PSTR("Gyro offsets: %4.2f, %4.2f, %4.2f\n"),
+	Serial.printf_P(PSTR("G_off: %4.2f, %4.2f, %4.2f\n"),
 						(float)imu.gx(),
 						(float)imu.gy(),
 						(float)imu.gz());
@@ -1122,7 +1097,6 @@ static void print_enabled(boolean b)
 static void
 init_esc()
 {
-	g.esc_calibrate.set_and_save(0);
 	while(1){
 		read_radio();
 		delay(100);
@@ -1147,7 +1121,7 @@ static void print_wp(struct Location *cmd, byte index)
 	float t1 = (float)cmd->lat / t7;
 	float t2 = (float)cmd->lng / t7;
 
-	Serial.printf_P(PSTR("scommand #: %d id:%d op:%d p1:%d p2:%ld p3:%4.7f p4:%4.7f \n"),
+	Serial.printf_P(PSTR("cmd#: %d id:%d op:%d p1:%d p2:%ld p3:%4.7f p4:%4.7f \n"),
 		(int)index,
 		(int)cmd->id,
 		(int)cmd->options,
@@ -1167,7 +1141,7 @@ static void report_gps()
 
 static void report_version()
 {
-	Serial.printf_P(PSTR("FW Version %d\n"),(int)g.format_version.get());
+	Serial.printf_P(PSTR("FW Ver: %d\n"),(int)g.format_version.get());
 	print_divider();
 	print_blanks(2);
 }

ArduCopter/system.pde

@@ -184,6 +184,7 @@ static void init_ardupilot()
 
 	init_rc_in();		// sets up rc channels from radio
 	init_rc_out();		// sets up the timer libs
+
 	init_camera();
 
 	#if HIL_MODE != HIL_MODE_ATTITUDE
@@ -217,9 +218,7 @@ static void init_ardupilot()
 #ifdef USERHOOK_INIT
    USERHOOK_INIT
 #endif
-	// Logging:
+
-	// --------
-	// DataFlash log initialization
 	#if LOGGING_ENABLED == ENABLED
 	DataFlash.Init();
 	#endif
@@ -237,20 +236,16 @@ static void init_ardupilot()
         run_cli();
 	}
 #else
-    Serial.printf_P(PSTR("\nPress ENTER 3 times to start interactive setup\n\n"));
+    Serial.printf_P(PSTR("\nPress ENTER 3 times for CLI\n\n"));
 #endif // CLI_ENABLED
 
-    if(g.esc_calibrate == 1){
+	#if LOGGING_ENABLED == ENABLED
-        init_esc();
-    }
-
-	// Logging:
-	// --------
 	if(g.log_bitmask != 0){
 		//	TODO - Here we will check  on the length of the last log
 		//  We don't want to create a bunch of little logs due to powering on and off
 		start_new_log();
 	}
+	#endif
 
     GPS_enabled = false;
 
@@ -311,6 +306,10 @@ static void init_ardupilot()
 	startup_ground();
 
 	Log_Write_Startup();
+	Log_Write_Data(10, g.pi_stabilize_roll.kP());
+	Log_Write_Data(11, g.pi_stabilize_pitch.kP());
+	Log_Write_Data(12, g.pi_rate_roll.kP());
+	Log_Write_Data(13, g.pi_rate_pitch.kP());
 
 	SendDebug("\nReady to FLY ");
 }
@@ -359,6 +358,13 @@ static void set_mode(byte mode)
 		return;
 	}
 
+	// if we don't have GPS lock
+	if(home_is_set == false){
+		// our max mode should be
+		if (mode > ALT_HOLD)
+			mode = STABILIZE;
+	}
+
 	old_control_mode = control_mode;
 
 	control_mode = mode;

ArduCopter/test.pde

@@ -4,13 +4,13 @@
 
 // These are function definitions so the Menu can be constructed before the functions
 // are defined below. Order matters to the compiler.
-static int8_t	test_radio_pwm(uint8_t argc, 	const Menu::arg *argv);
+//static int8_t	test_radio_pwm(uint8_t argc, 	const Menu::arg *argv);
 static int8_t	test_radio(uint8_t argc, 		const Menu::arg *argv);
 //static int8_t	test_failsafe(uint8_t argc, 	const Menu::arg *argv);
 //static int8_t	test_stabilize(uint8_t argc, 	const Menu::arg *argv);
 static int8_t	test_gps(uint8_t argc, 			const Menu::arg *argv);
-static int8_t	test_tri(uint8_t argc, 			const Menu::arg *argv);
+//static int8_t	test_tri(uint8_t argc, 			const Menu::arg *argv);
-static int8_t	test_adc(uint8_t argc, 			const Menu::arg *argv);
+//static int8_t	test_adc(uint8_t argc, 			const Menu::arg *argv);
 static int8_t	test_imu(uint8_t argc, 			const Menu::arg *argv);
 //static int8_t	test_dcm(uint8_t argc, 			const Menu::arg *argv);
 //static int8_t	test_omega(uint8_t argc, 		const Menu::arg *argv);
@@ -21,7 +21,7 @@ static int8_t	test_battery(uint8_t argc, 		const Menu::arg *argv);
 //static int8_t	test_reverse(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_tuning(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_current(uint8_t argc, 		const Menu::arg *argv);
-static int8_t	test_relay(uint8_t argc,	 	const Menu::arg *argv);
+//static int8_t	test_relay(uint8_t argc,	 	const Menu::arg *argv);
 static int8_t	test_wp(uint8_t argc, 			const Menu::arg *argv);
 static int8_t	test_baro(uint8_t argc, 		const Menu::arg *argv);
 //static int8_t	test_mag(uint8_t argc, 			const Menu::arg *argv);
@@ -54,22 +54,22 @@ static int8_t	test_rawgps(uint8_t argc, 		const Menu::arg *argv);
 // User enters the string in the console to call the functions on the right.
 // See class Menu in AP_Coommon for implementation details
 const struct Menu::command test_menu_commands[] PROGMEM = {
-	{"pwm",			test_radio_pwm},
+//	{"pwm",			test_radio_pwm},
 	{"radio",		test_radio},
 //	{"failsafe",	test_failsafe},
 //	{"stabilize",	test_stabilize},
 	{"gps",			test_gps},
 #if HIL_MODE != HIL_MODE_ATTITUDE
-	{"adc", 		test_adc},
+//	{"adc", 		test_adc},
 #endif
 	{"imu",			test_imu},
 	//{"dcm",			test_dcm},
 	//{"omega",		test_omega},
 	{"battery",		test_battery},
 	{"tune",		test_tuning},
-	{"tri",			test_tri},
+	//{"tri",			test_tri},
 	{"current",		test_current},
-	{"relay",		test_relay},
+//	{"relay",		test_relay},
 	{"wp",			test_wp},
 	//{"nav",			test_nav},
 #if HIL_MODE != HIL_MODE_ATTITUDE
@@ -82,7 +82,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 #endif
 	//{"xbee",		test_xbee},
 	{"eedump",		test_eedump},
-	{"rawgps",		test_rawgps},
+//	{"rawgps",		test_rawgps},
 //	{"mission",		test_mission},
 	//{"reverse",		test_reverse},
 	//{"wp",			test_wp_nav},
@@ -114,8 +114,8 @@ test_eedump(uint8_t argc, const Menu::arg *argv)
 	return(0);
 }
 
-static int8_t
+/*static int8_t
-test_radio_pwm(uint8_t argc, const Menu::arg *argv)
+//test_radio_pwm(uint8_t argc, const Menu::arg *argv)
 {
 	print_hit_enter();
 	delay(1000);
@@ -144,10 +144,10 @@ test_radio_pwm(uint8_t argc, const Menu::arg *argv)
 			return (0);
 		}
 	}
-}
+}*/
 
-static int8_t
+/*static int8_t
-test_tri(uint8_t argc, const Menu::arg *argv)
+//test_tri(uint8_t argc, const Menu::arg *argv)
 {
 	print_hit_enter();
 	delay(1000);
@@ -171,11 +171,11 @@ test_tri(uint8_t argc, const Menu::arg *argv)
 			return (0);
 		}
 	}
-}
+}*/
 
 /*
 static int8_t
-test_nav(uint8_t argc, const Menu::arg *argv)
+//test_nav(uint8_t argc, const Menu::arg *argv)
 {
 	print_hit_enter();
 	delay(1000);
@@ -248,7 +248,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
 
 /*
 static int8_t
-test_failsafe(uint8_t argc, const Menu::arg *argv)
+//test_failsafe(uint8_t argc, const Menu::arg *argv)
 {
 
 	#if THROTTLE_FAILSAFE
@@ -303,7 +303,7 @@ test_failsafe(uint8_t argc, const Menu::arg *argv)
 */
 
 /*static int8_t
-test_stabilize(uint8_t argc, const Menu::arg *argv)
+//test_stabilize(uint8_t argc, const Menu::arg *argv)
 {
 	static byte ts_num;
 
@@ -390,9 +390,10 @@ test_stabilize(uint8_t argc, const Menu::arg *argv)
 	}
 }
 */
-#if HIL_MODE != HIL_MODE_ATTITUDE
+
+/*#if HIL_MODE != HIL_MODE_ATTITUDE
 static int8_t
-test_adc(uint8_t argc, const Menu::arg *argv)
+//test_adc(uint8_t argc, const Menu::arg *argv)
 {
 	print_hit_enter();
 	Serial.printf_P(PSTR("ADC\n"));
@@ -410,6 +411,7 @@ test_adc(uint8_t argc, const Menu::arg *argv)
 	}
 }
 #endif
+*/
 
 static int8_t
 test_imu(uint8_t argc, const Menu::arg *argv)
@@ -709,8 +711,9 @@ test_current(uint8_t argc, const Menu::arg *argv)
 	}
 }
 
+/*
 static int8_t
-test_relay(uint8_t argc, const Menu::arg *argv)
+//test_relay(uint8_t argc, const Menu::arg *argv)
 {
 	print_hit_enter();
 	delay(1000);
@@ -731,7 +734,7 @@ test_relay(uint8_t argc, const Menu::arg *argv)
 		}
 	}
 }
-
+*/
 static int8_t
 test_wp(uint8_t argc, const Menu::arg *argv)
 {
@@ -754,7 +757,7 @@ test_wp(uint8_t argc, const Menu::arg *argv)
 	return (0);
 }
 
-static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv) {
+//static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv) {
 	/*
    print_hit_enter();
    delay(1000);
@@ -774,10 +777,10 @@ static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv) {
      }
    }
    */
- }
+ //}
 
 /*static int8_t
-test_xbee(uint8_t argc, const Menu::arg *argv)
+//test_xbee(uint8_t argc, const Menu::arg *argv)
 {
 	print_hit_enter();
 	delay(1000);
@@ -823,7 +826,7 @@ test_baro(uint8_t argc, const Menu::arg *argv)
 
 /*
 static int8_t
-test_mag(uint8_t argc, const Menu::arg *argv)
+//test_mag(uint8_t argc, const Menu::arg *argv)
 {
 	if(g.compass_enabled) {
 		//Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION);
@@ -854,7 +857,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
 */
 /*
 static int8_t
-test_reverse(uint8_t argc, 		const Menu::arg *argv)
+//test_reverse(uint8_t argc, 		const Menu::arg *argv)
 {
 	print_hit_enter();
 	delay(1000);
@@ -952,7 +955,7 @@ test_optflow(uint8_t argc, const Menu::arg *argv)
 
 /*
 static int8_t
-test_mission(uint8_t argc, const Menu::arg *argv)
+//test_mission(uint8_t argc, const Menu::arg *argv)
 {
 	//write out a basic mission to the EEPROM
 
@@ -967,38 +970,38 @@ test_mission(uint8_t argc, const Menu::arg *argv)
 
 	// clear home
 	{Location t = {0,   	0,      0, 		0, 		0, 			0};
-	set_command_with_index(t,0);}
+	set_cmd_with_index(t,0);}
 
 	// CMD										opt						pitch   	alt/cm
 	{Location t = {MAV_CMD_NAV_TAKEOFF,   		WP_OPTION_RELATIVE,      0, 		100, 		0, 			0};
-	set_command_with_index(t,1);}
+	set_cmd_with_index(t,1);}
 
 	if (!strcmp_P(argv[1].str, PSTR("wp"))) {
 
 		// CMD											opt
 		{Location t = {MAV_CMD_NAV_WAYPOINT,  			WP_OPTION_RELATIVE,		15, 0, 0, 0};
-		set_command_with_index(t,2);}
+		set_cmd_with_index(t,2);}
 		// CMD											opt
 		{Location t = {MAV_CMD_NAV_RETURN_TO_LAUNCH,   	WP_OPTION_YAW,      0, 		0, 		0,		0};
-		set_command_with_index(t,3);}
+		set_cmd_with_index(t,3);}
 
 		// CMD											opt
 		{Location t = {MAV_CMD_NAV_LAND,				0,      0, 		0, 		0,		0};
-		set_command_with_index(t,4);}
+		set_cmd_with_index(t,4);}
 
 	} else {
 		//2250 = 25 meteres
 		// CMD										opt		p1		//alt		//NS		//WE
 		{Location t = {MAV_CMD_NAV_LOITER_TIME,   	0,      10,  	0, 			0,			0}; // 19
-		set_command_with_index(t,2);}
+		set_cmd_with_index(t,2);}
 
 		// CMD										opt		dir		angle/deg	deg/s	relative
 		{Location t = {MAV_CMD_CONDITION_YAW,		0,      1, 		360, 		60, 	1};
-		set_command_with_index(t,3);}
+		set_cmd_with_index(t,3);}
 
 		// CMD										opt
 		{Location t = {MAV_CMD_NAV_LAND,			0,      0, 		0, 			0, 		0};
-		set_command_with_index(t,4);}
+		set_cmd_with_index(t,4);}
 
 	}
 
@@ -1017,7 +1020,7 @@ static void print_hit_enter()
 }
 
 /*
-static void fake_out_gps()
+//static void fake_out_gps()
 {
 	static float rads;
 	g_gps->new_data 	= true;
@@ -1040,7 +1043,7 @@ static void fake_out_gps()
 
 */
 /*
-static void print_motor_out(){
+//static void print_motor_out(){
 	Serial.printf("out: R: %d,  L: %d  F: %d  B: %d\n",
 				(motor_out[CH_1] 	- g.rc_3.radio_min),
 				(motor_out[CH_2] 	- g.rc_3.radio_min),

ArduPlane/APM_Config.h

@@ -36,4 +36,3 @@
 #define AIRSPEED_CRUISE     25
 #define THROTTLE_FAILSAFE   ENABLED
 */
-#define GPS_PROTOCOL GPS_NONE

ArduPlane/ArduPlane.pde

@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "ArduPlane V2.251"
+#define THISFIRMWARE "ArduPlane V2.26"
 /*
 Authors:    Doug Weibel, Jose Julio, Jordi Munoz, Jason Short
 Thanks to:  Chris Anderson, HappyKillMore, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi

ArduPlane/GCS_Mavlink.pde

@@ -409,7 +409,7 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
         (float)airspeed / 100.0,
         (float)g_gps->ground_speed / 100.0,
         (dcm.yaw_sensor / 100) % 360,
-        (int)g.channel_throttle.servo_out,
+        (uint16_t)(100 * g.channel_throttle.norm_output()),
         current_loc.alt / 100.0,
         0);
 }

ArduPlane/Log.pde

@@ -19,17 +19,17 @@ static int8_t	select_logs(uint8_t argc, 		const Menu::arg *argv);
 // This is the help function
 // PSTR is an AVR macro to read strings from flash memory
 // printf_P is a version of print_f that reads from flash memory
-static int8_t	help_log(uint8_t argc, 			const Menu::arg *argv)
+//static int8_t	help_log(uint8_t argc, 			const Menu::arg *argv)
-{
+/*{
 	Serial.printf_P(PSTR("\n"
 						 "Commands:\n"
-						 "  dump <n>             dump log <n>\n"
+						 "  dump <n>"
-						 "  erase                erase all logs\n"
+						 "  erase (all logs)\n"
-						 "  enable <name>|all    enable logging <name> or everything\n"
+						 "  enable <name> | all\n"
-						 "  disable <name>|all   disable logging <name> or everything\n"
+						 "  disable <name> | all\n"
 						 "\n"));
     return 0;
-}
+}*/
 
 // Creates a constant array of structs representing menu options
 // and stores them in Flash memory, not RAM.
@@ -39,8 +39,7 @@ static const struct Menu::command log_menu_commands[] PROGMEM = {
 	{"dump",	dump_log},
 	{"erase",	erase_logs},
 	{"enable",	select_logs},
-	{"disable",	select_logs},
+	{"disable",	select_logs}
-	{"help",	help_log}
 };
 
 // A Macro to create the Menu
@@ -54,10 +53,11 @@ print_log_menu(void)
 	int log_start;
 	int log_end;
 	int temp;	
+	
 	uint16_t num_logs = get_num_logs();
-//Serial.print("num logs: ");	Serial.println(num_logs, DEC);
 
 	Serial.printf_P(PSTR("logs enabled: "));
+
 	if (0 == g.log_bitmask) {
 		Serial.printf_P(PSTR("none"));
 	}else{
@@ -78,18 +78,18 @@ print_log_menu(void)
 		PLOG(CUR);
 		#undef PLOG
 	}
+
 	Serial.println();
 
 	if (num_logs == 0) {
-		Serial.printf_P(PSTR("\nNo logs available for download\n"));
+		Serial.printf_P(PSTR("\nNo logs\n\n"));
 	}else{
+		Serial.printf_P(PSTR("\n%d logs\n"), num_logs);
 
-		Serial.printf_P(PSTR("\n%d logs available for download\n"), num_logs);
 		for(int i=num_logs;i>=1;i--) {
 			temp = g.log_last_filenumber-i+1;
 			get_log_boundaries(temp, log_start, log_end);
-			Serial.printf_P(PSTR("Log number %d,    start page %d,   end page %d\n"),
+			Serial.printf_P(PSTR("Log %d,    start %d,   end %d\n"), temp, log_start, log_end);
-							temp, log_start, log_end);
 		}
 		Serial.println();
 	}
@@ -109,17 +109,18 @@ dump_log(uint8_t argc, const Menu::arg *argv)
 	last_log_num = g.log_last_filenumber;
 	if ((argc != 2) || (dump_log <= (last_log_num - get_num_logs())) || (dump_log > last_log_num)) {
 		Serial.printf_P(PSTR("bad log number\n"));
+		Log_Read(0, 4095);
 		return(-1);
 	}
 
 	get_log_boundaries(dump_log, dump_log_start, dump_log_end);
-	Serial.printf_P(PSTR("Dumping Log number %d,    start page %d,   end page %d\n"),
+	Serial.printf_P(PSTR("Dumping Log %d,    start pg %d,   end pg %d\n"),
 				  dump_log,
 				  dump_log_start,
 				  dump_log_end);
 
 	Log_Read(dump_log_start, dump_log_end);
-	Serial.printf_P(PSTR("Log read complete\n"));
+	Serial.printf_P(PSTR("Done\n"));
     return 0;
 }
 
@@ -204,6 +205,7 @@ static byte get_num_logs(void)
 	if(g.log_last_filenumber < 1) return 0;
 
 	DataFlash.StartRead(1);
+	
 	if(DataFlash.GetFileNumber() == 0XFFFF) return 0;
 
 	lastpage = find_last();
@@ -211,7 +213,7 @@ static byte get_num_logs(void)
 	last = DataFlash.GetFileNumber();
 	DataFlash.StartRead(lastpage + 2);
 	first = DataFlash.GetFileNumber();
-	if(first == 0xFFFF) {
+	if(first > last) {
 		DataFlash.StartRead(1);
 		first = DataFlash.GetFileNumber();
 	}
@@ -285,125 +287,120 @@ static int find_last(void)
 // This function finds the last page of a particular log file
 static int find_last_log_page(uint16_t log_number)
 {
-	int16_t bottom_page;
-	int16_t top_page;
-	int16_t bottom_page_file;
-	int16_t bottom_page_filepage;
-	int16_t top_page_file;
-	int16_t top_page_filepage;
-	int16_t look_page;
-	int16_t look_page_file;
-	int16_t look_page_filepage;
-	int16_t check;
-	bool	XLflag = false;
 
-	// First see if the logs are empty
+	uint16_t bottom_page;
-	DataFlash.StartRead(1);
+	uint16_t bottom_page_file;
-	if(DataFlash.GetFileNumber() == 0XFFFF) {
+	uint16_t bottom_page_filepage;
+	uint16_t top_page;
+	uint16_t top_page_file;
+	uint16_t top_page_filepage;
+	uint16_t look_page;
+	uint16_t look_page_file;
+	uint16_t look_page_filepage;
+
+	bottom_page = 1;
+	DataFlash.StartRead(bottom_page);
+	bottom_page_file = DataFlash.GetFileNumber();
+	bottom_page_filepage = DataFlash.GetFilePage();
+	
+	// First see if the logs are empty.  If so we will exit right away.
+	if(bottom_page_file == 0XFFFF) {
 	return 0;
 	}
 	
-	// Next, see if logs wrap the top of the dataflash
-	DataFlash.StartRead(DF_LAST_PAGE);
-	if(DataFlash.GetFileNumber() == 0xFFFF)
-	{
-	// This case is that we have not wrapped the top of the dataflash	
 	top_page = DF_LAST_PAGE;
-		bottom_page = 1;
-		while((top_page - bottom_page) > 1) {
-			look_page = (top_page + bottom_page) / 2;
-			DataFlash.StartRead(look_page);
-			if(DataFlash.GetFileNumber() > log_number)
-				top_page = look_page;
-			else 
-				bottom_page = look_page;
-		}
-		 return bottom_page;
-		 
-	} else {
-	// The else case is that the logs do wrap the top of the dataflash
-		bottom_page = 1;
-		top_page = DF_LAST_PAGE;
-		DataFlash.StartRead(bottom_page);
-		bottom_page_file = DataFlash.GetFileNumber();
-		bottom_page_filepage = DataFlash.GetFilePage();
 	DataFlash.StartRead(top_page);
 	top_page_file = DataFlash.GetFileNumber();
 	top_page_filepage = DataFlash.GetFilePage();
 
-		// Check is we have exactly filled the dataflash but not wrapped.  If so we can exit quickly.
-		if(top_page_file == log_number && bottom_page_file != log_number) {
-		return top_page_file;
-		}
-		
-		// Check if the top is 1 file higher than we want.  If so we can exit quickly.
-		if(top_page_file == log_number+1) {
-		return top_page - top_page_filepage;
-		}
-		
-		// Check if the file has partially overwritten itself
-		if(top_page_filepage >= DF_LAST_PAGE) {
-			XLflag = true;
-		} else {
-			top_page = top_page - top_page_filepage;
-			DataFlash.StartRead(top_page);
-			top_page_file = DataFlash.GetFileNumber();
-		}
-		if(top_page_file == log_number) {
-			bottom_page = top_page;
-			top_page = DF_LAST_PAGE;
-			DataFlash.StartRead(top_page);
-			top_page_filepage = DataFlash.GetFilePage();
-			if(XLflag) bottom_page = 1;
 
 	while((top_page - bottom_page) > 1) {
-				look_page = (top_page + bottom_page) / 2;
+		look_page = ((long)top_page + (long)bottom_page) / 2L;
+	
 		DataFlash.StartRead(look_page);
-				if(DataFlash.GetFilePage() < top_page_filepage)
+		look_page_file = DataFlash.GetFileNumber();
-				{
+		look_page_filepage = DataFlash.GetFilePage();
+		
+		// We have a lot of different logic cases dependant on if the log space is overwritten
+		// and where log breaks might occur relative to binary search points.
+		// Someone could make work up a logic table and simplify this perhaps, or perhaps
+		// it is easier to interpret as is.
+		
+		if (look_page_file == 0xFFFF) {
 			top_page = look_page;
-					top_page_filepage = DataFlash.GetFilePage();
+			top_page_file = look_page_file;
-				} else { 
+			top_page_filepage = look_page_filepage;
+			
+		} else if (look_page_file == log_number && bottom_page_file == log_number && top_page_file == log_number) {
+		// This case is typical if a single file fills the log and partially overwrites itself
+			if (bottom_page_filepage < top_page_filepage) {
 				bottom_page = look_page;
-				}
+				bottom_page_file = look_page_file;
-			}
+				bottom_page_filepage = look_page_filepage;
-			return bottom_page;
+			} else {
-		}
-		
-
-		// Step down through the files to find the one we want
-		bottom_page = top_page;
-		bottom_page_filepage = top_page_filepage;
-		do
-		{
-			top_page = bottom_page;
-			bottom_page = bottom_page - bottom_page_filepage;
-			if(bottom_page < 1) bottom_page = 1;
-			DataFlash.StartRead(bottom_page);
-			bottom_page_file = DataFlash.GetFileNumber();
-			bottom_page_filepage = DataFlash.GetFilePage();
-		} while (bottom_page_file != log_number && bottom_page != 1);
-		
-		// Deal with stepping down too far due to overwriting a file
-		while((top_page - bottom_page) > 1) {
-			look_page = (top_page + bottom_page) / 2;
-			DataFlash.StartRead(look_page);
-			if(DataFlash.GetFileNumber() < log_number)
 				top_page = look_page;
+				top_page_file = look_page_file;
+				top_page_filepage = look_page_filepage;
+			}
+			
+		} else if (look_page_file == log_number && look_page_file ==bottom_page_file) {
+			if (bottom_page_filepage < look_page_filepage) {
+				bottom_page = look_page;
+				bottom_page_file = look_page_file;
+				bottom_page_filepage = look_page_filepage;
+			} else {
+				top_page = look_page;
+				top_page_file = look_page_file;
+				top_page_filepage = look_page_filepage;
+			}
+			
+		} else if (look_page_file == log_number) {
+			bottom_page = look_page;
+			bottom_page_file = look_page_file;
+			bottom_page_filepage = look_page_filepage;
+			
+		} else if(look_page_file < log_number && bottom_page_file > look_page_file && bottom_page_file <= log_number) {
+			top_page = look_page;
+			top_page_file = look_page_file;
+			top_page_filepage = look_page_filepage;
+		} else if(look_page_file < log_number) {
+			bottom_page = look_page;
+			bottom_page_file = look_page_file;
+			bottom_page_filepage = look_page_filepage;
+			
+		} else if(look_page_file > log_number && top_page_file < look_page_file && top_page_file >= log_number) {
+			bottom_page = look_page;
+			bottom_page_file = look_page_file;
+			bottom_page_filepage = look_page_filepage;
+		} else {
+			top_page = look_page;
+			top_page_file = look_page_file;
+			top_page_filepage = look_page_filepage;
+		}
+		
+	// End while
+	}
+	
+	if (bottom_page_file == log_number && top_page_file == log_number) {
+		if( bottom_page_filepage < top_page_filepage)
+			return top_page;
 		else
-				bottom_page = look_page;
-		}
-		
-		// The -1 return is for the case where a very short power up increments the log
-		// number counter but no log file is actually created.  This happens if power is 
-		// removed before the first page is written to flash.
-		if(bottom_page ==1 && DataFlash.GetFileNumber() != log_number) return -1;
-		
 			return bottom_page;
+	} else if (bottom_page_file == log_number) {
+		return bottom_page;
+	} else if (top_page_file == log_number) {
+		return top_page;
+	} else {
+		return -1;
 	}
+	
 }
 	
 
+
+
+
+
 // Write an attitude packet. Total length : 10 bytes
 static void Log_Write_Attitude(int log_roll, int log_pitch, uint16_t log_yaw)
 {
@@ -754,6 +751,7 @@ static int Log_Read_Process(int start_page, int end_page)
 	DataFlash.StartRead(start_page);
 	while (page < end_page && page != -1){
 		data = DataFlash.ReadByte();
+
 		switch(log_step)		 // This is a state machine to read the packets
 			{
 			case 0:

ArduPlane/system.pde

@@ -286,20 +286,6 @@ static void startup_ground(void)
 	// ---------------------------
 	trim_radio();		// This was commented out as a HACK.  Why?  I don't find a problem.
 
-#if HIL_MODE != HIL_MODE_ATTITUDE
-if (g.airspeed_enabled == true)
-   {
-	// initialize airspeed sensor
-	// --------------------------
-	zero_airspeed();
-	gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> zero airspeed calibrated"));
-   }
-else
-  {
-	gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> NO airspeed"));
-  }
-#endif
-
 	// Save the settings for in-air restart
 	// ------------------------------------
 	//save_EEPROM_groundstart();
@@ -439,6 +425,15 @@ static void startup_IMU_ground(void)
 	//-----------------------------
 	init_barometer();
 
+    if (g.airspeed_enabled == true) {
+        // initialize airspeed sensor
+        // --------------------------
+        zero_airspeed();
+        gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> zero airspeed calibrated"));
+    } else {
+        gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> NO airspeed"));
+    }
+
 #endif // HIL_MODE_ATTITUDE
 
 	digitalWrite(B_LED_PIN, HIGH);		// Set LED B high to indicate IMU ready

Tools/ArduPPM/ATMega328p/Encoder-PPM.c

@@ -1,5 +1,5 @@
 // ------------------------------------------------------------------------------------------------------------------------------------------------------------
-// ARDUCODER Version v0.9.85
+// ArduPPM Version v0.9.87
 // ------------------------------------------------------------------------------------------------------------------------------------------------------------
 // ARDUCOPTER 2 : PPM ENCODER for AT Mega 328p and APM v1.4 Boards
 // By:John Arne Birkeland - 2011
@@ -33,6 +33,8 @@
 //	0.9.83 : Implemented PPM passtrough failsafe
 //	0.9.84 : Corrected pin and port names in Encoder-PPM.c according to #define for Mega32U2 compatibility
 //	0.9.85 : Added brownout reset detection flag
+//	0.9.86 : Added a #define to disable Radio Passthrough mode (hardware failsafe for Arduplane)
+//	0.9.87 : #define correction for radio passthrough (was screwed up).
 // ------------------------------------------------------------------------------------------------------------------------------------------------------------
 // PREPROCESSOR DIRECTIVES
 // ------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -41,10 +43,11 @@
 #include <util/delay.h>
 
 
-#define	ERROR_THRESHOLD		1									// Number of servo input errors before alerting
+#define	ERROR_THRESHOLD		2									// Number of servo input errors before alerting
 #define ERROR_DETECTION_WINDOW	3000 * LOOP_TIMER_10MS			// Detection window for error detection (default to 30s)
 #define	ERROR_CONDITION_DELAY	500 * LOOP_TIMER_10MS			// Servo error condition LED delay (LED blinking duration)
 
+#define PASSTHROUGH_MODE_ENABLED	// Comment this line to remove CH8 radio passthrough mode support (hardware failsafe for Arduplane)
 #define PASSTHROUGH_CHANNEL		8 * 2	// Channel for passthrough mode selection
 #define PASSTHROUGH_CHANNEL_OFF_US		ONE_US * 1600 - PPM_PRE_PULSE	// Passthrough off threshold
 #define PASSTHROUGH_CHANNEL_ON_US		ONE_US * 1800 - PPM_PRE_PULSE	// Passthrough on threshold
@@ -87,8 +90,6 @@ int main(void)
 	// LOCAL VARIABLES
 	// ------------------------------------------------------------------------------------------------------------------------------------------------------------
 	bool init = true; // We are inside init sequence
-	int8_t mux_check = 0;
-	uint16_t mux_ppm = 500;
 	bool mux_passthrough = false; // Mux passthrough mode status Flag : passthrough is off
 	uint16_t led_acceleration; // Led acceleration based on throttle stick position
 	bool servo_error_condition = false;	//	Servo signal error condition
@@ -96,8 +97,14 @@ int main(void)
 	static uint16_t servo_error_detection_timer=0;		// Servo error detection timer
 	static uint16_t servo_error_condition_timer=0; 		// Servo error condition timer
 	static uint16_t blink_led_timer = 0; 		// Blink led timer
+	
+	#ifdef PASSTHROUGH_MODE_ENABLED
 	static uint8_t mux_timer = 0;				// Mux timer
 	static uint8_t mux_counter = 0;				// Mux counter
+	static int8_t mux_check = 0;
+	static uint16_t mux_ppm = 500;
+	#endif
+	
 	static uint16_t led_code_timer = 0;	// Blink Code Timer
 	static uint8_t led_code_symbol = 0;	// Blink Code current symbol
 
@@ -308,6 +315,7 @@ int main(void)
 	PWM_LOOP: // SERVO_PWM_MODE
 	while( 1 )
 	{
+		#ifdef PASSTHROUGH_MODE_ENABLED
 		// ------------------------------------------------------------------------------
 		// Radio passthrough control (mux chip A/B control)
 		// ------------------------------------------------------------------------------
@@ -355,7 +363,7 @@ int main(void)
 					
 		}			
 		
-		
+		#endif
 
 		// ------------------------------------------------------------------------------
 		// Status LED control

Tools/ArduPPM/ATMega32U2/Projects/arduino-usbserial/Arduino-usbserial.c

@@ -35,7 +35,7 @@
  */
 
 #include "Arduino-usbserial.h"
-#include "..\..\..\Libraries\ppm_encoder.h"
+#include "../../../Libraries/PPM_Encoder.h"
 
 
 /** Circular buffer to hold data from the host before it is sent to the device via the serial port. */

Tools/ArduPPM/Libraries/PPM_Encoder.h

@@ -243,18 +243,33 @@ const uint16_t failsafe_ppm[ PPM_ARRAY_MAX ] =
 #define USB_PORT              PORTC
 #define    USB_PIN            PC2
 
+// true if we have received a USB device connect event
+static bool usb_connected;
+
 // USB connected event
 void EVENT_USB_Device_Connect(void)
 {
     // Toggle USB pin high if USB is connected
     USB_PORT |= (1 << USB_PIN);
+
+    usb_connected = true;
+
+    // this unsets the pin connected to PA1 on the 2560
+    // when the bit is clear, USB is connected
+    PORTD &= ~1;
 }
 
-// USB dosconnect event
+// USB disconnect event
 void EVENT_USB_Device_Disconnect(void)
 {
     // toggle USB pin low if USB is disconnected
     USB_PORT &= ~(1 << USB_PIN);
+
+    usb_connected = false;
+
+    // this sets the pin connected to PA1 on the 2560
+    // when the bit is clear, USB is connected
+    PORTD |= 1;
 }
 
 // AVR parameters for ArduPilot MEGA v1.4 PPM Encoder (ATmega328P)
@@ -676,6 +691,17 @@ void ppm_encoder_init( void )
     // Activate pullups on all input pins
     SERVO_PORT |= 0xFF;
 
+#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
+    // on 32U2 set PD0 to be an output, and clear the bit. This tells
+    // the 2560 that USB is connected. The USB connection event fires
+    // later to set the right value
+    DDRD |= 1;
+    if (usb_connected) {
+	    PORTD     &= ~1;
+    } else {
+	    PORTD     |= 1;
+    }
+#endif
 
     // SERVO/PPM INPUT - PIN CHANGE INTERRUPT
     // ------------------------------------------------------------------------------

Tools/ArdupilotMegaPlanner/ArduinoDetect.cs

@@ -56,7 +56,7 @@ namespace ArdupilotMega
             System.Threading.Thread.Sleep(500);
 
             //HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Enum\USB\VID_2341&PID_0010\640333439373519060F0\Device Parameters
-            if (!MainV2.MAC)
+            if (!MainV2.MONO)
             {
                 ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_USBControllerDevice");
                 ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);
@@ -66,7 +66,7 @@ namespace ArdupilotMega
 
                     if (obj2["Dependent"].ToString().Contains(@"USB\\VID_2341&PID_0010"))
                     {
-                        return "2560-2";
+                        //return "2560-2";
                     }
                 }
             }

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -10,7 +10,7 @@
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>ArdupilotMega</RootNamespace>
     <AssemblyName>ArdupilotMegaPlanner</AssemblyName>
-    <TargetFrameworkVersion>v3.5</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
     <TargetFrameworkProfile>
     </TargetFrameworkProfile>
     <FileAlignment>512</FileAlignment>
@@ -57,7 +57,7 @@
     <DebugType>full</DebugType>
     <Optimize>true</Optimize>
     <OutputPath>bin\Release\</OutputPath>
-    <DefineConstants>TRACE;MAVLINK10cra</DefineConstants>
+    <DefineConstants>TRACE;DEBUG;MAVLINK10cra</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
     <AllowUnsafeBlocks>false</AllowUnsafeBlocks>
@@ -92,7 +92,7 @@
   </PropertyGroup>
   <PropertyGroup />
   <PropertyGroup>
-    <AssemblyOriginatorKeyFile>mykey.pfx</AssemblyOriginatorKeyFile>
+    <AssemblyOriginatorKeyFile>mykey.snk</AssemblyOriginatorKeyFile>
   </PropertyGroup>
   <PropertyGroup />
   <PropertyGroup />
@@ -134,6 +134,17 @@
     <Reference Include="ICSharpCode.SharpZipLib">
       <HintPath>..\..\..\..\..\Desktop\DIYDrones\SrcSamples\bin\ICSharpCode.SharpZipLib.dll</HintPath>
     </Reference>
+    <Reference Include="IronPython, Version=2.7.0.40, Culture=neutral, PublicKeyToken=7f709c5b713576e1, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\IronPython.dll</HintPath>
+      <Private>True</Private>
+      <EmbedInteropTypes>False</EmbedInteropTypes>
+    </Reference>
+    <Reference Include="IronPython.Modules, Version=2.7.0.40, Culture=neutral, PublicKeyToken=7f709c5b713576e1, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\IronPython.Modules.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
     <Reference Include="KMLib">
       <HintPath>..\..\..\..\..\Desktop\DIYDrones\kml-library\KmlTestbed\bin\Release\KMLib.dll</HintPath>
     </Reference>
@@ -147,6 +158,16 @@
       <HintPath>..\..\..\..\..\..\..\Windows\Microsoft.NET\DirectX for Managed Code\1.0.2902.0\Microsoft.DirectX.DirectInput.dll</HintPath>
       <Private>False</Private>
     </Reference>
+    <Reference Include="Microsoft.Dynamic, Version=1.1.0.20, Culture=neutral, PublicKeyToken=7f709c5b713576e1, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\Microsoft.Dynamic.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
+    <Reference Include="Microsoft.Scripting, Version=1.1.0.20, Culture=neutral, PublicKeyToken=7f709c5b713576e1, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\Microsoft.Scripting.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
     <Reference Include="OpenTK, Version=1.0.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>
       <HintPath>..\..\..\..\..\Desktop\DIYDrones\opentk\trunk\Binaries\OpenTK\Release\OpenTK.dll</HintPath>
@@ -203,6 +224,7 @@
     <Compile Include="HIL\QuadCopter.cs" />
     <Compile Include="HIL\Quaternion.cs" />
     <Compile Include="HIL\Vector3d.cs" />
+    <Compile Include="hires.cs" />
     <Compile Include="MavlinkLog.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -329,6 +351,7 @@
     </Compile>
     <Compile Include="Program.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="Script.cs" />
     <Compile Include="SerialOutput.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -523,7 +546,7 @@
     </None>
     <None Include="MAC\Info.plist" />
     <None Include="MAC\run.sh" />
-    <None Include="mykey.pfx" />
+    <None Include="mykey.snk" />
     <None Include="Properties\app.manifest" />
     <None Include="Properties\DataSources\CurrentState.datasource" />
     <None Include="block_plane_0.dae">
@@ -621,7 +644,6 @@
     </BootstrapperPackage>
   </ItemGroup>
   <ItemGroup />
-  <ItemGroup />
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <PropertyGroup>
     <PostBuildEvent>rem macos.bat</PostBuildEvent>

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj.user

@@ -10,4 +10,7 @@
     <InstallUrlHistory />
     <UpdateUrlHistory />
   </PropertyGroup>
+  <PropertyGroup>
+    <ReferencePath>C:\Users\hog\Documents\Visual Studio 2010\Projects\ArdupilotMega\ArdupilotMega\bin\Release\</ReferencePath>
+  </PropertyGroup>
 </Project>

Tools/ArdupilotMegaPlanner/Common.cs

@@ -140,6 +140,9 @@ namespace ArdupilotMega
 
     public class GMapMarkerQuad : GMapMarker
     {
+        const float rad2deg = (float)(180 / Math.PI);
+        const float deg2rad = (float)(1.0 / rad2deg);
+
         static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::ArdupilotMega.Properties.Resources.quad2.Width, global::ArdupilotMega.Properties.Resources.quad2.Height);
         float heading = 0;
         float cog = -1;
@@ -158,8 +161,17 @@ namespace ArdupilotMega
         {
             Matrix temp = g.Transform;
             g.TranslateTransform(LocalPosition.X, LocalPosition.Y);
+
+            int length = 500;
+
+            g.DrawLine(new Pen(Color.Red, 2), 0.0f, 0.0f, (float)Math.Cos((heading - 90) * deg2rad) * length, (float)Math.Sin((heading - 90) * deg2rad) * length);
+            //g.DrawLine(new Pen(Color.Green, 2), 0.0f, 0.0f, (float)Math.Cos((nav_bearing - 90) * deg2rad) * length, (float)Math.Sin((nav_bearing - 90) * deg2rad) * length);
+            g.DrawLine(new Pen(Color.Black, 2), 0.0f, 0.0f, (float)Math.Cos((cog - 90) * deg2rad) * length, (float)Math.Sin((cog - 90) * deg2rad) * length);
+            g.DrawLine(new Pen(Color.Orange, 2), 0.0f, 0.0f, (float)Math.Cos((target - 90) * deg2rad) * length, (float)Math.Sin((target - 90) * deg2rad) * length);
+
+
             g.RotateTransform(heading);
-            g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.quad2, global::ArdupilotMega.Properties.Resources.quad2.Width / -2, global::ArdupilotMega.Properties.Resources.quad2.Height / -2);
+            g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.quad2, global::ArdupilotMega.Properties.Resources.quad2.Width / -2 + 2, global::ArdupilotMega.Properties.Resources.quad2.Height / -2);
 
             g.Transform = temp;
         }

Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs

@@ -57,7 +57,7 @@ namespace System.IO.Ports
             get { return client.Available + rbuffer.Length - rbufferread; }
         }
 
-        public bool IsOpen { get { return client.Client.Connected; } }
+        public bool IsOpen { get { try { return client.Client.Connected; } catch { return false; } } }
 
         public bool DtrEnable
         {
@@ -97,6 +97,11 @@ namespace System.IO.Ports
         {
             if (client == null || !IsOpen)
             {
+                try
+                {
+                    client.Close();
+                }
+                catch { }
                 throw new Exception("The socket/serialproxy is closed");
             }
         }
@@ -215,12 +220,22 @@ namespace System.IO.Ports
         }
 
         public void Close()
+        {
+            try
             {
                 if (client.Client.Connected)
                 {
                     client.Client.Close();
                     client.Close();
                 }
+            }
+            catch { }
+
+            try
+            {
+                client.Close();
+            }
+            catch { }
 
             client = new TcpClient();
         }

Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.build.log

@@ -3,40 +3,38 @@
 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
-In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:132: warning: 'void reset_hold_I()' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
+autogenerated:33: warning: 'void init_z_damper()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion
+autogenerated:114: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
-autogenerated: At global scope:
+/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:106: warning: 'void handle_no_commands()' defined but not used
-autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:433: warning: 'bool verify_loiter_unlim()' defined but not used
-autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
-autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
-autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
-autogenerated:183: warning: 'void heli_init_swash()' declared 'static' but never defined
+autogenerated:180: warning: 'void heli_init_swash()' declared 'static' but never defined
-autogenerated:184: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
+autogenerated:181: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
-autogenerated:185: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
+autogenerated:182: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
+autogenerated:187: warning: 'int heli_get_angle_boost(int)' declared 'static' but never defined
 autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/navigation.pde:98: warning: 'void calc_loiter2(int, int)' defined but not used
-autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
+autogenerated:236: warning: 'int32_t get_crosstrack_correction()' declared 'static' but never defined
-autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined
+autogenerated:238: warning: 'void reset_crosstrack()' declared 'static' but never defined
-autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined
+autogenerated:240: warning: 'int32_t get_alt_distance(Location*, Location*)' declared 'static' but never defined
-autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/radio.pde:132: warning: 'void throttle_failsafe(uint16_t)' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
-autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined
+autogenerated:251: warning: 'int32_t read_baro_filtered()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
-autogenerated:262: warning: 'void report_heli()' declared 'static' but never defined
+autogenerated:265: warning: 'void report_heli()' declared 'static' but never defined
-autogenerated:263: warning: 'void report_gyro()' declared 'static' but never defined
+autogenerated:266: warning: 'void report_gyro()' declared 'static' but never defined
-autogenerated:270: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
+autogenerated:273: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
-autogenerated:271: warning: 'int read_num_from_serial()' declared 'static' but never defined
+autogenerated:274: warning: 'int read_num_from_serial()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/system.pde:434: warning: 'void set_failsafe(boolean)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/system.pde:486: warning: 'void set_failsafe(boolean)' defined but not used
-autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
+autogenerated:289: warning: 'void init_optflow()' declared 'static' but never defined
-autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:265: warning: 'rc_override' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:266: warning: 'rc_override_active' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:267: warning: 'rc_override_fs_timer' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:488: warning: 'pmTest1' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1768: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/test.pde:34: warning: 'int8_t test_rawgps(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
@@ -77,7 +75,7 @@ In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_Optic
 %% libraries/AP_RangeFinder/RangeFinder.o
 %% libraries/AP_Relay/AP_Relay.o
 %% libraries/DataFlash/DataFlash.o
-In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35:
+In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:36:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
 %% libraries/FastSerial/BetterStream.o

Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.size.txt

@@ -3,16 +3,17 @@
 00000001 b home_is_set
 00000001 b motor_armed
 00000001 b motor_light
+00000001 b CH7_wp_index
 00000001 b control_mode
 00000001 b gps_watchdog
 00000001 b simple_timer
 00000001 d yaw_tracking
 00000001 b land_complete
 00000001 b throttle_mode
-00000001 b command_may_ID
+00000001 b mavlink_active
+00000001 b prev_nav_index
 00000001 b wp_verify_byte
 00000001 d altitude_sensor
-00000001 b command_must_ID
 00000001 b command_yaw_dir
 00000001 b new_radio_frame
 00000001 b roll_pitch_mode
@@ -24,13 +25,14 @@
 00000001 b old_control_mode
 00000001 b slow_loopCounter
 00000001 b takeoff_complete
-00000001 b command_may_index
+00000001 b command_nav_index
 00000001 b oldSwitchPosition
-00000001 b command_must_index
+00000001 b command_cond_index
 00000001 d ground_start_count
 00000001 b medium_loopCounter
 00000001 b command_yaw_relative
 00000001 d jump
+00000001 b nav_ok
 00000001 b event_id
 00000001 b led_mode
 00000001 b yaw_mode
@@ -45,20 +47,25 @@
 00000002 T userhook_init()
 00000002 b climb_rate
 00000002 b loiter_sum
+00000002 b sonar_rate
+00000002 b angle_boost
 00000002 b event_delay
 00000002 b event_value
 00000002 b event_repeat
 00000002 b loiter_total
+00000002 b manual_boost
 00000002 b nav_throttle
+00000002 b old_baro_alt
 00000002 b x_rate_error
 00000002 b y_rate_error
-00000002 b altitude_rate
 00000002 b gps_fix_count
+00000002 b old_sonar_alt
 00000002 b velocity_land
 00000002 b x_actual_speed
 00000002 b y_actual_speed
 00000002 b loiter_time_max
 00000002 b command_yaw_time
+00000002 b crosstrack_error
 00000002 b event_undo_value
 00000002 b command_yaw_speed
 00000002 b auto_level_counter
@@ -69,6 +76,7 @@
 00000002 b g_gps
 00000002 b airspeed
 00000002 b baro_alt
+00000002 b baro_rate
 00000002 b sonar_alt
 00000002 b arm_motors()::arming_counter
 00000002 r setup_frame(unsigned char, Menu::arg const*)::__c
@@ -82,6 +90,9 @@
 00000003 r setup_sonar(unsigned char, Menu::arg const*)::__c
 00000003 r print_enabled(unsigned char)::__c
 00000003 r setup_compass(unsigned char, Menu::arg const*)::__c
+00000003 r report_batt_monitor()::__c
+00000003 r report_batt_monitor()::__c
+00000003 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
 00000004 d cos_roll_x
 00000004 b land_start
 00000004 b long_error
@@ -93,15 +104,14 @@
 00000004 b sin_pitch_y
 00000004 b wp_distance
 00000004 b abs_pressure
+00000004 b circle_angle
 00000004 b current_amps
-00000004 b old_altitude
 00000004 b original_alt
 00000004 b simple_cos_x
 00000004 b simple_sin_y
 00000004 b current_total
 00000004 b nav_loopTimer
 00000004 d scaleLongDown
-00000004 t test_failsafe(unsigned char, Menu::arg const*)
 00000004 b altitude_error
 00000004 b fast_loopTimer
 00000004 b perf_mon_timer
@@ -152,7 +162,6 @@
 00000004 r setup_compass(unsigned char, Menu::arg const*)::__c
 00000004 r print_log_menu()::__c
 00000004 r setup_batt_monitor(unsigned char, Menu::arg const*)::__c
-00000004 r test_adc(unsigned char, Menu::arg const*)::__c
 00000004 V Parameters::Parameters()::__c
 00000004 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
 00000004 V RC_Channel::RC_Channel(unsigned int, prog_char_t const*)::__c
@@ -171,7 +180,6 @@
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 00000005 r print_log_menu()::__c
 00000005 r print_log_menu()::__c
-00000005 r test_adc(unsigned char, Menu::arg const*)::__c
 00000005 V Parameters::Parameters()::__c
 00000005 V Parameters::Parameters()::__c
 00000005 V Parameters::Parameters()::__c
@@ -193,6 +201,7 @@
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 00000006 r print_log_menu()::__c
 00000006 r print_log_menu()::__c
+00000006 r report_batt_monitor()::__c
 00000006 V Parameters::Parameters()::__c
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 00000007 b planner_menu
@@ -205,6 +214,8 @@
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 00000007 r report_sonar()::__c
 00000007 r print_enabled(unsigned char)::__c
+00000007 r Log_Read_Nav_Tuning()::__c
+00000007 r Log_Read_Control_Tuning()::__c
 00000007 r test_wp(unsigned char, Menu::arg const*)::__c
 00000007 V Parameters::Parameters()::__c
 00000007 V Parameters::Parameters()::__c
@@ -214,6 +225,7 @@
 00000007 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
 00000008 t setup_erase(unsigned char, Menu::arg const*)
 00000008 r __menu_name__planner_menu
+00000008 r print_done()::__c
 00000008 r select_logs(unsigned char, Menu::arg const*)::__c
 00000008 r report_frame()::__c
 00000008 r report_frame()::__c
@@ -221,8 +233,6 @@
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 00000008 r init_ardupilot()::__c
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-00000008 r report_batt_monitor()::__c
-00000008 r report_batt_monitor()::__c
 00000008 r test_wp(unsigned char, Menu::arg const*)::__c
 00000008 V Parameters::Parameters()::__c
 00000008 V Parameters::Parameters()::__c
@@ -230,7 +240,6 @@
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 00000008 V Parameters::Parameters()::__c
 00000008 V Parameters::Parameters()::__c
-00000008 V Parameters::Parameters()::__c
 00000008 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
 00000009 r print_switch(unsigned char, unsigned char, bool)::__c
 00000009 r print_log_menu()::__c
@@ -260,7 +269,6 @@
 00000009 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
 0000000a T piezo_on()
 0000000a T piezo_off()
-0000000a r test_relay(unsigned char, Menu::arg const*)::__c
 0000000a r start_new_log()::__c
 0000000a r print_log_menu()::__c
 0000000a r Log_Read_Startup()::__c
@@ -270,9 +278,10 @@
 0000000a V Parameters::Parameters()::__c
 0000000a V Parameters::Parameters()::__c
 0000000a V Parameters::Parameters()::__c
+0000000a V Parameters::Parameters()::__c
+0000000a V Parameters::Parameters()::__c
 0000000a T setup
-0000000b r test_relay(unsigned char, Menu::arg const*)::__c
+0000000b r setup_esc(unsigned char, Menu::arg const*)::__c
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 0000000d r select_logs(unsigned char, Menu::arg const*)::__c
+0000000d r setup_frame(unsigned char, Menu::arg const*)::__c
 0000000d r test_tuning(unsigned char, Menu::arg const*)::__c
 0000000d r test_battery(unsigned char, Menu::arg const*)::__c
 0000000d r startup_ground()::__c
@@ -298,6 +309,8 @@
 0000000d V Parameters::Parameters()::__c
 0000000d V Parameters::Parameters()::__c
 0000000d V Parameters::Parameters()::__c
+0000000d V Parameters::Parameters()::__c
+0000000d V Parameters::Parameters()::__c
 0000000d B sonar_mode_filter
 0000000e t global destructors keyed to Serial
 0000000e t global constructors keyed to Serial
@@ -313,6 +326,7 @@
 0000000e r setup_mode(unsigned char, Menu::arg const*)::__c
 0000000e r test_sonar(unsigned char, Menu::arg const*)::__c
 0000000e r select_logs(unsigned char, Menu::arg const*)::__c
+0000000e r setup_compass(unsigned char, Menu::arg const*)::__c
 0000000e r print_log_menu()::__c
 0000000e r print_radio_values()::__c
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@@ -321,6 +335,7 @@
 0000000e r print_radio_values()::__c
 0000000e r print_radio_values()::__c
 0000000e r print_radio_values()::__c
+0000000e r setup_batt_monitor(unsigned char, Menu::arg const*)::__c
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 0000000e r report_flight_modes()::__c
 0000000e r dump_log(unsigned char, Menu::arg const*)::__c
@@ -332,19 +347,18 @@
 0000000e V Parameters::Parameters()::__c
 0000000e V Parameters::Parameters()::__c
 0000000e V Parameters::Parameters()::__c
-0000000e V Parameters::Parameters()::__c
 0000000f b current_loc
-0000000f b next_command
+0000000f b command_nav_queue
+0000000f b command_cond_queue
 0000000f b home
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@@ -354,7 +368,6 @@
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-00000011 r update_commands()::__c
 00000012 B Serial
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@@ -368,30 +381,22 @@
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 00000014 W AP_VarT<int>::cast_to_float() const
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Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.build.log

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 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
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-autogenerated: At global scope:
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-autogenerated:185: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
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 autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
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 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
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-autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
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-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
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 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
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Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.build.log

@@ -3,59 +3,54 @@
 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
-In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion
 /root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde: In function 'bool mavlink_try_send_message(mavlink_channel_t, ap_message, uint16_t)':
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU1' not handled in switch
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:300: warning: enumeration value 'MSG_RAW_IMU1' not handled in switch
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU2' not handled in switch
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:300: warning: enumeration value 'MSG_RAW_IMU2' not handled in switch
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:296: warning: enumeration value 'MSG_RAW_IMU3' not handled in switch
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:300: warning: enumeration value 'MSG_RAW_IMU3' not handled in switch
-autogenerated: At global scope:
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-autogenerated:51: warning: 'void send_raw_imu1(mavlink_channel_t)' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:132: warning: 'void reset_hold_I()' defined but not used
-autogenerated:52: warning: 'void send_raw_imu2(mavlink_channel_t)' declared 'static' but never defined
+autogenerated:33: warning: 'void init_z_damper()' declared 'static' but never defined
-autogenerated:53: warning: 'void send_raw_imu3(mavlink_channel_t)' declared 'static' but never defined
+autogenerated:55: warning: 'void send_raw_imu1(mavlink_channel_t)' declared 'static' but never defined
-autogenerated:105: warning: 'void Log_Write_Raw()' declared 'static' but never defined
+autogenerated:56: warning: 'void send_raw_imu2(mavlink_channel_t)' declared 'static' but never defined
-autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
+autogenerated:57: warning: 'void send_raw_imu3(mavlink_channel_t)' declared 'static' but never defined
-autogenerated:111: warning: 'void Log_Write_Control_Tuning()' declared 'static' but never defined
+autogenerated:110: warning: 'void Log_Write_Raw()' declared 'static' but never defined
-autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
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-autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:106: warning: 'void handle_no_commands()' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/Log.pde:776: warning: 'void Log_Write_Attitude()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:433: warning: 'bool verify_loiter_unlim()' defined but not used
-autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
-autogenerated:183: warning: 'void heli_init_swash()' declared 'static' but never defined
+autogenerated:180: warning: 'void heli_init_swash()' declared 'static' but never defined
-autogenerated:184: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
+autogenerated:181: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
-autogenerated:185: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
+autogenerated:182: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
+autogenerated:187: warning: 'int heli_get_angle_boost(int)' declared 'static' but never defined
 autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/navigation.pde:98: warning: 'void calc_loiter2(int, int)' defined but not used
-autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
+autogenerated:236: warning: 'int32_t get_crosstrack_correction()' declared 'static' but never defined
-autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined
+autogenerated:238: warning: 'void reset_crosstrack()' declared 'static' but never defined
-autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined
+autogenerated:240: warning: 'int32_t get_alt_distance(Location*, Location*)' declared 'static' but never defined
-autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
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-/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
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-autogenerated:246: warning: 'void ReadSCP1000()' declared 'static' but never defined
+autogenerated:250: warning: 'void init_barometer()' declared 'static' but never defined
-autogenerated:247: warning: 'void init_barometer()' declared 'static' but never defined
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-autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined
+autogenerated:252: warning: 'int32_t read_barometer()' declared 'static' but never defined
-autogenerated:249: warning: 'long int read_barometer()' declared 'static' but never defined
+autogenerated:253: warning: 'void read_airspeed()' declared 'static' but never defined
-autogenerated:250: warning: 'void read_airspeed()' declared 'static' but never defined
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-autogenerated:251: warning: 'void zero_airspeed()' declared 'static' but never defined
+autogenerated:265: warning: 'void report_heli()' declared 'static' but never defined
-autogenerated:262: warning: 'void report_heli()' declared 'static' but never defined
+autogenerated:266: warning: 'void report_gyro()' declared 'static' but never defined
-autogenerated:263: warning: 'void report_gyro()' declared 'static' but never defined
+autogenerated:273: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
-autogenerated:270: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
+autogenerated:274: warning: 'int read_num_from_serial()' declared 'static' but never defined
-autogenerated:271: warning: 'int read_num_from_serial()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/system.pde:486: warning: 'void set_failsafe(boolean)' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/system.pde:434: warning: 'void set_failsafe(boolean)' defined but not used
+autogenerated:289: warning: 'void init_optflow()' declared 'static' but never defined
-autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:265: warning: 'rc_override' defined but not used
-autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:266: warning: 'rc_override_active' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:267: warning: 'rc_override_fs_timer' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:344: warning: 'old_altitude' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:365: warning: 'abs_pressure' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:362: warning: 'abs_pressure' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:366: warning: 'ground_pressure' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:363: warning: 'ground_pressure' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:367: warning: 'ground_temperature' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:364: warning: 'ground_temperature' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:377: warning: 'old_sonar_alt' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:369: warning: 'baro_alt' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:488: warning: 'pmTest1' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1768: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/test.pde:13: warning: 'int8_t test_adc(uint8_t, const Menu::arg*)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/test.pde:26: warning: 'int8_t test_baro(uint8_t, const Menu::arg*)' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/test.pde:34: warning: 'int8_t test_rawgps(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
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 %% libraries/AP_RangeFinder/RangeFinder.o
 %% libraries/AP_Relay/AP_Relay.o
 %% libraries/DataFlash/DataFlash.o
-In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35:
+In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:36:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
 %% libraries/FastSerial/BetterStream.o

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Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.build.log

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 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
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 /root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde: In function 'bool mavlink_try_send_message(mavlink_channel_t, ap_message, uint16_t)':
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-autogenerated: At global scope:
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 autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
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-autogenerated:263: warning: 'void report_gyro()' declared 'static' but never defined
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-autogenerated:271: warning: 'int read_num_from_serial()' declared 'static' but never defined
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-/root/apm/ardupilot-mega/ArduCopter/system.pde:434: warning: 'void set_failsafe(boolean)' defined but not used
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-autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
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-autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined
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-/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:267: warning: 'rc_override_fs_timer' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:344: warning: 'old_altitude' defined but not used
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-/root/apm/ardupilot-mega/ArduCopter/test.pde:13: warning: 'int8_t test_adc(uint8_t, const Menu::arg*)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/test.pde:26: warning: 'int8_t test_baro(uint8_t, const Menu::arg*)' declared 'static' but never defined
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+In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:36:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
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Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.size.txt

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Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.build.log

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 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
-In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:132: warning: 'void reset_hold_I()' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
+autogenerated:33: warning: 'void init_z_damper()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion
+autogenerated:114: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
-autogenerated: At global scope:
+/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:106: warning: 'void handle_no_commands()' defined but not used
-autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:433: warning: 'bool verify_loiter_unlim()' defined but not used
-autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
-autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
-autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:432: warning: 'bool verify_loiter_unlim()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
-autogenerated:183: warning: 'void heli_init_swash()' declared 'static' but never defined
+autogenerated:180: warning: 'void heli_init_swash()' declared 'static' but never defined
-autogenerated:184: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
+autogenerated:181: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
-autogenerated:185: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
+autogenerated:182: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
+autogenerated:187: warning: 'int heli_get_angle_boost(int)' declared 'static' but never defined
 autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/navigation.pde:98: warning: 'void calc_loiter2(int, int)' defined but not used
-autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
+autogenerated:236: warning: 'int32_t get_crosstrack_correction()' declared 'static' but never defined
-autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined
+autogenerated:238: warning: 'void reset_crosstrack()' declared 'static' but never defined
-autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined
+autogenerated:240: warning: 'int32_t get_alt_distance(Location*, Location*)' declared 'static' but never defined
-autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/radio.pde:132: warning: 'void throttle_failsafe(uint16_t)' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
-autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined
+autogenerated:251: warning: 'int32_t read_baro_filtered()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
-autogenerated:262: warning: 'void report_heli()' declared 'static' but never defined
+autogenerated:265: warning: 'void report_heli()' declared 'static' but never defined
-autogenerated:263: warning: 'void report_gyro()' declared 'static' but never defined
+autogenerated:266: warning: 'void report_gyro()' declared 'static' but never defined
-autogenerated:270: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
+autogenerated:273: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
-autogenerated:271: warning: 'int read_num_from_serial()' declared 'static' but never defined
+autogenerated:274: warning: 'int read_num_from_serial()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/system.pde:434: warning: 'void set_failsafe(boolean)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/system.pde:486: warning: 'void set_failsafe(boolean)' defined but not used
-autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
+autogenerated:289: warning: 'void init_optflow()' declared 'static' but never defined
-autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:265: warning: 'rc_override' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:266: warning: 'rc_override_active' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:267: warning: 'rc_override_fs_timer' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:488: warning: 'pmTest1' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1768: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/test.pde:34: warning: 'int8_t test_rawgps(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
@@ -77,7 +75,7 @@ In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_Optic
 %% libraries/AP_RangeFinder/RangeFinder.o
 %% libraries/AP_Relay/AP_Relay.o
 %% libraries/DataFlash/DataFlash.o
-In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35:
+In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:36:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
 %% libraries/FastSerial/BetterStream.o

Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.size.txt

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Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.build.log

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 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
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-autogenerated: At global scope:
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 autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
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 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
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Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.size.txt

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Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.build.log

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 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
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-autogenerated:183: warning: 'void heli_init_swash()' declared 'static' but never defined
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 autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
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+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:265: warning: 'rc_override' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:266: warning: 'rc_override_active' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:267: warning: 'rc_override_fs_timer' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:488: warning: 'pmTest1' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1768: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/test.pde:34: warning: 'int8_t test_rawgps(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
@@ -77,7 +75,7 @@ In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_Optic
 %% libraries/AP_RangeFinder/RangeFinder.o
 %% libraries/AP_Relay/AP_Relay.o
 %% libraries/DataFlash/DataFlash.o
-In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35:
+In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:36:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
 %% libraries/FastSerial/BetterStream.o

Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.size.txt

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Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.build.log

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 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
-In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:132: warning: 'void reset_hold_I()' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
+autogenerated:33: warning: 'void init_z_damper()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion
+autogenerated:114: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
-autogenerated: At global scope:
+/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:106: warning: 'void handle_no_commands()' defined but not used
-autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/commands_logic.pde:433: warning: 'bool verify_loiter_unlim()' defined but not used
-autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
-autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
-autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
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 /root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
-autogenerated:183: warning: 'void heli_init_swash()' declared 'static' but never defined
+autogenerated:180: warning: 'void heli_init_swash()' declared 'static' but never defined
-autogenerated:184: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
+autogenerated:181: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
-autogenerated:185: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
+autogenerated:182: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
+autogenerated:187: warning: 'int heli_get_angle_boost(int)' declared 'static' but never defined
 autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used
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-autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
+autogenerated:236: warning: 'int32_t get_crosstrack_correction()' declared 'static' but never defined
-autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined
+autogenerated:238: warning: 'void reset_crosstrack()' declared 'static' but never defined
-autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined
+autogenerated:240: warning: 'int32_t get_alt_distance(Location*, Location*)' declared 'static' but never defined
-autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/radio.pde:132: warning: 'void throttle_failsafe(uint16_t)' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
-autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined
+autogenerated:251: warning: 'int32_t read_baro_filtered()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
-autogenerated:262: warning: 'void report_heli()' declared 'static' but never defined
+autogenerated:265: warning: 'void report_heli()' declared 'static' but never defined
-autogenerated:263: warning: 'void report_gyro()' declared 'static' but never defined
+autogenerated:266: warning: 'void report_gyro()' declared 'static' but never defined
-autogenerated:270: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
+autogenerated:273: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
-autogenerated:271: warning: 'int read_num_from_serial()' declared 'static' but never defined
+autogenerated:274: warning: 'int read_num_from_serial()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/system.pde:434: warning: 'void set_failsafe(boolean)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/system.pde:486: warning: 'void set_failsafe(boolean)' defined but not used
-autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
+autogenerated:289: warning: 'void init_optflow()' declared 'static' but never defined
-autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:265: warning: 'rc_override' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
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-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:267: warning: 'rc_override_fs_timer' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:488: warning: 'pmTest1' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1768: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/test.pde:34: warning: 'int8_t test_rawgps(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
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 %% libraries/AP_RangeFinder/RangeFinder.o
 %% libraries/AP_Relay/AP_Relay.o
 %% libraries/DataFlash/DataFlash.o
-In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35:
+In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:36:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
 %% libraries/FastSerial/BetterStream.o

Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.size.txt

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Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.build.log

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 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
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-autogenerated: At global scope:
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-autogenerated:183: warning: 'void heli_init_swash()' declared 'static' but never defined
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-autogenerated:185: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
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 autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
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-autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined
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 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
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Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.size.txt

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Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.build.log

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 In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:55:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
-In file included from /root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:77:
+/root/apm/ardupilot-mega/ArduCopter/Attitude.pde:132: warning: 'void reset_hold_I()' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h: In constructor 'Parameters::Parameters()':
+autogenerated:33: warning: 'void init_z_damper()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/Parameters.h:399: warning: overflow in implicit constant conversion
+autogenerated:114: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
-autogenerated: At global scope:
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-autogenerated:109: warning: 'void Log_Write_Optflow()' declared 'static' but never defined
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-autogenerated:90: warning: 'void Log_Write_Attitude2()' declared 'static' but never defined
-autogenerated:91: warning: 'void Log_Read_Attitude2()' declared 'static' but never defined
-autogenerated:121: warning: 'void decrement_WP_index()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/commands.pde:132: warning: 'Location get_LOITER_home_wp()' defined but not used
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 /root/apm/ardupilot-mega/ArduCopter/events.pde:46: warning: 'void low_battery_event()' defined but not used
-autogenerated:183: warning: 'void heli_init_swash()' declared 'static' but never defined
+autogenerated:180: warning: 'void heli_init_swash()' declared 'static' but never defined
-autogenerated:184: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
+autogenerated:181: warning: 'void heli_move_servos_to_mid()' declared 'static' but never defined
-autogenerated:185: warning: 'void heli_move_swash(int, int, int, int)' declared 'static' but never defined
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+autogenerated:187: warning: 'int heli_get_angle_boost(int)' declared 'static' but never defined
 autogenerated:213: warning: 'void debug_motors()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/navigation.pde:183: warning: 'int get_loiter_angle()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/navigation.pde:98: warning: 'void calc_loiter2(int, int)' defined but not used
-autogenerated:234: warning: 'long int get_crosstrack_correction()' declared 'static' but never defined
+autogenerated:236: warning: 'int32_t get_crosstrack_correction()' declared 'static' but never defined
-autogenerated:235: warning: 'long int cross_track_test()' declared 'static' but never defined
+autogenerated:238: warning: 'void reset_crosstrack()' declared 'static' but never defined
-autogenerated:236: warning: 'void reset_crosstrack()' declared 'static' but never defined
+autogenerated:240: warning: 'int32_t get_alt_distance(Location*, Location*)' declared 'static' but never defined
-autogenerated:238: warning: 'long int get_alt_distance(Location*, Location*)' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/radio.pde:132: warning: 'void throttle_failsafe(uint16_t)' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/radio.pde:130: warning: 'void throttle_failsafe(uint16_t)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:6: warning: 'void ReadSCP1000()' defined but not used
-autogenerated:248: warning: 'long int read_baro_filtered()' declared 'static' but never defined
+autogenerated:251: warning: 'int32_t read_baro_filtered()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:95: warning: 'void read_airspeed()' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/sensors.pde:100: warning: 'void zero_airspeed()' defined but not used
-autogenerated:262: warning: 'void report_heli()' declared 'static' but never defined
+autogenerated:265: warning: 'void report_heli()' declared 'static' but never defined
-autogenerated:263: warning: 'void report_gyro()' declared 'static' but never defined
+autogenerated:266: warning: 'void report_gyro()' declared 'static' but never defined
-autogenerated:270: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
+autogenerated:273: warning: 'RC_Channel* heli_get_servo(int)' declared 'static' but never defined
-autogenerated:271: warning: 'int read_num_from_serial()' declared 'static' but never defined
+autogenerated:274: warning: 'int read_num_from_serial()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduCopter/system.pde:434: warning: 'void set_failsafe(boolean)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/system.pde:486: warning: 'void set_failsafe(boolean)' defined but not used
-autogenerated:285: warning: 'void init_optflow()' declared 'static' but never defined
+autogenerated:289: warning: 'void init_optflow()' declared 'static' but never defined
-autogenerated:292: warning: 'void fake_out_gps()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:265: warning: 'rc_override' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/test.pde:1028: warning: 'void print_motor_out()' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:266: warning: 'rc_override_active' defined but not used
-/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:267: warning: 'rc_override_fs_timer' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/ArduCopter.pde:488: warning: 'pmTest1' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1768: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
+/root/apm/ardupilot-mega/ArduCopter/test.pde:34: warning: 'int8_t test_rawgps(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
@@ -77,7 +75,7 @@ In file included from /root/apm/ardupilot-mega/libraries/AP_OpticalFlow/AP_Optic
 %% libraries/AP_RangeFinder/RangeFinder.o
 %% libraries/AP_Relay/AP_Relay.o
 %% libraries/DataFlash/DataFlash.o
-In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:35:
+In file included from /root/apm/ardupilot-mega/libraries/DataFlash/DataFlash.cpp:36:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
 %% libraries/FastSerial/BetterStream.o

Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.size.txt

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Tools/ArdupilotMegaPlanner/Firmware/AP-1280.build.log

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 In file included from /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:32:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
+/root/apm/ardupilot-mega/ArduPlane/Log.pde: In function 'int find_last_log_page(uint16_t)':
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:335: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:335: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:340: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:352: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:362: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:385: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:295: warning: unused variable 'look_page_file'
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:296: warning: unused variable 'look_page_filepage'
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:297: warning: unused variable 'check'
+/root/apm/ardupilot-mega/ArduPlane/GCS_Mavlink.pde: At global scope:
 /root/apm/ardupilot-mega/ArduPlane/GCS_Mavlink.pde:2057: warning: 'void gcs_send_text(gcs_severity, const char*)' defined but not used
-autogenerated:87: warning: 'void add_altitude_data(long unsigned int, long int)' declared 'static' but never defined
+autogenerated:89: warning: 'void add_altitude_data(long unsigned int, long int)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/commands.pde:128: warning: 'void increment_cmd_index()' defined but not used
-autogenerated:144: warning: 'void low_battery_event()' declared 'static' but never defined
+autogenerated:146: warning: 'void low_battery_event()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:270: warning: 'command_index' defined but not used
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o

Tools/ArdupilotMegaPlanner/Firmware/AP-1280.size.txt

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Tools/ArdupilotMegaPlanner/Firmware/AP-2560.build.log

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 In file included from /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:32:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
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+/root/apm/ardupilot-mega/ArduPlane/Log.pde:335: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:335: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:340: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:352: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:362: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:385: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:295: warning: unused variable 'look_page_file'
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:296: warning: unused variable 'look_page_filepage'
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:297: warning: unused variable 'check'
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 /root/apm/ardupilot-mega/ArduPlane/GCS_Mavlink.pde:2057: warning: 'void gcs_send_text(gcs_severity, const char*)' defined but not used
-autogenerated:87: warning: 'void add_altitude_data(long unsigned int, long int)' declared 'static' but never defined
+autogenerated:89: warning: 'void add_altitude_data(long unsigned int, long int)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/commands.pde:128: warning: 'void increment_cmd_index()' defined but not used
-autogenerated:144: warning: 'void low_battery_event()' declared 'static' but never defined
+autogenerated:146: warning: 'void low_battery_event()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:270: warning: 'command_index' defined but not used
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o

Tools/ArdupilotMegaPlanner/Firmware/AP-2560.size.txt

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Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-1280.build.log

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 In file included from /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:32:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
+/root/apm/ardupilot-mega/ArduPlane/Log.pde: In function 'int find_last_log_page(uint16_t)':
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:335: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:335: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:340: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:352: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:362: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:385: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:295: warning: unused variable 'look_page_file'
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:296: warning: unused variable 'look_page_filepage'
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:297: warning: unused variable 'check'
+/root/apm/ardupilot-mega/ArduPlane/GCS_Mavlink.pde: At global scope:
 /root/apm/ardupilot-mega/ArduPlane/GCS_Mavlink.pde:2057: warning: 'void gcs_send_text(gcs_severity, const char*)' defined but not used
-autogenerated:87: warning: 'void add_altitude_data(long unsigned int, long int)' declared 'static' but never defined
+autogenerated:89: warning: 'void add_altitude_data(long unsigned int, long int)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/commands.pde:128: warning: 'void increment_cmd_index()' defined but not used
-autogenerated:144: warning: 'void low_battery_event()' declared 'static' but never defined
+autogenerated:146: warning: 'void low_battery_event()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:270: warning: 'command_index' defined but not used
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o

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Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-2560.build.log

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 In file included from /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:32:
 /usr/local/share/arduino/libraries/SPI/SPI.h:25:1: warning: "SPI_CLOCK_DIV64" redefined
 /usr/local/share/arduino/libraries/SPI/SPI.h:20:1: warning: this is the location of the previous definition
+/root/apm/ardupilot-mega/ArduPlane/Log.pde: In function 'int find_last_log_page(uint16_t)':
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:335: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:335: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:340: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:352: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:362: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:385: warning: comparison between signed and unsigned integer expressions
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:295: warning: unused variable 'look_page_file'
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:296: warning: unused variable 'look_page_filepage'
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:297: warning: unused variable 'check'
+/root/apm/ardupilot-mega/ArduPlane/GCS_Mavlink.pde: At global scope:
 /root/apm/ardupilot-mega/ArduPlane/GCS_Mavlink.pde:2057: warning: 'void gcs_send_text(gcs_severity, const char*)' defined but not used
-autogenerated:87: warning: 'void add_altitude_data(long unsigned int, long int)' declared 'static' but never defined
+autogenerated:89: warning: 'void add_altitude_data(long unsigned int, long int)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/commands.pde:128: warning: 'void increment_cmd_index()' defined but not used
-autogenerated:144: warning: 'void low_battery_event()' declared 'static' but never defined
+autogenerated:146: warning: 'void low_battery_event()' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:270: warning: 'command_index' defined but not used
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o

Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-2560.size.txt

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Tools/ArdupilotMegaPlanner/Firmware/APHIL-1280.build.log

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 autogenerated:36: warning: 'void send_raw_imu3(mavlink_channel_t)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/GCS_Mavlink.pde:2057: warning: 'void gcs_send_text(gcs_severity, const char*)' defined but not used
 autogenerated:49: warning: 'bool print_log_menu()' declared 'static' but never defined
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 autogenerated:52: warning: 'void get_log_boundaries(byte, int&, int&)' declared 'static' but never defined
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-autogenerated:182: warning: 'void print_divider()' declared 'static' but never defined
+autogenerated:184: warning: 'void print_divider()' declared 'static' but never defined
-autogenerated:183: warning: 'int8_t radio_input_switch()' declared 'static' but never defined
+autogenerated:185: warning: 'int8_t radio_input_switch()' declared 'static' but never defined
-autogenerated:184: warning: 'void zero_eeprom()' declared 'static' but never defined
+autogenerated:186: warning: 'void zero_eeprom()' declared 'static' but never defined
-autogenerated:185: warning: 'void print_enabled(bool)' declared 'static' but never defined
+autogenerated:187: warning: 'void print_enabled(bool)' declared 'static' but never defined
-autogenerated:186: warning: 'void print_accel_offsets()' declared 'static' but never defined
+autogenerated:188: warning: 'void print_accel_offsets()' declared 'static' but never defined
-autogenerated:187: warning: 'void print_gyro_offsets()' declared 'static' but never defined
+autogenerated:189: warning: 'void print_gyro_offsets()' declared 'static' but never defined
-autogenerated:188: warning: 'void run_cli()' declared 'static' but never defined
+autogenerated:190: warning: 'void run_cli()' declared 'static' but never defined
-autogenerated:198: warning: 'void print_hit_enter()' declared 'static' but never defined
+autogenerated:200: warning: 'void print_hit_enter()' declared 'static' but never defined
-autogenerated:199: warning: 'void test_wp_print(Location*, byte)' declared 'static' but never defined
+autogenerated:201: warning: 'void test_wp_print(Location*, byte)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:194: warning: 'comma' defined but not used
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:196: warning: 'flight_mode_strings' defined but not used
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:270: warning: 'command_index' defined but not used
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:304: warning: 'airspeed_raw' defined but not used
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:305: warning: 'airspeed_pressure' defined but not used
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:309: warning: 'abs_pressure' defined but not used
-/root/apm/ardupilot-mega/ArduPlane/Log.pde:746: warning: 'int8_t process_logs(uint8_t, const Menu::arg*)' defined but not used
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:841: warning: 'int8_t process_logs(uint8_t, const Menu::arg*)' defined but not used
 /root/apm/ardupilot-mega/ArduPlane/planner.pde:19: warning: 'int8_t planner_mode(uint8_t, const Menu::arg*)' defined but not used
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o

Tools/ArdupilotMegaPlanner/Firmware/APHIL-1280.size.txt

@@ -199,6 +199,7 @@
 0000000d V Parameters::Parameters()::__c
 0000000d V Parameters::Parameters()::__c
 0000000d V Parameters::Parameters()::__c
+0000000d V Parameters::Parameters()::__c
 0000000d B sonar_mode_filter
 0000000e t global destructors keyed to Serial
 0000000e t global constructors keyed to Serial
@@ -290,6 +291,7 @@
 0000001c W AP_VarT<int>::unserialize(void*, unsigned int)
 0000001c W AP_VarS<Matrix3<float> >::serialize(void*, unsigned int) const
 0000001c W AP_VarS<Vector3<float> >::serialize(void*, unsigned int) const
+0000001e t update_commands()
 0000001e r startup_ground()::__c
 00000020 t gcs_send_message(ap_message)
 00000020 t byte_swap_4
@@ -309,8 +311,8 @@
 00000023 r verify_loiter_turns()::__c
 00000023 r navigate()::__c
 00000026 r init_ardupilot()::__c
+00000026 r init_ardupilot()::__c
 00000027 r change_command(unsigned char)::__c
-00000027 r init_ardupilot()::__c
 00000028 t demo_servos(unsigned char)
 00000028 W AP_VarT<float>::unserialize(void*, unsigned int)
 00000028 W AP_VarT<long>::unserialize(void*, unsigned int)
@@ -429,9 +431,9 @@
 000002d4 t handle_process_do_command()
 000002e4 t read_radio()
 00000320 t __static_initialization_and_destruction_0(int, int)
-0000033a W Parameters::~Parameters()
+00000344 W Parameters::~Parameters()
 00000494 t init_ardupilot()
-00000920 W Parameters::Parameters()
+00000936 W Parameters::Parameters()
-0000092b b g
+00000938 b g
 0000178a T GCS_MAVLINK::handleMessage(__mavlink_message*)
-00001c82 T loop
+00001c76 T loop

Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560.build.log

@@ -13,58 +13,62 @@ autogenerated:35: warning: 'void send_raw_imu2(mavlink_channel_t)' declared 'sta
 autogenerated:36: warning: 'void send_raw_imu3(mavlink_channel_t)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/GCS_Mavlink.pde:2057: warning: 'void gcs_send_text(gcs_severity, const char*)' defined but not used
 autogenerated:49: warning: 'bool print_log_menu()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:842: warning: 'byte get_num_logs()' defined but not used
 autogenerated:52: warning: 'void get_log_boundaries(byte, int&, int&)' declared 'static' but never defined
-autogenerated:53: warning: 'int find_last_log_page(int)' declared 'static' but never defined
+autogenerated:53: warning: 'int find_last()' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduPlane/Log.pde:749: warning: 'void Log_Write_Attitude(int, int, uint16_t)' defined but not used
+autogenerated:54: warning: 'int find_last_log_page(uint16_t)' declared 'static' but never defined
-/root/apm/ardupilot-mega/ArduPlane/Log.pde:750: warning: 'void Log_Write_Control_Tuning()' defined but not used
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:844: warning: 'void Log_Write_Attitude(int, int, uint16_t)' defined but not used
-/root/apm/ardupilot-mega/ArduPlane/Log.pde:751: warning: 'void Log_Write_Raw()' defined but not used
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:840: warning: 'void Log_Write_Performance()' defined but not used
-autogenerated:64: warning: 'void Log_Read_Current()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:845: warning: 'void Log_Write_Control_Tuning()' defined but not used
-autogenerated:65: warning: 'void Log_Read_Control_Tuning()' declared 'static' but never defined
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:846: warning: 'void Log_Write_Raw()' defined but not used
-autogenerated:66: warning: 'void Log_Read_Nav_Tuning()' declared 'static' but never defined
+autogenerated:65: warning: 'void Log_Read_Current()' declared 'static' but never defined
-autogenerated:67: warning: 'void Log_Read_Performance()' declared 'static' but never defined
+autogenerated:66: warning: 'void Log_Read_Control_Tuning()' declared 'static' but never defined
-autogenerated:68: warning: 'void Log_Read_Cmd()' declared 'static' but never defined
+autogenerated:67: warning: 'void Log_Read_Nav_Tuning()' declared 'static' but never defined
-autogenerated:69: warning: 'void Log_Read_Startup()' declared 'static' but never defined
+autogenerated:68: warning: 'void Log_Read_Performance()' declared 'static' but never defined
-autogenerated:70: warning: 'void Log_Read_Attitude()' declared 'static' but never defined
+autogenerated:69: warning: 'void Log_Read_Cmd()' declared 'static' but never defined
-autogenerated:71: warning: 'void Log_Read_Mode()' declared 'static' but never defined
+autogenerated:70: warning: 'void Log_Read_Startup()' declared 'static' but never defined
-autogenerated:72: warning: 'void Log_Read_GPS()' declared 'static' but never defined
+autogenerated:71: warning: 'void Log_Read_Attitude()' declared 'static' but never defined
-autogenerated:73: warning: 'void Log_Read_Raw()' declared 'static' but never defined
+autogenerated:72: warning: 'void Log_Read_Mode()' declared 'static' but never defined
-autogenerated:74: warning: 'void Log_Read(int, int)' declared 'static' but never defined
+autogenerated:73: warning: 'void Log_Read_GPS()' declared 'static' but never defined
-autogenerated:87: warning: 'void add_altitude_data(long unsigned int, long int)' declared 'static' but never defined
+autogenerated:74: warning: 'void Log_Read_Raw()' declared 'static' but never defined
+autogenerated:75: warning: 'void Log_Read(int, int)' declared 'static' but never defined
+autogenerated:76: warning: 'int Log_Read_Process(int, int)' declared 'static' but never defined
+autogenerated:89: warning: 'void add_altitude_data(long unsigned int, long int)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/commands.pde:128: warning: 'void increment_cmd_index()' defined but not used
-autogenerated:144: warning: 'void low_battery_event()' declared 'static' but never defined
+autogenerated:146: warning: 'void low_battery_event()' declared 'static' but never defined
-autogenerated:164: warning: 'void init_barometer()' declared 'static' but never defined
+autogenerated:166: warning: 'void init_barometer()' declared 'static' but never defined
-autogenerated:165: warning: 'long int read_barometer()' declared 'static' but never defined
+autogenerated:167: warning: 'long int read_barometer()' declared 'static' but never defined
-autogenerated:166: warning: 'void read_airspeed()' declared 'static' but never defined
+autogenerated:168: warning: 'void read_airspeed()' declared 'static' but never defined
-autogenerated:167: warning: 'void zero_airspeed()' declared 'static' but never defined
+autogenerated:169: warning: 'void zero_airspeed()' declared 'static' but never defined
-autogenerated:169: warning: 'void report_batt_monitor()' declared 'static' but never defined
+autogenerated:171: warning: 'void report_batt_monitor()' declared 'static' but never defined
-autogenerated:170: warning: 'void report_radio()' declared 'static' but never defined
+autogenerated:172: warning: 'void report_radio()' declared 'static' but never defined
-autogenerated:171: warning: 'void report_gains()' declared 'static' but never defined
+autogenerated:173: warning: 'void report_gains()' declared 'static' but never defined
-autogenerated:172: warning: 'void report_xtrack()' declared 'static' but never defined
+autogenerated:174: warning: 'void report_xtrack()' declared 'static' but never defined
-autogenerated:173: warning: 'void report_throttle()' declared 'static' but never defined
+autogenerated:175: warning: 'void report_throttle()' declared 'static' but never defined
-autogenerated:174: warning: 'void report_imu()' declared 'static' but never defined
+autogenerated:176: warning: 'void report_imu()' declared 'static' but never defined
-autogenerated:175: warning: 'void report_compass()' declared 'static' but never defined
+autogenerated:177: warning: 'void report_compass()' declared 'static' but never defined
-autogenerated:176: warning: 'void report_flight_modes()' declared 'static' but never defined
+autogenerated:178: warning: 'void report_flight_modes()' declared 'static' but never defined
-autogenerated:177: warning: 'void print_PID(PID*)' declared 'static' but never defined
+autogenerated:179: warning: 'void print_PID(PID*)' declared 'static' but never defined
-autogenerated:178: warning: 'void print_radio_values()' declared 'static' but never defined
+autogenerated:180: warning: 'void print_radio_values()' declared 'static' but never defined
-autogenerated:179: warning: 'void print_switch(byte, byte)' declared 'static' but never defined
+autogenerated:181: warning: 'void print_switch(byte, byte)' declared 'static' but never defined
-autogenerated:180: warning: 'void print_done()' declared 'static' but never defined
+autogenerated:182: warning: 'void print_done()' declared 'static' but never defined
-autogenerated:181: warning: 'void print_blanks(int)' declared 'static' but never defined
+autogenerated:183: warning: 'void print_blanks(int)' declared 'static' but never defined
-autogenerated:182: warning: 'void print_divider()' declared 'static' but never defined
+autogenerated:184: warning: 'void print_divider()' declared 'static' but never defined
-autogenerated:183: warning: 'int8_t radio_input_switch()' declared 'static' but never defined
+autogenerated:185: warning: 'int8_t radio_input_switch()' declared 'static' but never defined
-autogenerated:184: warning: 'void zero_eeprom()' declared 'static' but never defined
+autogenerated:186: warning: 'void zero_eeprom()' declared 'static' but never defined
-autogenerated:185: warning: 'void print_enabled(bool)' declared 'static' but never defined
+autogenerated:187: warning: 'void print_enabled(bool)' declared 'static' but never defined
-autogenerated:186: warning: 'void print_accel_offsets()' declared 'static' but never defined
+autogenerated:188: warning: 'void print_accel_offsets()' declared 'static' but never defined
-autogenerated:187: warning: 'void print_gyro_offsets()' declared 'static' but never defined
+autogenerated:189: warning: 'void print_gyro_offsets()' declared 'static' but never defined
-autogenerated:188: warning: 'void run_cli()' declared 'static' but never defined
+autogenerated:190: warning: 'void run_cli()' declared 'static' but never defined
-autogenerated:198: warning: 'void print_hit_enter()' declared 'static' but never defined
+autogenerated:200: warning: 'void print_hit_enter()' declared 'static' but never defined
-autogenerated:199: warning: 'void test_wp_print(Location*, byte)' declared 'static' but never defined
+autogenerated:201: warning: 'void test_wp_print(Location*, byte)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:194: warning: 'comma' defined but not used
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:196: warning: 'flight_mode_strings' defined but not used
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:270: warning: 'command_index' defined but not used
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:304: warning: 'airspeed_raw' defined but not used
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:305: warning: 'airspeed_pressure' defined but not used
 /root/apm/ardupilot-mega/ArduPlane/ArduPlane.pde:309: warning: 'abs_pressure' defined but not used
-/root/apm/ardupilot-mega/ArduPlane/Log.pde:746: warning: 'int8_t process_logs(uint8_t, const Menu::arg*)' defined but not used
+/root/apm/ardupilot-mega/ArduPlane/Log.pde:841: warning: 'int8_t process_logs(uint8_t, const Menu::arg*)' defined but not used
 /root/apm/ardupilot-mega/ArduPlane/planner.pde:19: warning: 'int8_t planner_mode(uint8_t, const Menu::arg*)' defined but not used
 %% libraries/APM_BMP085/APM_BMP085.o
 %% libraries/APM_BMP085/APM_BMP085_hil.o

Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560.size.txt

@@ -199,6 +199,7 @@
 0000000d V Parameters::Parameters()::__c
 0000000d V Parameters::Parameters()::__c
 0000000d V Parameters::Parameters()::__c
+0000000d V Parameters::Parameters()::__c
 0000000d B sonar_mode_filter
 0000000e t global destructors keyed to Serial
 0000000e t global constructors keyed to Serial
@@ -290,6 +291,7 @@
 0000001c W AP_VarT<int>::unserialize(void*, unsigned int)
 0000001c W AP_VarS<Matrix3<float> >::serialize(void*, unsigned int) const
 0000001c W AP_VarS<Vector3<float> >::serialize(void*, unsigned int) const
+0000001e t update_commands()
 0000001e r startup_ground()::__c
 00000020 t gcs_send_message(ap_message)
 00000020 t byte_swap_4
@@ -309,8 +311,8 @@
 00000023 r verify_loiter_turns()::__c
 00000023 r navigate()::__c
 00000026 r init_ardupilot()::__c
+00000026 r init_ardupilot()::__c
 00000027 r change_command(unsigned char)::__c
-00000027 r init_ardupilot()::__c
 00000028 t demo_servos(unsigned char)
 00000028 W AP_VarT<float>::unserialize(void*, unsigned int)
 00000028 W AP_VarT<long>::unserialize(void*, unsigned int)
@@ -429,9 +431,9 @@
 000002d4 t handle_process_do_command()
 000002e4 t read_radio()
 00000320 t __static_initialization_and_destruction_0(int, int)
-0000033a W Parameters::~Parameters()
+00000344 W Parameters::~Parameters()
 00000492 t init_ardupilot()
-00000920 W Parameters::Parameters()
+00000936 W Parameters::Parameters()
-0000092b b g
+00000938 b g
 0000178a T GCS_MAVLINK::handleMessage(__mavlink_message*)
-00001c82 T loop
+00001c76 T loop

Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml

@@ -3,14 +3,14 @@
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-1280.hex</url>
     <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560.hex</url2560>
-    <name>ArduPlane V2.251  </name>
+    <name>ArduPlane V2.26  </name>
     <desc></desc>
     <format_version>12</format_version>
   </Firmware>
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-1280.hex</url>
     <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560.hex</url2560>
-    <name>ArduPlane V2.251 HIL</name>
+    <name>ArduPlane V2.26 HIL</name>
     <desc>
 #define FLIGHT_MODE_CHANNEL	8
 #define FLIGHT_MODE_1		AUTO
@@ -44,53 +44,53 @@
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-1280.hex</url>
     <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-trunk-2560.hex</url2560>
-    <name>ArduPlane V2.251 APM trunk</name>
+    <name>ArduPlane V2.26 APM trunk</name>
     <desc></desc>
     <format_version>12</format_version>
   </Firmware>
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
     <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
-    <name>ArduCopter V2.0.49 Beta Quad</name>
+    <name>ArduCopter V2.0.50 Beta Quad</name>
     <desc>
 #define FRAME_CONFIG QUAD_FRAME
 #define FRAME_ORIENTATION X_FRAME
 
 </desc>
-    <format_version>111</format_version>
+    <format_version>113</format_version>
   </Firmware>
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
     <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
-    <name>ArduCopter V2.0.49 Beta Tri</name>
+    <name>ArduCopter V2.0.50 Beta Tri</name>
     <desc>
 #define FRAME_CONFIG TRI_FRAME
 #define FRAME_ORIENTATION X_FRAME
 
 </desc>
-    <format_version>111</format_version>
+    <format_version>113</format_version>
   </Firmware>
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
     <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
-    <name>ArduCopter V2.0.49 Beta Hexa</name>
+    <name>ArduCopter V2.0.50 Beta Hexa</name>
     <desc>
 #define FRAME_CONFIG HEXA_FRAME
 #define FRAME_ORIENTATION X_FRAME
 
 </desc>
-    <format_version>111</format_version>
+    <format_version>113</format_version>
   </Firmware>
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
     <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
-    <name>ArduCopter V2.0.49 Beta Y6</name>
+    <name>ArduCopter V2.0.50 Beta Y6</name>
     <desc>
 #define FRAME_CONFIG Y6_FRAME
 #define FRAME_ORIENTATION X_FRAME
 
 </desc>
-    <format_version>111</format_version>
+    <format_version>113</format_version>
   </Firmware>
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
@@ -142,7 +142,7 @@
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
     <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
-    <name>ArduCopter V2.0.49 Beta Quad Hil</name>
+    <name>ArduCopter V2.0.50 Beta Quad Hil</name>
     <desc>
 #define FRAME_CONFIG QUAD_FRAME
 #define FRAME_ORIENTATION PLUS_FRAME
@@ -152,7 +152,7 @@
 
 
 </desc>
-    <format_version>111</format_version>
+    <format_version>113</format_version>
   </Firmware>
   <Firmware>
     <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>

Tools/ArdupilotMegaPlanner/Firmware/git.log

@@ -1,29 +1 @@
-From https://code.google.com/p/ardupilot-mega
+Already up-to-date.
-   66cc8dd..6f4e7ec  master     -> origin/master
-Updating 66cc8dd..6f4e7ec
-Fast-forward
- ArduCopter/APM_Config.h                            |    2 +-
- ArduCopter/ArduCopter.pde                          |   18 ++-
- ArduCopter/commands.pde                            |    8 +-
- ArduCopter/commands_process.pde                    |    3 +-
- ArduCopter/motors_hexa.pde                         |    2 +-
- ArduCopter/motors_octa.pde                         |    2 +-
- ArduCopter/motors_octa_quad.pde                    |    2 +-
- ArduCopter/motors_y6.pde                           |    3 +-
- ArduPlane/ArduPlane.pde                            |    2 +-
- ArduPlane/Log.pde                                  |    5 +-
- ArduPlane/commands_logic.pde                       |   13 ++-
- Tools/ArdupilotMegaPlanner/CurrentState.cs         |    1 -
- Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs  |   27 +++-
- .../ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs |  149 +++++++++++++++++---
- Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs       |   14 ++-
- .../Properties/AssemblyInfo.cs                     |    2 +-
- .../bin/Release/ArdupilotMegaPlanner.application   |    2 +-
- .../bin/Release/ArdupilotMegaPlanner.exe           |  Bin 2194432 -> 2195456 bytes
- Tools/ArdupilotMegaPlanner/bin/Release/Updater.exe |  Bin 8192 -> 8192 bytes
- Tools/ArdupilotMegaPlanner/bin/Release/resedit.exe |  Bin 20480 -> 20480 bytes
- .../ru-RU/ArdupilotMegaPlanner.resources.dll       |  Bin 53248 -> 53248 bytes
- .../zh-Hans/ArdupilotMegaPlanner.resources.dll     |  Bin 380928 -> 380928 bytes
- Tools/autotest/arducopter.py                       |   58 ++++++---
- Tools/autotest/common.py                           |   16 ++-
- 24 files changed, 251 insertions(+), 78 deletions(-)

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

@@ -730,6 +730,69 @@
   <data name="TabAPM2.ToolTip" xml:space="preserve">
     <value />
   </data>
+  <data name="ACRO_PIT_IMAX.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="label27.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="ACRO_PIT_I.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="label29.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="ACRO_PIT_P.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="label33.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="groupBox17.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="label14.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="THR_RATE_IMAX.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="THR_RATE_I.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="label20.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="THR_RATE_P.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="label25.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="groupBox5.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="ACRO_RLL_IMAX.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="label40.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="ACRO_RLL_I.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="label44.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="ACRO_RLL_P.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="label48.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="groupBox18.ToolTip" xml:space="preserve">
+    <value />
+  </data>
   <data name="CHK_lockrollpitch.Size" type="System.Drawing.Size, System.Drawing">
     <value>122, 17</value>
   </data>
@@ -805,19 +868,19 @@
   <data name="groupBox6.ToolTip" xml:space="preserve">
     <value />
   </data>
-  <data name="THR_HOLD_IMAX.ToolTip" xml:space="preserve">
+  <data name="THR_ALT_IMAX.ToolTip" xml:space="preserve">
     <value />
   </data>
   <data name="label19.ToolTip" xml:space="preserve">
     <value />
   </data>
-  <data name="THR_HOLD_I.ToolTip" xml:space="preserve">
+  <data name="THR_ALT_I.ToolTip" xml:space="preserve">
     <value />
   </data>
   <data name="label21.ToolTip" xml:space="preserve">
     <value />
   </data>
-  <data name="THR_HOLD_P.ToolTip" xml:space="preserve">
+  <data name="THR_ALT_P.ToolTip" xml:space="preserve">
     <value />
   </data>
   <data name="label22.ToolTip" xml:space="preserve">
@@ -982,6 +1045,15 @@
   <data name="TabAC2.ToolTip" xml:space="preserve">
     <value />
   </data>
+  <data name="label26.Text" xml:space="preserve">
+    <value>视频格式</value>
+  </data>
+  <data name="label26.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="CMB_videoresolutions.ToolTip" xml:space="preserve">
+    <value />
+  </data>
   <data name="label12.Text" xml:space="preserve">
     <value>抬头显示</value>
   </data>
@@ -1261,6 +1333,9 @@
   <data name="ConfigTabs.ToolTip" xml:space="preserve">
     <value />
   </data>
+  <data name="label109.ToolTip" xml:space="preserve">
+    <value />
+  </data>
   <data name="BUT_rerequestparams.Text" xml:space="preserve">
     <value>刷新参数</value>
   </data>
@@ -1273,10 +1348,17 @@
   <data name="BUT_load.Text" xml:space="preserve">
     <value>加载</value>
   </data>
+  <data name="BUT_compare.Text" xml:space="preserve">
+    <value>比较参数</value>
+  </data>
   <data name="BUT_compare.ToolTip" xml:space="preserve">
     <value />
   </data>
   <data name="$this.ToolTip" xml:space="preserve">
     <value />
   </data>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="MAVParam" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\MAVParam.zh-Hans.txt;System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089;utf-8</value>
+  </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -681,7 +681,7 @@ namespace ArdupilotMega.GCSViews
                         }
                     }
 
-                    lbl_status.Text = "Done";
+                    lbl_status.Text = "Write Done... Waiting";
                 }
                 else
                 {
@@ -696,6 +696,7 @@ namespace ArdupilotMega.GCSViews
 
                 System.Threading.Thread.Sleep(10000); // 10 seconds - new apvar erases eeprom on new format version, this should buy us some time.
 
+                lbl_status.Text = "Done";
             }
             catch (Exception ex) { lbl_status.Text = "Failed upload"; MessageBox.Show("Check port settings or Port in use? " + ex.ToString()); port.Close(); }
             flashing = false;

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -141,6 +141,8 @@ namespace ArdupilotMega.GCSViews
 
             CMB_setwp.SelectedIndex = 0;
 
+            zg1.Visible = true;
+
             CreateChart(zg1);
 
             // config map             
@@ -693,7 +695,7 @@ namespace ArdupilotMega.GCSViews
             {
                 ((Button)sender).Enabled = false;
 #if MAVLINK10
-                comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), CMB_action.Text));
+                comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), CMB_action.Text),0,0,0,0,0,0,0);
 #else
                 comPort.doAction((MAVLink.MAV_ACTION)Enum.Parse(typeof(MAVLink.MAV_ACTION), "MAV_ACTION_" + CMB_action.Text));
 #endif
@@ -734,6 +736,7 @@ namespace ArdupilotMega.GCSViews
                 ZedGraphTimer.Enabled = true;
                 ZedGraphTimer.Start();
                 zg1.Visible = true;
+                zg1.Refresh();
             }
             else
             {
@@ -807,9 +810,9 @@ namespace ArdupilotMega.GCSViews
             Locationwp gotohere = new Locationwp();
 
             gotohere.id = (byte)MAVLink.MAV_CMD.WAYPOINT;
-            gotohere.alt = (int)(intalt / MainV2.cs.multiplierdist * 100); // back to m
+            gotohere.alt = (float)(intalt / MainV2.cs.multiplierdist); // back to m
-            gotohere.lat = (int)(gotolocation.Lat * 10000000);
+            gotohere.lat = (float)(gotolocation.Lat);
-            gotohere.lng = (int)(gotolocation.Lng * 10000000);
+            gotohere.lng = (float)(gotolocation.Lng);
 
             try
             {

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

@@ -123,6 +123,9 @@
   <data name="contextMenuStrip1.ToolTip" xml:space="preserve">
     <value />
   </data>
+  <data name="contextMenuStrip2.ToolTip" xml:space="preserve">
+    <value />
+  </data>
   <data name="hud1.ToolTip" xml:space="preserve">
     <value />
   </data>
@@ -4212,18 +4215,15 @@
   <data name="tabStatus.ToolTip" xml:space="preserve">
     <value />
   </data>
+  <data name="lbl_logpercent.ToolTip" xml:space="preserve">
+    <value />
+  </data>
   <data name="BUT_log2kml.ToolTip" xml:space="preserve">
     <value />
   </data>
   <data name="tracklog.ToolTip" xml:space="preserve">
     <value />
   </data>
-  <data name="BUT_stoptelemlog.Text" xml:space="preserve">
-    <value>停止记录</value>
-  </data>
-  <data name="BUT_stoptelemlog.ToolTip" xml:space="preserve">
-    <value />
-  </data>
   <data name="BUT_playlog.Text" xml:space="preserve">
     <value>播放/暂停</value>
   </data>
@@ -4236,12 +4236,6 @@
   <data name="BUT_loadtelem.ToolTip" xml:space="preserve">
     <value />
   </data>
-  <data name="BUT_savetelem.Text" xml:space="preserve">
-    <value>开始记录</value>
-  </data>
-  <data name="BUT_savetelem.ToolTip" xml:space="preserve">
-    <value />
-  </data>
   <data name="tabTLogs.Text" xml:space="preserve">
     <value>遥测记录</value>
   </data>
@@ -4260,64 +4254,10 @@
   <data name="MainH.Panel1.ToolTip" xml:space="preserve">
     <value />
   </data>
-  <data name="TXT_lat.Size" type="System.Drawing.Size, System.Drawing">
+  <data name="zg1.ToolTip" xml:space="preserve">
-    <value>80, 13</value>
-  </data>
-  <data name="TXT_lat.ToolTip" xml:space="preserve">
     <value />
   </data>
-  <data name="Zoomlevel.Location" type="System.Drawing.Point, System.Drawing">
+  <data name="splitContainer1.Panel1.ToolTip" xml:space="preserve">
-    <value>474, 7</value>
-  </data>
-  <data name="label1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>440, 10</value>
-  </data>
-  <data name="label1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>31, 13</value>
-  </data>
-  <data name="label1.Text" xml:space="preserve">
-    <value>缩放</value>
-  </data>
-  <data name="label1.ToolTip" xml:space="preserve">
-    <value />
-  </data>
-  <data name="TXT_long.Location" type="System.Drawing.Point, System.Drawing">
-    <value>90, 10</value>
-  </data>
-  <data name="TXT_long.Size" type="System.Drawing.Size, System.Drawing">
-    <value>80, 13</value>
-  </data>
-  <data name="TXT_long.ToolTip" xml:space="preserve">
-    <value />
-  </data>
-  <data name="TXT_alt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>170, 10</value>
-  </data>
-  <data name="TXT_alt.Size" type="System.Drawing.Size, System.Drawing">
-    <value>80, 13</value>
-  </data>
-  <data name="TXT_alt.ToolTip" xml:space="preserve">
-    <value />
-  </data>
-  <data name="CHK_autopan.Location" type="System.Drawing.Point, System.Drawing">
-    <value>339, 9</value>
-  </data>
-  <data name="CHK_autopan.Size" type="System.Drawing.Size, System.Drawing">
-    <value>98, 17</value>
-  </data>
-  <data name="CHK_autopan.Text" xml:space="preserve">
-    <value>自动平移地图</value>
-  </data>
-  <data name="CB_tuning.Location" type="System.Drawing.Point, System.Drawing">
-    <value>250, 9</value>
-  </data>
-  <data name="CB_tuning.Size" type="System.Drawing.Size, System.Drawing">
-    <value>74, 17</value>
-  </data>
-  <data name="CB_tuning.Text" xml:space="preserve">
-    <value>舵机调整</value>
-  </data>
-  <data name="panel1.ToolTip" xml:space="preserve">
     <value />
   </data>
   <data name="gMapControl1.streamjpg" mimetype="application/x-microsoft.net.object.binary.base64">
@@ -4468,10 +4408,70 @@
   <data name="gMapControl1.ToolTip" xml:space="preserve">
     <value />
   </data>
-  <data name="zg1.ToolTip" xml:space="preserve">
+  <data name="splitContainer1.Panel2.ToolTip" xml:space="preserve">
     <value />
   </data>
-  <data name="panel2.ToolTip" xml:space="preserve">
+  <data name="splitContainer1.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="TXT_lat.Size" type="System.Drawing.Size, System.Drawing">
+    <value>80, 13</value>
+  </data>
+  <data name="TXT_lat.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="Zoomlevel.Location" type="System.Drawing.Point, System.Drawing">
+    <value>474, 7</value>
+  </data>
+  <data name="label1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>440, 10</value>
+  </data>
+  <data name="label1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>缩放</value>
+  </data>
+  <data name="label1.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="TXT_long.Location" type="System.Drawing.Point, System.Drawing">
+    <value>90, 10</value>
+  </data>
+  <data name="TXT_long.Size" type="System.Drawing.Size, System.Drawing">
+    <value>80, 13</value>
+  </data>
+  <data name="TXT_long.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="TXT_alt.Location" type="System.Drawing.Point, System.Drawing">
+    <value>170, 10</value>
+  </data>
+  <data name="TXT_alt.Size" type="System.Drawing.Size, System.Drawing">
+    <value>80, 13</value>
+  </data>
+  <data name="TXT_alt.ToolTip" xml:space="preserve">
+    <value />
+  </data>
+  <data name="CHK_autopan.Location" type="System.Drawing.Point, System.Drawing">
+    <value>339, 9</value>
+  </data>
+  <data name="CHK_autopan.Size" type="System.Drawing.Size, System.Drawing">
+    <value>98, 17</value>
+  </data>
+  <data name="CHK_autopan.Text" xml:space="preserve">
+    <value>自动平移地图</value>
+  </data>
+  <data name="CB_tuning.Location" type="System.Drawing.Point, System.Drawing">
+    <value>250, 9</value>
+  </data>
+  <data name="CB_tuning.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CB_tuning.Text" xml:space="preserve">
+    <value>舵机调整</value>
+  </data>
+  <data name="panel1.ToolTip" xml:space="preserve">
     <value />
   </data>
   <data name="tableMap.ToolTip" xml:space="preserve">

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs

@@ -120,6 +120,7 @@
             this.label11 = new System.Windows.Forms.Label();
             this.panelBASE = new System.Windows.Forms.Panel();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
+            this.BUT_zoomto = new ArdupilotMega.MyButton();
             ((System.ComponentModel.ISupportInitialize)(this.Commands)).BeginInit();
             this.panel5.SuspendLayout();
             this.panel1.SuspendLayout();
@@ -508,6 +509,7 @@
             this.panelWaypoints.CaptionFont = new System.Drawing.Font("Segoe UI", 11.75F, System.Drawing.FontStyle.Bold);
             this.panelWaypoints.CaptionHeight = 21;
             this.panelWaypoints.ColorScheme = BSE.Windows.Forms.ColorScheme.Custom;
+            this.panelWaypoints.Controls.Add(this.BUT_zoomto);
             this.panelWaypoints.Controls.Add(this.BUT_Camera);
             this.panelWaypoints.Controls.Add(this.BUT_grid);
             this.panelWaypoints.Controls.Add(this.BUT_Prefetch);
@@ -649,6 +651,7 @@
             this.panelMap.ForeColor = System.Drawing.SystemColors.ControlText;
             this.panelMap.MinimumSize = new System.Drawing.Size(27, 27);
             this.panelMap.Name = "panelMap";
+            this.panelMap.Resize += new System.EventHandler(this.panelMap_Resize);
             // 
             // lbl_distance
             // 
@@ -831,6 +834,14 @@
             resources.ApplyResources(this.panelBASE, "panelBASE");
             this.panelBASE.Name = "panelBASE";
             // 
+            // BUT_zoomto
+            // 
+            resources.ApplyResources(this.BUT_zoomto, "BUT_zoomto");
+            this.BUT_zoomto.Name = "BUT_zoomto";
+            this.toolTip1.SetToolTip(this.BUT_zoomto, resources.GetString("BUT_zoomto.ToolTip"));
+            this.BUT_zoomto.UseVisualStyleBackColor = true;
+            this.BUT_zoomto.Click += new System.EventHandler(this.BUT_zoomto_Click);
+            // 
             // FlightPlanner
             // 
             resources.ApplyResources(this, "$this");
@@ -942,5 +953,6 @@
         private System.Windows.Forms.DataGridViewButtonColumn Delete;
         private System.Windows.Forms.DataGridViewImageColumn Up;
         private System.Windows.Forms.DataGridViewImageColumn Down;
+        private MyButton BUT_zoomto;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -642,6 +642,11 @@ namespace ArdupilotMega.GCSViews
 
             updateCMDParams();
 
+            // mono
+            panelMap.Dock = DockStyle.None;
+            panelMap.Dock = DockStyle.Fill;
+            panelMap_Resize(null,null);
+
             writeKML();
         }
 
@@ -672,7 +677,12 @@ namespace ArdupilotMega.GCSViews
             {
                 selectedrow = e.RowIndex;
                 string option = Commands[Command.Index, selectedrow].EditedFormattedValue.ToString();
-                string cmd = Commands[0, selectedrow].Value.ToString();
+                string cmd;
+                try
+                {
+                    cmd = Commands[Command.Index, selectedrow].Value.ToString();
+                }
+                catch { cmd = option; }
                 Console.WriteLine("editformat " + option + " value " + cmd);
                 ChangeColumnHeader(cmd);
             }
@@ -681,6 +691,15 @@ namespace ArdupilotMega.GCSViews
 
         private void Commands_RowsAdded(object sender, DataGridViewRowsAddedEventArgs e)
         {
+            for (int i = 0; i < Commands.ColumnCount; i++)
+            {
+                DataGridViewCell tcell = Commands.Rows[e.RowIndex].Cells[i];
+                if (tcell.GetType() == typeof(DataGridViewTextBoxCell))
+                {
+                    tcell.Value = "0";
+                }
+            }                
+
             DataGridViewComboBoxCell cell = Commands.Rows[e.RowIndex].Cells[Command.Index] as DataGridViewComboBoxCell;
             if (cell.Value == null)
             {
@@ -873,15 +892,9 @@ namespace ArdupilotMega.GCSViews
                         {
                             if (Commands.Rows[a].HeaderCell.Value == null)
                             {
-                                if (ArdupilotMega.MainV2.MAC)
+                                    Commands.Rows[a].HeaderCell.Style.Alignment = DataGridViewContentAlignment.MiddleCenter;
-                                {
-                                    Commands.Rows[a].HeaderCell.Value = "    " + (a + 1).ToString(); // mac doesnt auto center header text
-                                }
-                                else
-                                {
                                     Commands.Rows[a].HeaderCell.Value = (a + 1).ToString();
                             }
-                            }
                             // skip rows with the correct number
                             string rowno = Commands.Rows[a].HeaderCell.Value.ToString();
                             if (!rowno.Equals((a + 1).ToString()))
@@ -920,14 +933,14 @@ namespace ArdupilotMega.GCSViews
                             pointlist.Add(new PointLatLngAlt(double.Parse(cell3), double.Parse(cell4), (int)double.Parse(cell2) + homealt, (a + 1).ToString()));
                             addpolygonmarker((a + 1).ToString(), double.Parse(cell4), double.Parse(cell3), (int)double.Parse(cell2));
 
-                            avglong += double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString());
+                            avglong += double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString());
-                            avglat += double.Parse(Commands.Rows[a].Cells[Param3.Index].Value.ToString());
+                            avglat += double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString());
                             usable++;
 
-                            maxlong = Math.Max(double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString()), maxlong);
+                            maxlong = Math.Max(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()), maxlong);
-                            maxlat = Math.Max(double.Parse(Commands.Rows[a].Cells[Param3.Index].Value.ToString()), maxlat);
+                            maxlat = Math.Max(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()), maxlat);
-                            minlong = Math.Min(double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString()), minlong);
+                            minlong = Math.Min(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()), minlong);
-                            minlat = Math.Min(double.Parse(Commands.Rows[a].Cells[Param3.Index].Value.ToString()), minlat);
+                            minlat = Math.Min(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()), minlat);
 
                             System.Diagnostics.Debug.WriteLine(temp - System.Diagnostics.Stopwatch.GetTimestamp());
                         }
@@ -974,9 +987,11 @@ namespace ArdupilotMega.GCSViews
                 else if (home.Length > 5 && usable == 0)
                 {
                     lookat = "<LookAt>     <longitude>" + TXT_homelng.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</longitude>     <latitude>" + TXT_homelat.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</latitude> <range>4000</range> </LookAt>";
+                    MainMap.HoldInvalidation = true;
                     MainMap.ZoomAndCenterMarkers("objects");
                     MainMap.Zoom -= 2;
                     MainMap_OnMapZoomChanged();
+                    MainMap.HoldInvalidation = false;
                 }
 
                 RegeneratePolygon();
@@ -2073,6 +2088,18 @@ namespace ArdupilotMega.GCSViews
             // update row headers
             ((ComboBox)sender).ForeColor = Color.White;
             ChangeColumnHeader(((ComboBox)sender).Text);
+            try
+            {
+                for (int i = 0; i < Commands.ColumnCount; i++)
+                {
+                    DataGridViewCell tcell = Commands.Rows[selectedrow].Cells[i];
+                    if (tcell.GetType() == typeof(DataGridViewTextBoxCell))
+                    {
+                        tcell.Value = "0";
+                    }
+                }
+            }
+            catch { }
         }
         /// <summary>
         /// Get the Google earth ALT for a given coord
@@ -2176,12 +2203,21 @@ namespace ArdupilotMega.GCSViews
         private void BUT_Prefetch_Click(object sender, EventArgs e)
         {
             RectLatLng area = MainMap.SelectedArea;
+            if (area.IsEmpty)
+            {
+                DialogResult res = MessageBox.Show("No ripp area defined, ripp displayed on screen?", "Rip", MessageBoxButtons.YesNo);
+                if (res == DialogResult.Yes)
+                {
+                    area = MainMap.CurrentViewArea;
+                }
+            }
+
             if (!area.IsEmpty)
             {
-                for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
+                DialogResult res = MessageBox.Show("Ready ripp at Zoom = " + (int)MainMap.Zoom + " ?", "GMap.NET", MessageBoxButtons.YesNo);
-                {
-                    DialogResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButtons.YesNoCancel);
 
+                for (int i = 1; i <= MainMap.MaxZoom; i++)
+                {
                     if (res == DialogResult.Yes)
                     {
                         TilePrefetcher obj = new TilePrefetcher();
@@ -2588,6 +2624,7 @@ namespace ArdupilotMega.GCSViews
         private void clearMissionToolStripMenuItem_Click(object sender, EventArgs e)
         {
             Commands.Rows.Clear();
+            selectedrow = 0;
             writeKML();
         }
 
@@ -2611,7 +2648,7 @@ namespace ArdupilotMega.GCSViews
 
             Commands.Rows[row].Cells[Param1.Index].Value = 1;
 
-            Commands.Rows[row].Cells[Param3.Index].Value = repeat;
+            Commands.Rows[row].Cells[Param2.Index].Value = repeat;
         }
 
         private void jumpwPToolStripMenuItem_Click(object sender, EventArgs e)
@@ -2627,7 +2664,7 @@ namespace ArdupilotMega.GCSViews
 
             Commands.Rows[row].Cells[Param1.Index].Value = wp;
 
-            Commands.Rows[row].Cells[Param3.Index].Value = repeat;
+            Commands.Rows[row].Cells[Param2.Index].Value = repeat;
         }
 
         private void deleteWPToolStripMenuItem_Click(object sender, EventArgs e)
@@ -2697,5 +2734,31 @@ namespace ArdupilotMega.GCSViews
             MainV2.fixtheme(form);
             form.Show();
         }
+
+        private void panelMap_Resize(object sender, EventArgs e)
+        {
+            // this is a mono fix for the zoom bar
+            Console.WriteLine("panelmap "+panelMap.Size.ToString());
+            MainMap.Size = new Size(panelMap.Size.Width - 50,panelMap.Size.Height);
+            trackBar1.Location = new Point(panelMap.Size.Width - 50,trackBar1.Location.Y);
+            trackBar1.Size = new System.Drawing.Size(trackBar1.Size.Width, panelMap.Size.Height - trackBar1.Location.Y);
+            label11.Location = new Point(panelMap.Size.Width - 50, label11.Location.Y);
+        }
+
+        private void BUT_zoomto_Click(object sender, EventArgs e)
+        {
+            string place = "Perth, Australia";
+            Common.InputBox("Location", "Enter your location", ref place);
+
+            GeoCoderStatusCode status = MainMap.SetCurrentPositionByKeywords(place);
+            if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
+            {
+                MessageBox.Show("Google Maps Geocoder can't find: '" + place + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
+            }
+            else
+            {
+                MainMap.Zoom = 15;
+            }
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx

@@ -127,7 +127,7 @@
   </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="CHK_altmode.Location" type="System.Drawing.Point, System.Drawing">
-    <value>326, 31</value>
+    <value>213, 31</value>
   </data>
   <data name="CHK_altmode.Size" type="System.Drawing.Size, System.Drawing">
     <value>82, 17</value>
@@ -148,7 +148,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;CHK_altmode.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
   </data>
   <data name="CHK_holdalt.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -157,7 +157,7 @@
     <value>NoControl</value>
   </data>
   <data name="CHK_holdalt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>411, 24</value>
+    <value>298, 24</value>
   </data>
   <data name="CHK_holdalt.Size" type="System.Drawing.Size, System.Drawing">
     <value>98, 17</value>
@@ -178,7 +178,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;CHK_holdalt.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>9</value>
   </data>
   <data name="Commands.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Bottom, Left, Right</value>
@@ -340,7 +340,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;Commands.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>11</value>
   </data>
   <data name="CHK_geheight.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -349,7 +349,7 @@
     <value>NoControl</value>
   </data>
   <data name="CHK_geheight.Location" type="System.Drawing.Point, System.Drawing">
-    <value>411, 40</value>
+    <value>298, 40</value>
   </data>
   <data name="CHK_geheight.Size" type="System.Drawing.Size, System.Drawing">
     <value>86, 17</value>
@@ -370,10 +370,10 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;CHK_geheight.ZOrder" xml:space="preserve">
-    <value>12</value>
+    <value>13</value>
   </data>
   <data name="TXT_WPRad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>73, 32</value>
+    <value>23, 36</value>
   </data>
   <data name="TXT_WPRad.Size" type="System.Drawing.Size, System.Drawing">
     <value>36, 20</value>
@@ -394,10 +394,10 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;TXT_WPRad.ZOrder" xml:space="preserve">
-    <value>13</value>
+    <value>14</value>
   </data>
   <data name="TXT_DefaultAlt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>280, 32</value>
+    <value>154, 36</value>
   </data>
   <data name="TXT_DefaultAlt.Size" type="System.Drawing.Size, System.Drawing">
     <value>40, 20</value>
@@ -418,7 +418,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;TXT_DefaultAlt.ZOrder" xml:space="preserve">
-    <value>11</value>
+    <value>12</value>
   </data>
   <data name="LBL_WPRad.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -427,7 +427,7 @@
     <value>NoControl</value>
   </data>
   <data name="LBL_WPRad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>9, 32</value>
+    <value>9, 24</value>
   </data>
   <data name="LBL_WPRad.Size" type="System.Drawing.Size, System.Drawing">
     <value>61, 13</value>
@@ -448,7 +448,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;LBL_WPRad.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
   </data>
   <data name="LBL_defalutalt.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -457,7 +457,7 @@
     <value>NoControl</value>
   </data>
   <data name="LBL_defalutalt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>221, 32</value>
+    <value>151, 24</value>
   </data>
   <data name="LBL_defalutalt.Size" type="System.Drawing.Size, System.Drawing">
     <value>56, 13</value>
@@ -478,10 +478,10 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;LBL_defalutalt.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>10</value>
   </data>
   <data name="TXT_loiterrad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>184, 32</value>
+    <value>89, 36</value>
   </data>
   <data name="TXT_loiterrad.Size" type="System.Drawing.Size, System.Drawing">
     <value>36, 20</value>
@@ -502,7 +502,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;TXT_loiterrad.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>8</value>
   </data>
   <data name="label5.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -511,7 +511,7 @@
     <value>NoControl</value>
   </data>
   <data name="label5.Location" type="System.Drawing.Point, System.Drawing">
-    <value>112, 32</value>
+    <value>76, 24</value>
   </data>
   <data name="label5.Size" type="System.Drawing.Size, System.Drawing">
     <value>69, 13</value>
@@ -532,7 +532,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;label5.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>7</value>
   </data>
   <data name="panel5.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
@@ -556,7 +556,7 @@
     <value>BUT_write</value>
   </data>
   <data name="&gt;&gt;BUT_write.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_write.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -583,7 +583,7 @@
     <value>BUT_read</value>
   </data>
   <data name="&gt;&gt;BUT_read.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_read.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -610,7 +610,7 @@
     <value>SaveFile</value>
   </data>
   <data name="&gt;&gt;SaveFile.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;SaveFile.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -637,7 +637,7 @@
     <value>BUT_loadwpfile</value>
   </data>
   <data name="&gt;&gt;BUT_loadwpfile.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_loadwpfile.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -1239,11 +1239,41 @@
   <data name="&gt;&gt;splitter1.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
+  <data name="BUT_zoomto.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_zoomto.Location" type="System.Drawing.Point, System.Drawing">
+    <value>746, 26</value>
+  </data>
+  <data name="BUT_zoomto.Size" type="System.Drawing.Size, System.Drawing">
+    <value>62, 23</value>
+  </data>
+  <data name="BUT_zoomto.TabIndex" type="System.Int32, mscorlib">
+    <value>53</value>
+  </data>
+  <data name="BUT_zoomto.Text" xml:space="preserve">
+    <value>Zoom To</value>
+  </data>
+  <data name="BUT_zoomto.ToolTip" xml:space="preserve">
+    <value>Get Camera settings for overlap</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.Name" xml:space="preserve">
+    <value>BUT_zoomto</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.Type" xml:space="preserve">
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.Parent" xml:space="preserve">
+    <value>panelWaypoints</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
   <data name="BUT_Camera.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_Camera.Location" type="System.Drawing.Point, System.Drawing">
-    <value>809, 26</value>
+    <value>692, 26</value>
   </data>
   <data name="BUT_Camera.Size" type="System.Drawing.Size, System.Drawing">
     <value>48, 23</value>
@@ -1261,19 +1291,19 @@
     <value>BUT_Camera</value>
   </data>
   <data name="&gt;&gt;BUT_Camera.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_Camera.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_Camera.ZOrder" xml:space="preserve">
-    <value>0</value>
+    <value>1</value>
   </data>
   <data name="BUT_grid.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_grid.Location" type="System.Drawing.Point, System.Drawing">
-    <value>755, 26</value>
+    <value>638, 26</value>
   </data>
   <data name="BUT_grid.Size" type="System.Drawing.Size, System.Drawing">
     <value>48, 23</value>
@@ -1291,19 +1321,19 @@
     <value>BUT_grid</value>
   </data>
   <data name="&gt;&gt;BUT_grid.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_grid.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_grid.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="BUT_Prefetch.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_Prefetch.Location" type="System.Drawing.Point, System.Drawing">
-    <value>693, 26</value>
+    <value>576, 26</value>
   </data>
   <data name="BUT_Prefetch.Size" type="System.Drawing.Size, System.Drawing">
     <value>56, 23</value>
@@ -1321,19 +1351,19 @@
     <value>BUT_Prefetch</value>
   </data>
   <data name="&gt;&gt;BUT_Prefetch.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_Prefetch.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_Prefetch.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="button1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="button1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>596, 26</value>
+    <value>479, 26</value>
   </data>
   <data name="button1.Size" type="System.Drawing.Size, System.Drawing">
     <value>91, 23</value>
@@ -1351,19 +1381,19 @@
     <value>button1</value>
   </data>
   <data name="&gt;&gt;button1.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;button1.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;button1.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
   </data>
   <data name="BUT_Add.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_Add.Location" type="System.Drawing.Point, System.Drawing">
-    <value>515, 26</value>
+    <value>398, 26</value>
   </data>
   <data name="BUT_Add.Size" type="System.Drawing.Size, System.Drawing">
     <value>75, 23</value>
@@ -1381,13 +1411,13 @@
     <value>BUT_Add</value>
   </data>
   <data name="&gt;&gt;BUT_Add.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_Add.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_Add.ZOrder" xml:space="preserve">
-    <value>14</value>
+    <value>15</value>
   </data>
   <data name="panelWaypoints.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Bottom</value>
@@ -1627,7 +1657,7 @@
     <value>Clear Mission</value>
   </data>
   <data name="contextMenuStrip1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>168, 186</value>
+    <value>168, 164</value>
   </data>
   <data name="&gt;&gt;contextMenuStrip1.Name" xml:space="preserve">
     <value>contextMenuStrip1</value>
@@ -1636,7 +1666,7 @@
     <value>System.Windows.Forms.ContextMenuStrip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="MainMap.Location" type="System.Drawing.Point, System.Drawing">
-    <value>3, 4</value>
+    <value>0, 0</value>
   </data>
   <data name="MainMap.Size" type="System.Drawing.Size, System.Drawing">
     <value>838, 306</value>
@@ -1823,7 +1853,7 @@
     <value>trackBar1</value>
   </data>
   <data name="&gt;&gt;trackBar1.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyTrackBar, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyTrackBar, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;trackBar1.Parent" xml:space="preserve">
     <value>panelMap</value>
@@ -2105,6 +2135,6 @@
     <value>FlightPlanner</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.zh-Hans.resx

@@ -767,4 +767,8 @@
   <data name="$this.ToolTip" xml:space="preserve">
     <value />
   </data>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="MAVCmd" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\MAVCmd.zh-Hans.txt;System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089;utf-8</value>
+  </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -556,7 +556,7 @@ namespace ArdupilotMega.GCSViews
                         processArduPilot();
                     }
                 }
-                catch { }
+                catch (Exception ex) { Console.WriteLine("SIM Main loop exception " + ex.ToString()); }
 
                 if (hzcounttime.Second != DateTime.Now.Second)
                 {

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

@@ -178,6 +178,9 @@
   <data name="label11.Text" xml:space="preserve">
     <value>飞机 IMU</value>
   </data>
+  <data name="label7.Text" xml:space="preserve">
+    <value>朝向</value>
+  </data>
   <data name="label6.Text" xml:space="preserve">
     <value>俯仰</value>
   </data>
@@ -299,10 +302,10 @@
     <value>仅  在</value>
   </data>
   <data name="CHKdisplayall.Size" type="System.Drawing.Size, System.Drawing">
-    <value>178, 17</value>
+    <value>77, 17</value>
   </data>
   <data name="CHKdisplayall.Text" xml:space="preserve">
-    <value>显示所有 (重启程序- 高速 PC)</value>
+    <value>显示所有 </value>
   </data>
   <data name="but_advsettings.Text" xml:space="preserve">
     <value>高级设置</value>
@@ -313,4 +316,25 @@
   <data name="chkSensor.Text" xml:space="preserve">
     <value>传感器</value>
   </data>
+  <data name="CHK_quad.Size" type="System.Drawing.Size, System.Drawing">
+    <value>56, 17</value>
+  </data>
+  <data name="CHK_quad.Text" xml:space="preserve">
+    <value>四  轴</value>
+  </data>
+  <data name="BUT_startfgquad.Text" xml:space="preserve">
+    <value>启动 FG    四轴</value>
+  </data>
+  <data name="BUT_startfgplane.Text" xml:space="preserve">
+    <value>启动 FG    固定翼</value>
+  </data>
+  <data name="BUT_startxplane.Text" xml:space="preserve">
+    <value>启动 Xplane</value>
+  </data>
+  <data name="CHK_heli.Size" type="System.Drawing.Size, System.Drawing">
+    <value>62, 17</value>
+  </data>
+  <data name="CHK_heli.Text" xml:space="preserve">
+    <value>直升机</value>
+  </data>
 </root>

Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs

@@ -146,6 +146,11 @@ namespace ArdupilotMega.HIL
             accel3D += new Vector3d(0, 0, -gravity);
             accel3D += air_resistance;
 
+            Random rand = new Random();
+            int fixme;
+            
+            //velocity.X += .05 + rand.NextDouble() * .03;
+            //velocity.Y += .05 + rand.NextDouble() * .03;
 
             //# new velocity vector
             velocity += accel3D * delta_time.TotalSeconds;

Tools/ArdupilotMegaPlanner/MAVLink.cs

@@ -203,7 +203,14 @@ namespace ArdupilotMega
                 if (getparams == true)
                     getParamList();
             }
-            catch (Exception e) { MainV2.givecomport = false; frm.Close(); throw e; }
+            catch (Exception e) { 
+                try { 
+                    BaseStream.Close(); 
+                } catch { } 
+                MainV2.givecomport = false; 
+                frm.Close(); 
+                throw e; 
+            }
 
             frm.Close();
 
@@ -466,6 +473,8 @@ namespace ArdupilotMega
 
             packetcount++;
 
+
+
             //System.Threading.Thread.Sleep(1);
         }
 
@@ -485,6 +494,12 @@ namespace ArdupilotMega
         /// <param name="value"></param>
         public bool setParam(string paramname, float value)
         {
+            if (!param.ContainsKey(paramname))
+            {
+                Console.WriteLine("Param doesnt exist " + paramname);
+                return false;
+            }
+
             MainV2.givecomport = true;
 
             __mavlink_param_set_t req = new __mavlink_param_set_t();
@@ -805,7 +820,7 @@ namespace ArdupilotMega
             }
         }
 
-        public bool doCommand(MAV_CMD actionid)
+        public bool doCommand(MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
         {
 
             MainV2.givecomport = true;
@@ -818,6 +833,14 @@ namespace ArdupilotMega
 
             req.command = (ushort)actionid;
 
+            req.param1 = p1;
+            req.param2 = p2;
+            req.param3 = p3;
+            req.param4 = p4;
+            req.param5 = p5;
+            req.param6 = p6;
+            req.param7 = p7;
+
             generatePacket(MAVLINK_MSG_ID_COMMAND_LONG, req);
 
             DateTime start = DateTime.Now;

Tools/ArdupilotMegaPlanner/MainV2.Designer.cs

@@ -48,6 +48,7 @@
             // 
             // MenuFlightData
             // 
+            this.MenuFlightData.AutoSize = false;
             this.MenuFlightData.BackgroundImage = global::ArdupilotMega.Properties.Resources.data;
             this.MenuFlightData.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuFlightData.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -59,6 +60,7 @@
             // 
             // MenuFlightPlanner
             // 
+            this.MenuFlightPlanner.AutoSize = false;
             this.MenuFlightPlanner.BackgroundImage = global::ArdupilotMega.Properties.Resources.planner;
             this.MenuFlightPlanner.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuFlightPlanner.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -72,6 +74,7 @@
             // 
             // MenuConfiguration
             // 
+            this.MenuConfiguration.AutoSize = false;
             this.MenuConfiguration.BackgroundImage = global::ArdupilotMega.Properties.Resources.configuration;
             this.MenuConfiguration.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuConfiguration.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -85,6 +88,7 @@
             // 
             // MenuSimulation
             // 
+            this.MenuSimulation.AutoSize = false;
             this.MenuSimulation.BackgroundImage = global::ArdupilotMega.Properties.Resources.simulation;
             this.MenuSimulation.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuSimulation.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -98,6 +102,7 @@
             // 
             // MenuFirmware
             // 
+            this.MenuFirmware.AutoSize = false;
             this.MenuFirmware.BackgroundImage = global::ArdupilotMega.Properties.Resources.firmware;
             this.MenuFirmware.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuFirmware.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -112,6 +117,7 @@
             // MenuConnect
             // 
             this.MenuConnect.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
+            this.MenuConnect.AutoSize = false;
             this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
             this.MenuConnect.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuConnect.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -132,6 +138,7 @@
             // 
             // MainMenu
             // 
+            this.MainMenu.AutoSize = false;
             this.MainMenu.BackColor = System.Drawing.SystemColors.Control;
             this.MainMenu.BackgroundImage = ((System.Drawing.Image)(resources.GetObject("MainMenu.BackgroundImage")));
             this.MainMenu.GripMargin = new System.Windows.Forms.Padding(0);
@@ -159,6 +166,7 @@
             // 
             // MenuTerminal
             // 
+            this.MenuTerminal.AutoSize = false;
             this.MenuTerminal.BackgroundImage = global::ArdupilotMega.Properties.Resources.terminal;
             this.MenuTerminal.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuTerminal.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -198,6 +206,7 @@
             // 
             // MenuHelp
             // 
+            this.MenuHelp.AutoSize = false;
             this.MenuHelp.BackgroundImage = global::ArdupilotMega.Properties.Resources.help;
             this.MenuHelp.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuHelp.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -247,7 +256,6 @@
             this.MainMenu.ResumeLayout(false);
             this.MainMenu.PerformLayout();
             this.ResumeLayout(false);
-            this.PerformLayout();
 
         }
 

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -19,6 +19,7 @@ using System.Speech.Synthesis;
 using System.Globalization;
 using System.Threading;
 using System.Net.Sockets;
+using IronPython.Hosting;
 
 namespace ArdupilotMega
 {
@@ -37,7 +38,7 @@ namespace ArdupilotMega
         public static Hashtable config = new Hashtable();
         public static bool givecomport = false;
         public static Firmwares APMFirmware = Firmwares.ArduPlane;
-        public static bool MAC = false;
+        public static bool MONO = false;
 
         public static bool speechenable = false;
         public static SpeechSynthesizer talk = new SpeechSynthesizer();
@@ -78,6 +79,11 @@ namespace ArdupilotMega
         GCSViews.Firmware Firmware;
         GCSViews.Terminal Terminal;
 
+        public void testpython()
+        {
+            Console.WriteLine("hello world from c# via python");
+        }
+
         public MainV2()
         {
             //System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
@@ -91,8 +97,17 @@ namespace ArdupilotMega
 
             //return;
 
+            var engine = Python.CreateEngine();
+            var scope = engine.CreateScope();
+
+            scope.SetVariable("MainV2",this);
+            Console.WriteLine(DateTime.Now.Millisecond);
+            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");
-            MAC = (t != null);
+            MONO = (t != null);
 
             Form splash = new Splash();
             splash.Show();
@@ -146,7 +161,7 @@ namespace ArdupilotMega
             if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
                 changelanguage(getcultureinfo((string)config["language"]));
 
-            if (!MAC) // windows only
+            if (!MONO) // windows only
             {
                 if (MainV2.config["showconsole"] != null && MainV2.config["showconsole"].ToString() == "True")
                 {
@@ -208,7 +223,7 @@ namespace ArdupilotMega
             //System.Threading.Thread.Sleep(2000);
 
             // make sure new enough .net framework is installed
-            if (!MAC)
+            if (!MONO)
             {
                 Microsoft.Win32.RegistryKey installed_versions = Microsoft.Win32.Registry.LocalMachine.OpenSubKey(@"SOFTWARE\Microsoft\NET Framework Setup\NDP");
                 string[] version_names = installed_versions.GetSubKeyNames();
@@ -216,9 +231,9 @@ namespace ArdupilotMega
                 double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1), CultureInfo.InvariantCulture);
                 int SP = Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1]).GetValue("SP", 0));
 
-                if (Framework < 3.5)
+                if (Framework < 4.0)
                 {
-                    MessageBox.Show("This program requires .NET Framework 3.5 +. You currently have " + Framework);
+                    MessageBox.Show("This program requires .NET Framework 4.0 +. You currently have " + Framework);
                 }
             }
 
@@ -742,9 +757,17 @@ namespace ArdupilotMega
         {
             comportname = CMB_serialport.Text;
             if (comportname == "UDP" || comportname == "TCP")
+            {
                 CMB_baudrate.Enabled = false;
+                if (comportname == "TCP")
+                    MainV2.comPort.BaseStream = new TcpSerial();
+                if (comportname == "UDP")
+                    MainV2.comPort.BaseStream = new UdpSerial();
+            }
             else
+            {
                 CMB_baudrate.Enabled = true;
+            }
 
             try
             {
@@ -801,7 +824,7 @@ namespace ArdupilotMega
             {
                 try
                 {
-                    System.Configuration.Configuration appconfig = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
+                    //System.Configuration.Configuration appconfig = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
 
                     XmlTextWriter xmlwriter = new XmlTextWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml", Encoding.ASCII);
                     xmlwriter.Formatting = Formatting.Indented;
@@ -816,9 +839,9 @@ namespace ArdupilotMega
 
                     xmlwriter.WriteElementString("APMFirmware", APMFirmware.ToString());
 
-                    appconfig.AppSettings.Settings.Add("comport", comportname);
+                    //appconfig.AppSettings.Settings.Add("comport", comportname);
-                    appconfig.AppSettings.Settings.Add("baudrate", CMB_baudrate.Text);
+                    //appconfig.AppSettings.Settings.Add("baudrate", CMB_baudrate.Text);
-                    appconfig.AppSettings.Settings.Add("APMFirmware", APMFirmware.ToString());
+                    //appconfig.AppSettings.Settings.Add("APMFirmware", APMFirmware.ToString());
 
                     foreach (string key in config.Keys)
                     {
@@ -828,7 +851,7 @@ namespace ArdupilotMega
                                 continue;
                             xmlwriter.WriteElementString(key, config[key].ToString());
 
-                            appconfig.AppSettings.Settings.Add(key, config[key].ToString());
+                            //appconfig.AppSettings.Settings.Add(key, config[key].ToString());
                         }
                         catch { }
                     }
@@ -838,7 +861,7 @@ namespace ArdupilotMega
                     xmlwriter.WriteEndDocument();
                     xmlwriter.Close();
 
-                    appconfig.Save();
+                    //appconfig.Save();
                 }
                 catch (Exception ex) { MessageBox.Show(ex.ToString()); }
             }
@@ -918,7 +941,7 @@ namespace ArdupilotMega
             {
                 try
                 {
-                    if (!MAC)
+                    if (!MONO)
                     {
                         //joystick stuff
 
@@ -972,7 +995,7 @@ namespace ArdupilotMega
 
             int minbytes = 10;
 
-            if (MAC)
+            if (MONO)
                 minbytes = 0;
 
             DateTime menuupdate = DateTime.Now;
@@ -1393,7 +1416,7 @@ namespace ArdupilotMega
                 string baseurl = "http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/";
                 bool update = updatecheck(loadinglabel, baseurl, "");
                 System.Diagnostics.Process P = new System.Diagnostics.Process();
-                if (MAC)
+                if (MONO)
                 {
                     P.StartInfo.FileName = "mono";
                     P.StartInfo.Arguments = " \"" + Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "Updater.exe\"";

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -231,7 +231,7 @@ namespace ArdupilotMega
 
             // create kmz - aka zip file
 
-            FileStream fs = File.Open(filename.Replace(".tlog.kml", ".kmz"), FileMode.Create);
+            FileStream fs = File.Open(filename.Replace(Path.GetExtension(filename), ".kmz"), FileMode.Create);
             ZipOutputStream zipStream = new ZipOutputStream(fs);
             zipStream.SetLevel(9); //0-9, 9 being the highest level of compression
             zipStream.UseZip64 = UseZip64.Off; // older zipfile
@@ -246,14 +246,12 @@ namespace ArdupilotMega
             // Zip the file in buffered chunks
             // the "using" will close the stream even if an exception occurs
             byte[] buffer = new byte[4096];
-            using (FileStream streamReader = File.OpenRead(filename))
+            using (FileStream streamReader = File.Open(filename,FileMode.Open,FileAccess.Read,FileShare.ReadWrite))
             {
                 StreamUtils.Copy(streamReader, zipStream, buffer);
             }
             zipStream.CloseEntry();
 
-            File.Delete(filename);
-
             filename = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "block_plane_0.dae";
 
             // entry 2
@@ -275,6 +273,9 @@ namespace ArdupilotMega
 
             zipStream.IsStreamOwner = true;	// Makes the Close also Close the underlying stream
             zipStream.Close();
+
+            File.Delete(filename);
+
             flightdata.Clear();
         }
 

Tools/ArdupilotMegaPlanner/Program.cs

@@ -24,7 +24,7 @@ namespace ArdupilotMega
 
             Application.Idle += new EventHandler(Application_Idle);
 
-            MessageBox.Show("NOTE: This version may break advanced mission scripting");
+            //MessageBox.Show("NOTE: This version may break advanced mission scripting");
 
             Application.EnableVisualStyles();
             Application.SetCompatibleTextRenderingDefault(false);

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("1.0.94")]
+[assembly: AssemblyFileVersion("1.0.96")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Properties/Resources.Designer.cs

@@ -1,7 +1,7 @@
 //------------------------------------------------------------------------------
 // <auto-generated>
 //     This code was generated by a tool.
-//     Runtime Version:4.0.30319.235
+//     Runtime Version:4.0.30319.239
 //
 //     Changes to this file may cause incorrect behavior and will be lost if
 //     the code is regenerated.

Tools/ArdupilotMegaPlanner/Script.cs

@@ -0,0 +1,36 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace ArdupilotMega
+{
+    public class Script
+    {
+        DateTime timeout = DateTime.Now;
+
+        public enum Conditional
+        {
+            LT = 0,
+            LTEQ,
+            EQ,
+            GT,
+            GTEQ
+        }
+
+        public bool WaitFor(string item, Conditional cond,double value ,int timeoutms)
+        {
+            timeout = DateTime.Now;
+            while (DateTime.Now < timeout.AddMilliseconds(timeoutms))
+            {
+                //if (item)
+                {
+
+                }
+            }
+
+            return false;
+        }
+
+    }
+}

Tools/ArdupilotMegaPlanner/Setup/Setup.Designer.cs

@@ -1444,6 +1444,7 @@
             this.Controls.Add(this.tabControl1);
             this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.SizableToolWindow;
             this.Name = "Setup";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Setup_FormClosing);
             this.Load += new System.EventHandler(this.Setup_Load);
             this.tabControl1.ResumeLayout(false);
             this.tabReset.ResumeLayout(false);

Tools/ArdupilotMegaPlanner/Setup/Setup.cs

@@ -75,7 +75,7 @@ namespace ArdupilotMega.Setup
 
             if (tabControl1.SelectedTab == tabHeli)
             {
-                if (MainV2.comPort.param["HSV_MAN"].ToString() == "0")
+                if (MainV2.comPort.param["HSV_MAN"] == null || MainV2.comPort.param["HSV_MAN"].ToString() == "0")
                     return;
 
                 if (HS3.minline == 0)
@@ -1055,8 +1055,8 @@ namespace ArdupilotMega.Setup
             try
             {
 #if MAVLINK10
-                int fixme;
+                int fixme; // needs to be accel only
-                //                MainV2.comPort.doCommand(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
+                MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,1,1,1,1,1,1);
 #else
                 MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
 #endif
@@ -1254,5 +1254,11 @@ namespace ArdupilotMega.Setup
             if (int.Parse(temp.Text) > 2100)
                 temp.Text = "2100";
         }
+
+        private void Setup_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            timer.Stop();
+            timer.Dispose();
+        }
     }
 }

Tools/ArdupilotMegaPlanner/Setup/Setup.zh-Hans.resx

@@ -117,12 +117,24 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
-  <data name="BUT_reset.Text" xml:space="preserve">
-    <value>重置 APM 为默认设置</value>
-  </data>
   <data name="tabReset.Text" xml:space="preserve">
     <value>重置</value>
   </data>
+  <data name="tabRadioIn.Text" xml:space="preserve">
+    <value>遥控输入</value>
+  </data>
+  <data name="tabModes.Text" xml:space="preserve">
+    <value>模式</value>
+  </data>
+  <data name="tabHardware.Text" xml:space="preserve">
+    <value>硬件</value>
+  </data>
+  <data name="tabBattery.Text" xml:space="preserve">
+    <value>电池</value>
+  </data>
+  <data name="BUT_reset.Text" xml:space="preserve">
+    <value>重置 APM 为默认设置</value>
+  </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="CHK_revch3.Size" type="System.Drawing.Size, System.Drawing">
     <value>50, 17</value>
@@ -151,8 +163,41 @@
   <data name="BUT_Calibrateradio.Text" xml:space="preserve">
     <value>校准遥控</value>
   </data>
-  <data name="tabRadioIn.Text" xml:space="preserve">
+  <data name="CB_simple6.Size" type="System.Drawing.Size, System.Drawing">
-    <value>遥控输入</value>
+    <value>74, 17</value>
+  </data>
+  <data name="CB_simple6.Text" xml:space="preserve">
+    <value>简单模式</value>
+  </data>
+  <data name="CB_simple5.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CB_simple5.Text" xml:space="preserve">
+    <value>简单模式</value>
+  </data>
+  <data name="CB_simple4.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CB_simple4.Text" xml:space="preserve">
+    <value>简单模式</value>
+  </data>
+  <data name="CB_simple3.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CB_simple3.Text" xml:space="preserve">
+    <value>简单模式</value>
+  </data>
+  <data name="CB_simple2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CB_simple2.Text" xml:space="preserve">
+    <value>简单模式</value>
+  </data>
+  <data name="CB_simple1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CB_simple1.Text" xml:space="preserve">
+    <value>简单模式</value>
   </data>
   <data name="label14.Size" type="System.Drawing.Size, System.Drawing">
     <value>64, 13</value>
@@ -205,21 +250,12 @@
   <data name="BUT_SaveModes.Text" xml:space="preserve">
     <value>保存模式</value>
   </data>
-  <data name="tabModes.Text" xml:space="preserve">
-    <value>模式</value>
-  </data>
   <data name="linkLabelmagdec.Size" type="System.Drawing.Size, System.Drawing">
     <value>67, 13</value>
   </data>
   <data name="linkLabelmagdec.Text" xml:space="preserve">
     <value>磁偏角网站</value>
   </data>
-  <data name="label106.Text" xml:space="preserve">
-    <value>容量</value>
-  </data>
-  <data name="label105.Text" xml:space="preserve">
-    <value>监视器</value>
-  </data>
   <data name="label100.Text" xml:space="preserve">
     <value>磁偏角</value>
   </data>
@@ -229,14 +265,56 @@
   <data name="CHK_enablesonar.Text" xml:space="preserve">
     <value>启用声纳</value>
   </data>
-  <data name="CHK_enablebattmon.Text" xml:space="preserve">
-    <value>启用电池监视器</value>
-  </data>
   <data name="CHK_enablecompass.Text" xml:space="preserve">
     <value>启用罗盘</value>
   </data>
-  <data name="tabHardware.Text" xml:space="preserve">
+  <data name="label35.Size" type="System.Drawing.Size, System.Drawing">
-    <value>硬件</value>
+    <value>63, 13</value>
+  </data>
+  <data name="label35.Text" xml:space="preserve">
+    <value>安培/伏特:</value>
+  </data>
+  <data name="label34.Size" type="System.Drawing.Size, System.Drawing">
+    <value>52, 13</value>
+  </data>
+  <data name="label34.Text" xml:space="preserve">
+    <value>分 压 比:</value>
+  </data>
+  <data name="label33.Size" type="System.Drawing.Size, System.Drawing">
+    <value>58, 13</value>
+  </data>
+  <data name="label33.Text" xml:space="preserve">
+    <value>电池电压:</value>
+  </data>
+  <data name="label32.Size" type="System.Drawing.Size, System.Drawing">
+    <value>94, 13</value>
+  </data>
+  <data name="label32.Text" xml:space="preserve">
+    <value>测量的电池电压:</value>
+  </data>
+  <data name="label31.Size" type="System.Drawing.Size, System.Drawing">
+    <value>58, 13</value>
+  </data>
+  <data name="label31.Text" xml:space="preserve">
+    <value>输入电压:</value>
+  </data>
+  <data name="textBox3.Text" xml:space="preserve">
+    <value>电压传感器校准:
+1. 测量APM输入电压，输入到下方的文本框中
+2. 测量电池电压，输入到下方的文本框中
+3. 从当前的传感器的数据表中找到安培/伏特，输入到下方的文本框中</value>
+  </data>
+  <data name="label29.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label29.Text" xml:space="preserve">
+    <value>容量</value>
+  </data>
+  <data name="label30.Size" type="System.Drawing.Size, System.Drawing">
+    <value>48, 13</value>
+  </data>
+  <data name="label30.Text" xml:space="preserve">
+    <value>监控器</value>
   </data>
   <data name="label28.Size" type="System.Drawing.Size, System.Drawing">
     <value>175, 13</value>
@@ -244,9 +322,6 @@
   <data name="label28.Text" xml:space="preserve">
     <value>设置水平面的默认加速度计偏移</value>
   </data>
-  <data name="BUT_levelac2.Text" xml:space="preserve">
-    <value>找平</value>
-  </data>
   <data name="label16.Size" type="System.Drawing.Size, System.Drawing">
     <value>261, 13</value>
   </data>
@@ -259,17 +334,95 @@
   <data name="label15.Text" xml:space="preserve">
     <value>机架设置 (+ 或 x)</value>
   </data>
-  <data name="label27.Size" type="System.Drawing.Size, System.Drawing">
+  <data name="BUT_levelac2.Text" xml:space="preserve">
-    <value>67, 13</value>
+    <value>找平</value>
   </data>
-  <data name="label27.Text" xml:space="preserve">
+  <data name="label46.Size" type="System.Drawing.Size, System.Drawing">
-    <value>陀螺仪感度</value>
+    <value>31, 13</value>
   </data>
-  <data name="GYR_ENABLE_.Size" type="System.Drawing.Size, System.Drawing">
+  <data name="label46.Text" xml:space="preserve">
-    <value>86, 17</value>
+    <value>感度</value>
   </data>
-  <data name="GYR_ENABLE_.Text" xml:space="preserve">
+  <data name="label45.Size" type="System.Drawing.Size, System.Drawing">
-    <value>启用陀螺仪</value>
+    <value>31, 13</value>
+  </data>
+  <data name="label45.Text" xml:space="preserve">
+    <value>启用</value>
+  </data>
+  <data name="label44.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label44.Text" xml:space="preserve">
+    <value>微调</value>
+  </data>
+  <data name="label43.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label43.Text" xml:space="preserve">
+    <value>逆转</value>
+  </data>
+  <data name="label42.Size" type="System.Drawing.Size, System.Drawing">
+    <value>43, 13</value>
+  </data>
+  <data name="label42.Text" xml:space="preserve">
+    <value>方向舵</value>
+  </data>
+  <data name="BUT_HS4save.Text" xml:space="preserve">
+    <value>手动</value>
+  </data>
+  <data name="label24.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label24.Text" xml:space="preserve">
+    <value>最大</value>
+  </data>
+  <data name="label40.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label40.Text" xml:space="preserve">
+    <value>最小</value>
+  </data>
+  <data name="BUT_swash_manual.Text" xml:space="preserve">
+    <value>手动</value>
+  </data>
+  <data name="label41.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label41.Text" xml:space="preserve">
+    <value>最低</value>
+  </data>
+  <data name="label21.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label21.Text" xml:space="preserve">
+    <value>最高</value>
+  </data>
+  <data name="BUT_0collective.Text" xml:space="preserve">
+    <value>0度</value>
+  </data>
+  <data name="label39.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label39.Text" xml:space="preserve">
+    <value>微调</value>
+  </data>
+  <data name="label38.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label38.Text" xml:space="preserve">
+    <value>逆转</value>
+  </data>
+  <data name="label37.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label37.Text" xml:space="preserve">
+    <value>位置</value>
+  </data>
+  <data name="label36.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label36.Text" xml:space="preserve">
+    <value>舵机</value>
   </data>
   <data name="label26.Size" type="System.Drawing.Size, System.Drawing">
     <value>55, 13</value>
@@ -283,12 +436,6 @@
   <data name="label25.Text" xml:space="preserve">
     <value>最大侧倾</value>
   </data>
-  <data name="label24.Size" type="System.Drawing.Size, System.Drawing">
-    <value>55, 13</value>
-  </data>
-  <data name="label24.Text" xml:space="preserve">
-    <value>0 总螺距:</value>
-  </data>
   <data name="label23.Size" type="System.Drawing.Size, System.Drawing">
     <value>55, 13</value>
   </data>
@@ -301,66 +448,12 @@
   <data name="label22.Text" xml:space="preserve">
     <value>斜盘水平微调</value>
   </data>
-  <data name="label21.Size" type="System.Drawing.Size, System.Drawing">
-    <value>55, 13</value>
-  </data>
-  <data name="label21.Text" xml:space="preserve">
-    <value>逆转舵机</value>
-  </data>
-  <data name="HS4_REV.Size" type="System.Drawing.Size, System.Drawing">
-    <value>59, 17</value>
-  </data>
-  <data name="HS4_REV.Text" xml:space="preserve">
-    <value>逆转 4</value>
-  </data>
-  <data name="label20.Size" type="System.Drawing.Size, System.Drawing">
-    <value>40, 13</value>
-  </data>
-  <data name="label20.Text" xml:space="preserve">
-    <value>舵机 3</value>
-  </data>
-  <data name="label19.Size" type="System.Drawing.Size, System.Drawing">
-    <value>40, 13</value>
-  </data>
-  <data name="label19.Text" xml:space="preserve">
-    <value>舵机 2</value>
-  </data>
-  <data name="label18.Size" type="System.Drawing.Size, System.Drawing">
-    <value>40, 13</value>
-  </data>
-  <data name="label18.Text" xml:space="preserve">
-    <value>舵机 1</value>
-  </data>
-  <data name="HS3_REV.Size" type="System.Drawing.Size, System.Drawing">
-    <value>59, 17</value>
-  </data>
-  <data name="HS3_REV.Text" xml:space="preserve">
-    <value>逆转 3</value>
-  </data>
-  <data name="HS2_REV.Size" type="System.Drawing.Size, System.Drawing">
-    <value>59, 17</value>
-  </data>
-  <data name="HS2_REV.Text" xml:space="preserve">
-    <value>逆转 2</value>
-  </data>
-  <data name="HS1_REV.Size" type="System.Drawing.Size, System.Drawing">
-    <value>59, 17</value>
-  </data>
-  <data name="HS1_REV.Text" xml:space="preserve">
-    <value>逆转 1</value>
-  </data>
   <data name="label17.Size" type="System.Drawing.Size, System.Drawing">
     <value>79, 13</value>
   </data>
   <data name="label17.Text" xml:space="preserve">
     <value>斜盘舵机位置</value>
   </data>
-  <data name="BUT_saveheliconfig.Text" xml:space="preserve">
-    <value>保存行程</value>
-  </data>
-  <data name="BUT_0collective.Text" xml:space="preserve">
-    <value>设置0总螺距</value>
-  </data>
   <data name="$this.Text" xml:space="preserve">
     <value>APM设置</value>
   </data>

Tools/ArdupilotMegaPlanner/app.config

@@ -3,6 +3,10 @@
 <configSections>
 </configSections>
   <startup>
-    <supportedRuntime version="v2.0.50727"/>
+    
+  <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0"/></startup>
+    <startup useLegacyV2RuntimeActivationPolicy="true">
+        <supportedRuntime version="v4.0"/>
+    
   </startup>
 </configuration>

Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application

@@ -3,15 +3,18 @@
   <assemblyIdentity name="ArdupilotMegaPlanner.application" version="0.0.0.1" publicKeyToken="0000000000000000" language="en-US" processorArchitecture="x86" xmlns="urn:schemas-microsoft-com:asm.v1" />
   <description asmv2:publisher="Michael Oborne" asmv2:product="ArdupilotMegaPlanner" xmlns="urn:schemas-microsoft-com:asm.v1" />
   <deployment install="true" />
+  <compatibleFrameworks xmlns="urn:schemas-microsoft-com:clickonce.v2">
+    <framework targetVersion="4.0" profile="Full" supportedRuntime="4.0.30319" />
+  </compatibleFrameworks>
   <dependency>
-    <dependentAssembly dependencyType="install" codebase="ArdupilotMegaPlanner.exe.manifest" size="18547">
+    <dependentAssembly dependencyType="install" codebase="ArdupilotMegaPlanner.exe.manifest" size="19987">
       <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>N43U7y77mNy6nfkD9v5DNdwNLps=</dsig:DigestValue>
+        <dsig:DigestValue>l2Rn8qTiwOzQt8/BkJyqqyHeXA0=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>

Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.exe.config

@@ -3,6 +3,10 @@
 <configSections>
 </configSections>
   <startup>
-    <supportedRuntime version="v2.0.50727"/>
+    
+  <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0"/></startup>
+    <startup useLegacyV2RuntimeActivationPolicy="true">
+        <supportedRuntime version="v4.0"/>
+    
   </startup>
 </configuration>

Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/FlightPlanner.resx

@@ -127,7 +127,7 @@
   </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="CHK_altmode.Location" type="System.Drawing.Point, System.Drawing">
-    <value>326, 31</value>
+    <value>213, 31</value>
   </data>
   <data name="CHK_altmode.Size" type="System.Drawing.Size, System.Drawing">
     <value>82, 17</value>
@@ -148,7 +148,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;CHK_altmode.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
   </data>
   <data name="CHK_holdalt.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -157,7 +157,7 @@
     <value>NoControl</value>
   </data>
   <data name="CHK_holdalt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>411, 24</value>
+    <value>298, 24</value>
   </data>
   <data name="CHK_holdalt.Size" type="System.Drawing.Size, System.Drawing">
     <value>98, 17</value>
@@ -178,7 +178,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;CHK_holdalt.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>9</value>
   </data>
   <data name="Commands.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Bottom, Left, Right</value>
@@ -340,7 +340,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;Commands.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>11</value>
   </data>
   <data name="CHK_geheight.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -349,7 +349,7 @@
     <value>NoControl</value>
   </data>
   <data name="CHK_geheight.Location" type="System.Drawing.Point, System.Drawing">
-    <value>411, 40</value>
+    <value>298, 40</value>
   </data>
   <data name="CHK_geheight.Size" type="System.Drawing.Size, System.Drawing">
     <value>86, 17</value>
@@ -370,10 +370,10 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;CHK_geheight.ZOrder" xml:space="preserve">
-    <value>12</value>
+    <value>13</value>
   </data>
   <data name="TXT_WPRad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>73, 32</value>
+    <value>23, 36</value>
   </data>
   <data name="TXT_WPRad.Size" type="System.Drawing.Size, System.Drawing">
     <value>36, 20</value>
@@ -394,10 +394,10 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;TXT_WPRad.ZOrder" xml:space="preserve">
-    <value>13</value>
+    <value>14</value>
   </data>
   <data name="TXT_DefaultAlt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>280, 32</value>
+    <value>154, 36</value>
   </data>
   <data name="TXT_DefaultAlt.Size" type="System.Drawing.Size, System.Drawing">
     <value>40, 20</value>
@@ -418,7 +418,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;TXT_DefaultAlt.ZOrder" xml:space="preserve">
-    <value>11</value>
+    <value>12</value>
   </data>
   <data name="LBL_WPRad.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -427,7 +427,7 @@
     <value>NoControl</value>
   </data>
   <data name="LBL_WPRad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>9, 32</value>
+    <value>9, 24</value>
   </data>
   <data name="LBL_WPRad.Size" type="System.Drawing.Size, System.Drawing">
     <value>61, 13</value>
@@ -448,7 +448,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;LBL_WPRad.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
   </data>
   <data name="LBL_defalutalt.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -457,7 +457,7 @@
     <value>NoControl</value>
   </data>
   <data name="LBL_defalutalt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>221, 32</value>
+    <value>151, 24</value>
   </data>
   <data name="LBL_defalutalt.Size" type="System.Drawing.Size, System.Drawing">
     <value>56, 13</value>
@@ -478,10 +478,10 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;LBL_defalutalt.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>10</value>
   </data>
   <data name="TXT_loiterrad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>184, 32</value>
+    <value>89, 36</value>
   </data>
   <data name="TXT_loiterrad.Size" type="System.Drawing.Size, System.Drawing">
     <value>36, 20</value>
@@ -502,7 +502,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;TXT_loiterrad.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>8</value>
   </data>
   <data name="label5.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -511,7 +511,7 @@
     <value>NoControl</value>
   </data>
   <data name="label5.Location" type="System.Drawing.Point, System.Drawing">
-    <value>112, 32</value>
+    <value>76, 24</value>
   </data>
   <data name="label5.Size" type="System.Drawing.Size, System.Drawing">
     <value>69, 13</value>
@@ -532,7 +532,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;label5.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>7</value>
   </data>
   <data name="panel5.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
@@ -556,7 +556,7 @@
     <value>BUT_write</value>
   </data>
   <data name="&gt;&gt;BUT_write.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_write.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -583,7 +583,7 @@
     <value>BUT_read</value>
   </data>
   <data name="&gt;&gt;BUT_read.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_read.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -610,7 +610,7 @@
     <value>SaveFile</value>
   </data>
   <data name="&gt;&gt;SaveFile.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;SaveFile.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -637,7 +637,7 @@
     <value>BUT_loadwpfile</value>
   </data>
   <data name="&gt;&gt;BUT_loadwpfile.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_loadwpfile.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -1239,11 +1239,41 @@
   <data name="&gt;&gt;splitter1.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
+  <data name="BUT_zoomto.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_zoomto.Location" type="System.Drawing.Point, System.Drawing">
+    <value>746, 26</value>
+  </data>
+  <data name="BUT_zoomto.Size" type="System.Drawing.Size, System.Drawing">
+    <value>62, 23</value>
+  </data>
+  <data name="BUT_zoomto.TabIndex" type="System.Int32, mscorlib">
+    <value>53</value>
+  </data>
+  <data name="BUT_zoomto.Text" xml:space="preserve">
+    <value>Zoom To</value>
+  </data>
+  <data name="BUT_zoomto.ToolTip" xml:space="preserve">
+    <value>Get Camera settings for overlap</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.Name" xml:space="preserve">
+    <value>BUT_zoomto</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.Type" xml:space="preserve">
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.Parent" xml:space="preserve">
+    <value>panelWaypoints</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
   <data name="BUT_Camera.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_Camera.Location" type="System.Drawing.Point, System.Drawing">
-    <value>809, 26</value>
+    <value>692, 26</value>
   </data>
   <data name="BUT_Camera.Size" type="System.Drawing.Size, System.Drawing">
     <value>48, 23</value>
@@ -1261,19 +1291,19 @@
     <value>BUT_Camera</value>
   </data>
   <data name="&gt;&gt;BUT_Camera.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_Camera.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_Camera.ZOrder" xml:space="preserve">
-    <value>0</value>
+    <value>1</value>
   </data>
   <data name="BUT_grid.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_grid.Location" type="System.Drawing.Point, System.Drawing">
-    <value>755, 26</value>
+    <value>638, 26</value>
   </data>
   <data name="BUT_grid.Size" type="System.Drawing.Size, System.Drawing">
     <value>48, 23</value>
@@ -1291,19 +1321,19 @@
     <value>BUT_grid</value>
   </data>
   <data name="&gt;&gt;BUT_grid.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_grid.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_grid.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="BUT_Prefetch.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_Prefetch.Location" type="System.Drawing.Point, System.Drawing">
-    <value>693, 26</value>
+    <value>576, 26</value>
   </data>
   <data name="BUT_Prefetch.Size" type="System.Drawing.Size, System.Drawing">
     <value>56, 23</value>
@@ -1321,19 +1351,19 @@
     <value>BUT_Prefetch</value>
   </data>
   <data name="&gt;&gt;BUT_Prefetch.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_Prefetch.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_Prefetch.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="button1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="button1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>596, 26</value>
+    <value>479, 26</value>
   </data>
   <data name="button1.Size" type="System.Drawing.Size, System.Drawing">
     <value>91, 23</value>
@@ -1351,19 +1381,19 @@
     <value>button1</value>
   </data>
   <data name="&gt;&gt;button1.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;button1.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;button1.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
   </data>
   <data name="BUT_Add.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_Add.Location" type="System.Drawing.Point, System.Drawing">
-    <value>515, 26</value>
+    <value>398, 26</value>
   </data>
   <data name="BUT_Add.Size" type="System.Drawing.Size, System.Drawing">
     <value>75, 23</value>
@@ -1381,13 +1411,13 @@
     <value>BUT_Add</value>
   </data>
   <data name="&gt;&gt;BUT_Add.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_Add.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_Add.ZOrder" xml:space="preserve">
-    <value>14</value>
+    <value>15</value>
   </data>
   <data name="panelWaypoints.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Bottom</value>
@@ -1627,7 +1657,7 @@
     <value>Clear Mission</value>
   </data>
   <data name="contextMenuStrip1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>168, 186</value>
+    <value>168, 164</value>
   </data>
   <data name="&gt;&gt;contextMenuStrip1.Name" xml:space="preserve">
     <value>contextMenuStrip1</value>
@@ -1636,7 +1666,7 @@
     <value>System.Windows.Forms.ContextMenuStrip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="MainMap.Location" type="System.Drawing.Point, System.Drawing">
-    <value>3, 4</value>
+    <value>0, 0</value>
   </data>
   <data name="MainMap.Size" type="System.Drawing.Size, System.Drawing">
     <value>838, 306</value>
@@ -1823,7 +1853,7 @@
     <value>trackBar1</value>
   </data>
   <data name="&gt;&gt;trackBar1.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyTrackBar, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyTrackBar, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;trackBar1.Parent" xml:space="preserve">
     <value>panelMap</value>
@@ -2105,6 +2135,6 @@
     <value>FlightPlanner</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/bin/Release/mavcmd.xml

@@ -2,61 +2,477 @@
 <!-- TAGS ARE CASE SENSATIVE -->
 <CMD>
   <AC2>
-<WAYPOINT><P1>Delay</P1><P2>Hit Rad</P2><P3></P3><P4>Yaw Ang</P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></WAYPOINT>
+    <WAYPOINT>
-<LOITER_UNLIM><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_UNLIM>
+      <P1>Delay</P1>
-<LOITER_TURNS><P1>Turns</P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_TURNS>
+      <P2>Hit Rad</P2>
-<LOITER_TIME><P1>Time s</P1><P2></P2><P3>rad</P3><P4>yaw per</P4><X></X><Y></Y><Z></Z></LOITER_TIME>
+      <P3></P3>
-<RETURN_TO_LAUNCH><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></RETURN_TO_LAUNCH>
+      <P4>Yaw Ang</P4>
-<LAND><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></LAND>
+      <X>Lat</X>
-<TAKEOFF><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></TAKEOFF>
+      <Y>Long</Y>
-<ROI><P1>MAV_ROI</P1><P2>WP#</P2><P3>ROI#</P3><P4></P4><X></X><Y></Y><Z></Z></ROI>
+      <Z>Alt</Z>
-<PATHPLANNING><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></PATHPLANNING>
+    </WAYPOINT>
-<CONDITION_DELAY><P1>Time (sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DELAY>
+    <LOITER_UNLIM>
-<CONDITION_CHANGE_ALT><P1>Rate (cm/sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></CONDITION_CHANGE_ALT>
+      <P1></P1>
-<CONDITION_DISTANCE><P1>Dist (m)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DISTANCE>
+      <P2></P2>
-<CONDITION_YAW><P1>Deg</P1><P2>Sec</P2><P3>Dir 1=CW</P3><P4>rel/abs</P4><X></X><Y></Y><Z></Z></CONDITION_YAW>
+      <P3></P3>
-<DO_SET_MODE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_MODE>
+      <P4></P4>
-<DO_JUMP><P1>WP #</P1><P2>Repeat#</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_JUMP>
+      <X>Lat</X>
-<DO_CHANGE_SPEED><P1>Type (0=as 1=gs)</P1><P2>Throttle(%)</P2><P3>Speed (m/s)</P3><P4></P4><X></X><Y></Y><Z></Z></DO_CHANGE_SPEED>
+      <Y>Long</Y>
-<DO_SET_HOME><P1>Current(1)/Spec(0)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_HOME>
+      <Z>Alt</Z>
-<DO_SET_PARAMETER><P1>#</P1><P2>Value</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_PARAMETER>
+    </LOITER_UNLIM>
-<DO_SET_RELAY><P1>off(0)/on(1)</P1><P2>Delay (s)</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_RELAY>
+    <LOITER_TURNS>
-<DO_REPEAT_RELAY><P1></P1><P2>Delay (s)</P2><P3>Repeat#</P3><P4></P4><X></X><Y></Y><Z></Z></DO_REPEAT_RELAY>
+      <P1>Turns</P1>
-<DO_SET_SERVO><P1>Ser No</P1><P2>PWM</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_SERVO>
+      <P2></P2>
-<DO_REPEAT_SERVO><P1>Ser No</P1><P2>Repeat#</P2><P3>Delay (s)</P3><P4>PWM</P4><X></X><Y></Y><Z></Z></DO_REPEAT_SERVO>
+      <P3></P3>
-<DO_DIGICAM_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONFIGURE>
+      <P4></P4>
-<DO_DIGICAM_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONTROL>
+      <X>Lat</X>
-<DO_MOUNT_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONFIGURE>
+      <Y>Long</Y>
-<DO_MOUNT_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONTROL>
+      <Z>Alt</Z>
+    </LOITER_TURNS>
+    <LOITER_TIME>
+      <P1>Time s</P1>
+      <P2></P2>
+      <P3>rad</P3>
+      <P4>yaw per</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </LOITER_TIME>
+    <RETURN_TO_LAUNCH>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </RETURN_TO_LAUNCH>
+    <LAND>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </LAND>
+    <TAKEOFF>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </TAKEOFF>
+    <ROI>
+      <P1>MAV_ROI</P1>
+      <P2>WP#</P2>
+      <P3>ROI#</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </ROI>
+    <PATHPLANNING>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </PATHPLANNING>
+    <CONDITION_DELAY>
+      <P1>Time (sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DELAY>
+    <CONDITION_CHANGE_ALT>
+      <P1>Rate (cm/sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </CONDITION_CHANGE_ALT>
+    <CONDITION_DISTANCE>
+      <P1>Dist (m)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DISTANCE>
+    <CONDITION_YAW>
+      <P1>Deg</P1>
+      <P2>Sec</P2>
+      <P3>Dir 1=CW</P3>
+      <P4>rel/abs</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_YAW>
+    <DO_SET_MODE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_MODE>
+    <DO_JUMP>
+      <P1>WP #</P1>
+      <P2>Repeat#</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_JUMP>
+    <DO_CHANGE_SPEED>
+      <P1>Type (0=as 1=gs)</P1>
+      <P2>Throttle(%)</P2>
+      <P3>Speed (m/s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_CHANGE_SPEED>
+    <DO_SET_HOME>
+      <P1>Current(1)/Spec(0)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_HOME>
+    <DO_SET_PARAMETER>
+      <P1>#</P1>
+      <P2>Value</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_PARAMETER>
+    <DO_SET_RELAY>
+      <P1>off(0)/on(1)</P1>
+      <P2>Delay (s)</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_RELAY>
+    <DO_REPEAT_RELAY>
+      <P1></P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_RELAY>
+    <DO_SET_SERVO>
+      <P1>Ser No</P1>
+      <P2>PWM</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_SERVO>
+    <DO_REPEAT_SERVO>
+      <P1>Ser No</P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4>PWM</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_SERVO>
+    <DO_DIGICAM_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONFIGURE>
+    <DO_DIGICAM_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONTROL>
+    <DO_MOUNT_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONFIGURE>
+    <DO_MOUNT_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONTROL>
 
   </AC2>
   <!-- -->
   <APM>
-<WAYPOINT><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></WAYPOINT>
+    <WAYPOINT>
-<LOITER_UNLIM><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_UNLIM>
+      <P1></P1>
-<LOITER_TURNS><P1>Turns</P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_TURNS>
+      <P2></P2>
-<LOITER_TIME><P1>Time s</P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_TIME>
+      <P3></P3>
-<RETURN_TO_LAUNCH><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></RETURN_TO_LAUNCH>
+      <P4></P4>
-<LAND><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LAND>
+      <X>Lat</X>
-<TAKEOFF><P1>Angle</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></TAKEOFF>
+      <Y>Long</Y>
-<ROI><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></ROI>
+      <Z>Alt</Z>
-<PATHPLANNING><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></PATHPLANNING>
+    </WAYPOINT>
-<CONDITION_DELAY><P1>Time (sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DELAY>
+    <LOITER_UNLIM>
-<CONDITION_CHANGE_ALT><P1>Rate (cm/sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></CONDITION_CHANGE_ALT>
+      <P1></P1>
-<CONDITION_DISTANCE><P1>Dist (m)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DISTANCE>
+      <P2></P2>
-<CONDITION_YAW><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_YAW>
+      <P3></P3>
-<DO_SET_MODE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_MODE>
+      <P4></P4>
-<DO_JUMP><P1>WP #</P1><P2>Repeat#</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_JUMP>
+      <X>Lat</X>
-<DO_CHANGE_SPEED><P1>Type (0=as 1=gs)</P1><P2>Throttle(%)</P2><P3>Speed (m/s)</P3><P4></P4><X></X><Y></Y><Z></Z></DO_CHANGE_SPEED>
+      <Y>Long</Y>
-<DO_SET_HOME><P1>Current(1)/Spec(0)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_HOME>
+      <Z>Alt</Z>
-<DO_SET_PARAMETER><P1>#</P1><P2>Value</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_PARAMETER>
+    </LOITER_UNLIM>
-<DO_SET_RELAY><P1>off(0)/on(1)</P1><P2>Delay (s)</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_RELAY>
+    <LOITER_TURNS>
-<DO_REPEAT_RELAY><P1></P1><P2>Delay (s)</P2><P3>Repeat#</P3><P4></P4><X></X><Y></Y><Z></Z></DO_REPEAT_RELAY>
+      <P1>Turns</P1>
-<DO_SET_SERVO><P1>Ser No</P1><P2>PWM</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_SERVO>
+      <P2></P2>
-<DO_REPEAT_SERVO><P1>Ser No</P1><P2>Repeat#</P2><P3>Delay (s)</P3><P4>PWM</P4><X></X><Y></Y><Z></Z></DO_REPEAT_SERVO>
+      <P3></P3>
-<DO_DIGICAM_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONFIGURE>
+      <P4></P4>
-<DO_DIGICAM_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONTROL>
+      <X>Lat</X>
-<DO_MOUNT_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONFIGURE>
+      <Y>Long</Y>
-<DO_MOUNT_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONTROL>
+      <Z>Alt</Z>
+    </LOITER_TURNS>
+    <LOITER_TIME>
+      <P1>Time s</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </LOITER_TIME>
+    <RETURN_TO_LAUNCH>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </RETURN_TO_LAUNCH>
+    <LAND>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </LAND>
+    <TAKEOFF>
+      <P1>Angle</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </TAKEOFF>
+    <ROI>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </ROI>
+    <PATHPLANNING>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </PATHPLANNING>
+    <CONDITION_DELAY>
+      <P1>Time (sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DELAY>
+    <CONDITION_CHANGE_ALT>
+      <P1>Rate (cm/sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </CONDITION_CHANGE_ALT>
+    <CONDITION_DISTANCE>
+      <P1>Dist (m)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DISTANCE>
+    <CONDITION_YAW>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_YAW>
+    <DO_SET_MODE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_MODE>
+    <DO_JUMP>
+      <P1>WP #</P1>
+      <P2>Repeat#</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_JUMP>
+    <DO_CHANGE_SPEED>
+      <P1>Type (0=as 1=gs)</P1>
+      <P2>Throttle(%)</P2>
+      <P3>Speed (m/s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_CHANGE_SPEED>
+    <DO_SET_HOME>
+      <P1>Current(1)/Spec(0)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_HOME>
+    <DO_SET_PARAMETER>
+      <P1>#</P1>
+      <P2>Value</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_PARAMETER>
+    <DO_SET_RELAY>
+      <P1>off(0)/on(1)</P1>
+      <P2>Delay (s)</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_RELAY>
+    <DO_REPEAT_RELAY>
+      <P1></P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_RELAY>
+    <DO_SET_SERVO>
+      <P1>Ser No</P1>
+      <P2>PWM</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_SERVO>
+    <DO_REPEAT_SERVO>
+      <P1>Ser No</P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4>PWM</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_SERVO>
+    <DO_DIGICAM_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONFIGURE>
+    <DO_DIGICAM_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONTROL>
+    <DO_MOUNT_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONFIGURE>
+    <DO_MOUNT_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONTROL>
   </APM>
 </CMD>

Tools/ArdupilotMegaPlanner/hires.cs

@@ -0,0 +1,48 @@
+using System;
+using System.Runtime.InteropServices;
+
+namespace hires
+{
+    public class Stopwatch
+    {
+        [DllImport("Kernel32.dll")]
+        private static extern bool QueryPerformanceCounter(
+            out long lpPerformanceCount);
+
+        [DllImport("Kernel32.dll")]
+        private static extern bool QueryPerformanceFrequency(
+            out long lpFrequency);
+
+        private long start=0;
+        private long stop=0;
+
+        // static - so this value used in all instances of 
+        private static double frequency = getFrequency();
+
+        // Note this is static- called once, before any constructor!
+        private static double getFrequency()
+        {
+            long tempfrequency;
+            QueryPerformanceFrequency(out tempfrequency);
+            return tempfrequency; // implicit casting to double from long
+        }
+
+        public void Start()
+        {
+            QueryPerformanceCounter(out start);
+        }
+
+        public void Stop()
+        {
+            QueryPerformanceCounter(out stop);
+        }
+
+        public double Elapsed
+        {
+            get
+            {
+                return (double)(stop - start) / frequency;
+            }
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/mavcmd.xml

@@ -2,61 +2,477 @@
 <!-- TAGS ARE CASE SENSATIVE -->
 <CMD>
   <AC2>
-<WAYPOINT><P1>Delay</P1><P2>Hit Rad</P2><P3></P3><P4>Yaw Ang</P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></WAYPOINT>
+    <WAYPOINT>
-<LOITER_UNLIM><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_UNLIM>
+      <P1>Delay</P1>
-<LOITER_TURNS><P1>Turns</P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_TURNS>
+      <P2>Hit Rad</P2>
-<LOITER_TIME><P1>Time s</P1><P2></P2><P3>rad</P3><P4>yaw per</P4><X></X><Y></Y><Z></Z></LOITER_TIME>
+      <P3></P3>
-<RETURN_TO_LAUNCH><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></RETURN_TO_LAUNCH>
+      <P4>Yaw Ang</P4>
-<LAND><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></LAND>
+      <X>Lat</X>
-<TAKEOFF><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></TAKEOFF>
+      <Y>Long</Y>
-<ROI><P1>MAV_ROI</P1><P2>WP#</P2><P3>ROI#</P3><P4></P4><X></X><Y></Y><Z></Z></ROI>
+      <Z>Alt</Z>
-<PATHPLANNING><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></PATHPLANNING>
+    </WAYPOINT>
-<CONDITION_DELAY><P1>Time (sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DELAY>
+    <LOITER_UNLIM>
-<CONDITION_CHANGE_ALT><P1>Rate (cm/sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></CONDITION_CHANGE_ALT>
+      <P1></P1>
-<CONDITION_DISTANCE><P1>Dist (m)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DISTANCE>
+      <P2></P2>
-<CONDITION_YAW><P1>Deg</P1><P2>Sec</P2><P3>Dir 1=CW</P3><P4>rel/abs</P4><X></X><Y></Y><Z></Z></CONDITION_YAW>
+      <P3></P3>
-<DO_SET_MODE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_MODE>
+      <P4></P4>
-<DO_JUMP><P1>WP #</P1><P2>Repeat#</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_JUMP>
+      <X>Lat</X>
-<DO_CHANGE_SPEED><P1>Type (0=as 1=gs)</P1><P2>Throttle(%)</P2><P3>Speed (m/s)</P3><P4></P4><X></X><Y></Y><Z></Z></DO_CHANGE_SPEED>
+      <Y>Long</Y>
-<DO_SET_HOME><P1>Current(1)/Spec(0)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_HOME>
+      <Z>Alt</Z>
-<DO_SET_PARAMETER><P1>#</P1><P2>Value</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_PARAMETER>
+    </LOITER_UNLIM>
-<DO_SET_RELAY><P1>off(0)/on(1)</P1><P2>Delay (s)</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_RELAY>
+    <LOITER_TURNS>
-<DO_REPEAT_RELAY><P1></P1><P2>Delay (s)</P2><P3>Repeat#</P3><P4></P4><X></X><Y></Y><Z></Z></DO_REPEAT_RELAY>
+      <P1>Turns</P1>
-<DO_SET_SERVO><P1>Ser No</P1><P2>PWM</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_SERVO>
+      <P2></P2>
-<DO_REPEAT_SERVO><P1>Ser No</P1><P2>Repeat#</P2><P3>Delay (s)</P3><P4>PWM</P4><X></X><Y></Y><Z></Z></DO_REPEAT_SERVO>
+      <P3></P3>
-<DO_DIGICAM_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONFIGURE>
+      <P4></P4>
-<DO_DIGICAM_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONTROL>
+      <X>Lat</X>
-<DO_MOUNT_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONFIGURE>
+      <Y>Long</Y>
-<DO_MOUNT_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONTROL>
+      <Z>Alt</Z>
+    </LOITER_TURNS>
+    <LOITER_TIME>
+      <P1>Time s</P1>
+      <P2></P2>
+      <P3>rad</P3>
+      <P4>yaw per</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </LOITER_TIME>
+    <RETURN_TO_LAUNCH>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </RETURN_TO_LAUNCH>
+    <LAND>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </LAND>
+    <TAKEOFF>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </TAKEOFF>
+    <ROI>
+      <P1>MAV_ROI</P1>
+      <P2>WP#</P2>
+      <P3>ROI#</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </ROI>
+    <PATHPLANNING>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </PATHPLANNING>
+    <CONDITION_DELAY>
+      <P1>Time (sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DELAY>
+    <CONDITION_CHANGE_ALT>
+      <P1>Rate (cm/sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </CONDITION_CHANGE_ALT>
+    <CONDITION_DISTANCE>
+      <P1>Dist (m)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DISTANCE>
+    <CONDITION_YAW>
+      <P1>Deg</P1>
+      <P2>Sec</P2>
+      <P3>Dir 1=CW</P3>
+      <P4>rel/abs</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_YAW>
+    <DO_SET_MODE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_MODE>
+    <DO_JUMP>
+      <P1>WP #</P1>
+      <P2>Repeat#</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_JUMP>
+    <DO_CHANGE_SPEED>
+      <P1>Type (0=as 1=gs)</P1>
+      <P2>Throttle(%)</P2>
+      <P3>Speed (m/s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_CHANGE_SPEED>
+    <DO_SET_HOME>
+      <P1>Current(1)/Spec(0)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_HOME>
+    <DO_SET_PARAMETER>
+      <P1>#</P1>
+      <P2>Value</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_PARAMETER>
+    <DO_SET_RELAY>
+      <P1>off(0)/on(1)</P1>
+      <P2>Delay (s)</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_RELAY>
+    <DO_REPEAT_RELAY>
+      <P1></P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_RELAY>
+    <DO_SET_SERVO>
+      <P1>Ser No</P1>
+      <P2>PWM</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_SERVO>
+    <DO_REPEAT_SERVO>
+      <P1>Ser No</P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4>PWM</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_SERVO>
+    <DO_DIGICAM_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONFIGURE>
+    <DO_DIGICAM_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONTROL>
+    <DO_MOUNT_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONFIGURE>
+    <DO_MOUNT_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONTROL>
 
   </AC2>
   <!-- -->
   <APM>
-<WAYPOINT><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></WAYPOINT>
+    <WAYPOINT>
-<LOITER_UNLIM><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_UNLIM>
+      <P1></P1>
-<LOITER_TURNS><P1>Turns</P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_TURNS>
+      <P2></P2>
-<LOITER_TIME><P1>Time s</P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_TIME>
+      <P3></P3>
-<RETURN_TO_LAUNCH><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></RETURN_TO_LAUNCH>
+      <P4></P4>
-<LAND><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LAND>
+      <X>Lat</X>
-<TAKEOFF><P1>Angle</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></TAKEOFF>
+      <Y>Long</Y>
-<ROI><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></ROI>
+      <Z>Alt</Z>
-<PATHPLANNING><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></PATHPLANNING>
+    </WAYPOINT>
-<CONDITION_DELAY><P1>Time (sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DELAY>
+    <LOITER_UNLIM>
-<CONDITION_CHANGE_ALT><P1>Rate (cm/sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></CONDITION_CHANGE_ALT>
+      <P1></P1>
-<CONDITION_DISTANCE><P1>Dist (m)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DISTANCE>
+      <P2></P2>
-<CONDITION_YAW><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_YAW>
+      <P3></P3>
-<DO_SET_MODE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_MODE>
+      <P4></P4>
-<DO_JUMP><P1>WP #</P1><P2>Repeat#</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_JUMP>
+      <X>Lat</X>
-<DO_CHANGE_SPEED><P1>Type (0=as 1=gs)</P1><P2>Throttle(%)</P2><P3>Speed (m/s)</P3><P4></P4><X></X><Y></Y><Z></Z></DO_CHANGE_SPEED>
+      <Y>Long</Y>
-<DO_SET_HOME><P1>Current(1)/Spec(0)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_HOME>
+      <Z>Alt</Z>
-<DO_SET_PARAMETER><P1>#</P1><P2>Value</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_PARAMETER>
+    </LOITER_UNLIM>
-<DO_SET_RELAY><P1>off(0)/on(1)</P1><P2>Delay (s)</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_RELAY>
+    <LOITER_TURNS>
-<DO_REPEAT_RELAY><P1></P1><P2>Delay (s)</P2><P3>Repeat#</P3><P4></P4><X></X><Y></Y><Z></Z></DO_REPEAT_RELAY>
+      <P1>Turns</P1>
-<DO_SET_SERVO><P1>Ser No</P1><P2>PWM</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_SERVO>
+      <P2></P2>
-<DO_REPEAT_SERVO><P1>Ser No</P1><P2>Repeat#</P2><P3>Delay (s)</P3><P4>PWM</P4><X></X><Y></Y><Z></Z></DO_REPEAT_SERVO>
+      <P3></P3>
-<DO_DIGICAM_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONFIGURE>
+      <P4></P4>
-<DO_DIGICAM_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONTROL>
+      <X>Lat</X>
-<DO_MOUNT_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONFIGURE>
+      <Y>Long</Y>
-<DO_MOUNT_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONTROL>
+      <Z>Alt</Z>
+    </LOITER_TURNS>
+    <LOITER_TIME>
+      <P1>Time s</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </LOITER_TIME>
+    <RETURN_TO_LAUNCH>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </RETURN_TO_LAUNCH>
+    <LAND>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </LAND>
+    <TAKEOFF>
+      <P1>Angle</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </TAKEOFF>
+    <ROI>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </ROI>
+    <PATHPLANNING>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </PATHPLANNING>
+    <CONDITION_DELAY>
+      <P1>Time (sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DELAY>
+    <CONDITION_CHANGE_ALT>
+      <P1>Rate (cm/sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </CONDITION_CHANGE_ALT>
+    <CONDITION_DISTANCE>
+      <P1>Dist (m)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DISTANCE>
+    <CONDITION_YAW>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_YAW>
+    <DO_SET_MODE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_MODE>
+    <DO_JUMP>
+      <P1>WP #</P1>
+      <P2>Repeat#</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_JUMP>
+    <DO_CHANGE_SPEED>
+      <P1>Type (0=as 1=gs)</P1>
+      <P2>Throttle(%)</P2>
+      <P3>Speed (m/s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_CHANGE_SPEED>
+    <DO_SET_HOME>
+      <P1>Current(1)/Spec(0)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_HOME>
+    <DO_SET_PARAMETER>
+      <P1>#</P1>
+      <P2>Value</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_PARAMETER>
+    <DO_SET_RELAY>
+      <P1>off(0)/on(1)</P1>
+      <P2>Delay (s)</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_RELAY>
+    <DO_REPEAT_RELAY>
+      <P1></P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_RELAY>
+    <DO_SET_SERVO>
+      <P1>Ser No</P1>
+      <P2>PWM</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_SERVO>
+    <DO_REPEAT_SERVO>
+      <P1>Ser No</P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4>PWM</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_SERVO>
+    <DO_DIGICAM_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONFIGURE>
+    <DO_DIGICAM_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONTROL>
+    <DO_MOUNT_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONFIGURE>
+    <DO_MOUNT_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONTROL>
   </APM>
 </CMD>

Tools/autotest/arducopter.py

@@ -175,7 +175,7 @@ def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
     mavproxy.send('switch 4\n') # auto mode
     wait_mode(mav, 'AUTO')
     #wait_altitude(mav, 30, 40)
-    ret = wait_waypoint(mav, 0, num_wp, timeout=90)
+    ret = wait_waypoint(mav, 0, num_wp, timeout=500)
     print("test: MISSION COMPLETE: passed=%s" % ret)
     # wait here until ready
     mavproxy.send('switch 5\n')
@@ -326,19 +326,19 @@ def fly_ArduCopter(viewerip=None):
             failed = True
 
         print("# Upload mission1")
-        if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission1.txt")):
+        if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")):
             failed = True
 
         # this grabs our mission count
         print("# store mission1 locally")
-        if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission1.txt")):
+        if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")):
             failed = True
 
-        print("# Fly mission 1")
+        print("# Fly mission 2")
         if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
             failed = True
         else:
-            print("Flew mission1 OK")
+            print("Flew mission2 OK")
 
         print("# Land")
         if not land(mavproxy, mav):

Tools/autotest/autotest.py

@@ -43,7 +43,7 @@ def dump_logs(atype):
     mavproxy.expect("Log]")
     for i in range(numlogs):
         mavproxy.send("dump %u\n" % (i+1))
-        mavproxy.expect("logs enabled:", timeout=120)
+        mavproxy.expect("logs enabled:", timeout=400)
         mavproxy.expect("Log]")
     util.pexpect_close(mavproxy)
     util.pexpect_close(sil)
@@ -247,6 +247,7 @@ def run_tests(steps):
     if not passed:
         print("FAILED %u tests: %s" % (len(failed), failed))
 
+    results.addglob("Google Earth track", '*.kml')
     results.addfile('Full Logs', 'autotest-output.txt')
     results.addglob('DataFlash Log', '*.flashlog')
     results.addglob("MAVLink log", '*.mavlog')

Tools/autotest/common.py

@@ -63,12 +63,18 @@ def current_location(mav):
                     mav.messages['VFR_HUD'].alt)
 
 def wait_altitude(mav, alt_min, alt_max, timeout=30):
+    climb_rate = 0
+    previous_alt = 0
     '''wait for a given altitude range'''
     tstart = time.time()
     print("Waiting for altitude between %u and %u" % (alt_min, alt_max))
     while time.time() < tstart + timeout:
         m = mav.recv_match(type='VFR_HUD', blocking=True)
-        print("Altitude %u" % m.alt)
+        climb_rate =  m.alt - previous_alt
+        previous_alt = m.alt
+        print("Altitude %u, rate: %u" % (m.alt, climb_rate))
+        if abs(climb_rate) > 0:
+            tstart = time.time();
         if m.alt >= alt_min and m.alt <= alt_max:
             return True
     print("Failed to attain altitude range")

Tools/autotest/mission2.txt

@@ -15,7 +15,7 @@ QGC WPL 110
 
 # MAV_CMD_NAV_LOITER_TIME
 #					seconds		empty		rad			Yaw	per		Lat			lon			Alt			continue
-4	0	3	19		35			20			0			1			0  			0			0			1
+4	0	3	19		35			0			0			1			0  			0			20			1
 
 # MAV_CMD_NAV_WAYPOINT	B
 #					Hold sec	Hit rad		empty		Yaw angle	lat			lon			alt			continue

libraries/Desktop/support/DataFlash.cpp

@@ -16,7 +16,7 @@
 static int flash_fd;
 static uint8_t buffer[2][DF_PAGE_SIZE];
 
-#define OVERWRITE_DATA 0 // 0: When reach the end page stop, 1: Start overwritten from page 1
+#define OVERWRITE_DATA 1 // 0: When reach the end page stop, 1: Start overwritten from page 1
 
 // Constructors ////////////////////////////////////////////////////////////////
 DataFlash_Class::DataFlash_Class()
@@ -120,7 +120,7 @@ void DataFlash_Class::ChipErase ()
 void DataFlash_Class::StartWrite(int16_t PageAdr)
 {
 	df_BufferNum  = 1;
-	df_BufferIdx  = 0;
+	df_BufferIdx  = 4;
 	df_PageAdr    = PageAdr;
 	df_Stop_Write = 0;
 
@@ -137,12 +137,12 @@ void DataFlash_Class::FinishWrite(void)
 	df_PageAdr++;
 	if (OVERWRITE_DATA==1)
 	    {
-        if (df_PageAdr>=4096)  // If we reach the end of the memory, start from the begining
+        if (df_PageAdr>=DF_LAST_PAGE)  // If we reach the end of the memory, start from the begining
 		  df_PageAdr = 1;
 	    }
 	else
 	    {
-        if (df_PageAdr>=4096)  // If we reach the end of the memory, stop here
+        if (df_PageAdr>=DF_LAST_PAGE)  // If we reach the end of the memory, stop here
 		  df_Stop_Write=1;
 	    }
 
@@ -167,17 +167,17 @@ void DataFlash_Class::WriteByte(byte data)
     df_BufferIdx++;
     if (df_BufferIdx >= df_PageSize)  // End of buffer?
       {
-      df_BufferIdx=0;
+      df_BufferIdx=4;
 	  BufferToPage(df_BufferNum,df_PageAdr,0);  // Write Buffer to memory, NO WAIT
       df_PageAdr++;
 	  if (OVERWRITE_DATA==1)
 	    {
-        if (df_PageAdr>=4096)  // If we reach the end of the memory, start from the begining
+        if (df_PageAdr>=DF_LAST_PAGE)  // If we reach the end of the memory, start from the begining
 		  df_PageAdr = 1;
 	    }
       else
 	    {
-        if (df_PageAdr>=4096)  // If we reach the end of the memory, stop here
+        if (df_PageAdr>=DF_LAST_PAGE)  // If we reach the end of the memory, stop here
 		  df_Stop_Write=1;
 	    }
 
@@ -218,7 +218,7 @@ int16_t DataFlash_Class::GetPage()
 void DataFlash_Class::StartRead(int16_t PageAdr)
 {
   df_Read_BufferNum=1;
-  df_Read_BufferIdx=0;
+  df_Read_BufferIdx=4;
   df_Read_PageAdr=PageAdr;
   WaitReady();
   PageToBuffer(df_Read_BufferNum,df_Read_PageAdr);  // Write Memory page to buffer
@@ -234,10 +234,10 @@ byte DataFlash_Class::ReadByte()
   df_Read_BufferIdx++;
   if (df_Read_BufferIdx >= df_PageSize)  // End of buffer?
     {
-    df_Read_BufferIdx=0;
+    df_Read_BufferIdx=4;
     PageToBuffer(df_Read_BufferNum,df_Read_PageAdr);  // Write memory page to Buffer
     df_Read_PageAdr++;
-    if (df_Read_PageAdr>=4096)  // If we reach the end of the memory, start from the begining
+    if (df_Read_PageAdr>=DF_LAST_PAGE)  // If we reach the end of the memory, start from the begining
       {
       df_Read_PageAdr = 0;
       df_Read_END = true;