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

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This commit is contained in:
Chris Anderson 2012-03-02 21:26:46 -08:00
commit 2b48a557ec
164 changed files with 11460 additions and 5284 deletions
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71
ArduCopter/ArduCopter.pde
View File

@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "ArduCopter V2.4"
#define THISFIRMWARE "ArduCopter V2.4.1"
/*
ArduCopter Version 2.4
Authors: Jason Short
@ -78,7 +78,9 @@ http://code.google.com/p/ardupilot-mega/downloads/list
#include <RC_Channel.h> // RC Channel Library
#include <AP_RangeFinder.h> // Range finder library
#include <AP_OpticalFlow.h> // Optical Flow library
#include <ModeFilter.h>
#include <Filter.h> // Filter library
#include <ModeFilter.h> // Mode Filter from Filter library
#include <AverageFilter.h> // Mode Filter from Filter library
#include <AP_Relay.h> // APM relay
#include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <memcheck.h>
@ -220,7 +222,10 @@ AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
AP_InertialSensor_Oilpan ins(&adc);
#endif
AP_IMU_INS imu(&ins);
AP_DCM dcm(&imu, g_gps);
// we don't want to use gps for yaw correction on ArduCopter, so pass
// a NULL GPS object pointer
static GPS *g_gps_null;
AP_DCM dcm(&imu, g_gps_null);
AP_TimerProcess timer_scheduler;
#elif HIL_MODE == HIL_MODE_SENSORS
@ -265,7 +270,7 @@ GCS_MAVLINK gcs3;
// SONAR selection
////////////////////////////////////////////////////////////////////////////////
//
ModeFilter sonar_mode_filter;
ModeFilterInt16_Size5 sonar_mode_filter(2);
#if CONFIG_SONAR == ENABLED
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
AP_AnalogSource_ADC sonar_analog_source( &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
@ -366,10 +371,10 @@ static uint32_t rc_override_fs_timer = 0;
// Heli
////////////////////////////////////////////////////////////////////////////////
#if FRAME_CONFIG == HELI_FRAME
static float heli_rollFactor[3], heli_pitchFactor[3]; // only required for 3 swashplate servos
static int16_t heli_servo_min[3], heli_servo_max[3]; // same here. for yaw servo we use heli_servo4_min/max parameter directly
static int32_t heli_servo_out[4]; // used for servo averaging for analog servos
static int16_t heli_servo_out_count; // use for servo averaging
static float heli_rollFactor[3], heli_pitchFactor[3], heli_collectiveFactor[3]; // only required for 3 swashplate servos
static int16_t heli_servo_min[3], heli_servo_max[3]; // same here. for yaw servo we use heli_servo4_min/max parameter directly
static int32_t heli_servo_out[4]; // used for servo averaging for analog servos
static int16_t heli_servo_out_count; // use for servo averaging
#endif
////////////////////////////////////////////////////////////////////////////////
@ -395,6 +400,8 @@ static boolean motor_auto_armed;
static Vector3f omega;
// This is used to hold radio tuning values for in-flight CH6 tuning
float tuning_value;
// This will keep track of the percent of roll or pitch the user is applying
float roll_scale_d, pitch_scale_d;
////////////////////////////////////////////////////////////////////////////////
// LED output
@ -480,7 +487,7 @@ static boolean loiter_override;
static float cos_roll_x = 1;
static float cos_pitch_x = 1;
static float cos_yaw_x = 1;
static float sin_pitch_y, sin_yaw_y, sin_roll_y;
static float sin_yaw_y;
////////////////////////////////////////////////////////////////////////////////
// SIMPLE Mode
@ -495,6 +502,9 @@ static int32_t initial_simple_bearing;
// Used to control Axis lock
int32_t roll_axis;
int32_t pitch_axis;
// Filters
AverageFilterInt32_Size3 roll_rate_d_filter; // filtered acceleration
AverageFilterInt32_Size3 pitch_rate_d_filter; // filtered pitch acceleration
////////////////////////////////////////////////////////////////////////////////
// Circle Mode / Loiter control
@ -594,7 +604,7 @@ static byte throttle_mode;
// This flag is reset when we are in a manual throttle mode with 0 throttle or disarmed
static boolean takeoff_complete;
// Used to record the most recent time since we enaged the throttle to take off
static int32_t takeoff_timer;
static uint32_t takeoff_timer;
// Used to see if we have landed and if we should shut our engines - not fully implemented
static boolean land_complete = true;
// used to manually override throttle in interactive Alt hold modes
@ -1479,8 +1489,20 @@ void update_roll_pitch_mode(void)
//reset_stability_I();
}
// clear new radio frame info
new_radio_frame = false;
if(new_radio_frame){
// clear new radio frame info
new_radio_frame = false;
// These values can be used to scale the PID gains
// This allows for a simple gain scheduling implementation
roll_scale_d = g.stabilize_d_schedule * (float)abs(g.rc_1.control_in);
roll_scale_d = (1 - (roll_scale_d / 4500.0));
roll_scale_d = constrain(roll_scale_d, 0, 1) * g.stabilize_d;
pitch_scale_d = g.stabilize_d_schedule * (float)abs(g.rc_2.control_in);
pitch_scale_d = (1 - (pitch_scale_d / 4500.0));
pitch_scale_d = constrain(pitch_scale_d, 0, 1) * g.stabilize_d;
}
}
// new radio frame is used to make sure we only call this at 50hz
@ -1512,7 +1534,7 @@ void update_simple_mode(void)
g.rc_2.control_in = control_pitch;
}
#define THROTTLE_FILTER_SIZE 4
#define THROTTLE_FILTER_SIZE 2
// 50 hz update rate, not 250
// controls all throttle behavior
@ -1649,7 +1671,10 @@ void update_throttle_mode(void)
}
// light filter of output
g.rc_3.servo_out = (g.rc_3.servo_out * (THROTTLE_FILTER_SIZE - 1) + throttle_out) / THROTTLE_FILTER_SIZE;
//g.rc_3.servo_out = (g.rc_3.servo_out * (THROTTLE_FILTER_SIZE - 1) + throttle_out) / THROTTLE_FILTER_SIZE;
// no filter
g.rc_3.servo_out = throttle_out;
break;
}
}
@ -1816,12 +1841,13 @@ static void update_trig(void){
yawvector.y = temp.b.x; // cos
yawvector.normalize();
cos_pitch_x = safe_sqrt(1 - (temp.c.x * temp.c.x)); // level = 1
cos_roll_x = temp.c.z / cos_pitch_x; // level = 1
sin_pitch_y = -temp.c.x; // level = 0
cos_pitch_x = sqrt(1 - (temp.c.x * temp.c.x)); // level = 1
sin_roll_y = temp.c.y / cos_pitch_x; // level = 0
cos_roll_x = temp.c.z / cos_pitch_x; // level = 1
cos_pitch_x = constrain(cos_pitch_x, 0, 1.0);
// this relies on constrain() of infinity doing the right thing,
// which it does do in avr-libc
cos_roll_x = constrain(cos_roll_x, -1.0, 1.0);
sin_yaw_y = yawvector.x; // 1y = north
cos_yaw_x = yawvector.y; // 0x = north
@ -1914,7 +1940,7 @@ static void update_altitude()
climb_rate = (climb_rate + old_climb_rate)>>1;
// manage bad data
climb_rate = constrain(climb_rate, -300, 300);
climb_rate = constrain(climb_rate, -800, 800);
// save for filtering
old_climb_rate = climb_rate;
@ -2013,6 +2039,11 @@ static void tuning(){
g.pid_nav_lon.kP(tuning_value);
break;
case CH6_LOITER_RATE_P:
g.pid_loiter_rate_lon.kP(tuning_value);
g.pid_loiter_rate_lat.kP(tuning_value);
break;
case CH6_NAV_I:
g.pid_nav_lat.kI(tuning_value);
g.pid_nav_lon.kI(tuning_value);

116
ArduCopter/Attitude.pde
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@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
static int
static int16_t
get_stabilize_roll(int32_t target_angle)
{
// angle error
@ -29,7 +29,7 @@ get_stabilize_roll(int32_t target_angle)
#endif
}
static int
static int16_t
get_stabilize_pitch(int32_t target_angle)
{
// angle error
@ -56,14 +56,19 @@ get_stabilize_pitch(int32_t target_angle)
#endif
}
static int
static int16_t
get_stabilize_yaw(int32_t target_angle)
{
// angle error
target_angle = wrap_180(target_angle - dcm.yaw_sensor);
#if FRAME_CONFIG == HELI_FRAME // cannot use rate control for helicopters
// limit the error we're feeding to the PID
target_angle = constrain(target_angle, -4500, 4500);
#else
// limit the error we're feeding to the PID
target_angle = constrain(target_angle, -2000, 2000);
#endif
// conver to desired Rate:
int32_t target_rate = g.pi_stabilize_yaw.get_p(target_angle);
@ -80,7 +85,7 @@ get_stabilize_yaw(int32_t target_angle)
#endif
}
static int
static int16_t
get_acro_roll(int32_t target_rate)
{
target_rate = target_rate * g.acro_p;
@ -88,7 +93,7 @@ get_acro_roll(int32_t target_rate)
return get_rate_roll(target_rate);
}
static int
static int16_t
get_acro_pitch(int32_t target_rate)
{
target_rate = target_rate * g.acro_p;
@ -96,7 +101,7 @@ get_acro_pitch(int32_t target_rate)
return get_rate_pitch(target_rate);
}
static int
static int16_t
get_acro_yaw(int32_t target_rate)
{
target_rate = g.pi_stabilize_yaw.get_p(target_rate);
@ -104,76 +109,67 @@ get_acro_yaw(int32_t target_rate)
return get_rate_yaw(target_rate);
}
static int
static int16_t
get_rate_roll(int32_t target_rate)
{
int16_t rate_d1 = 0;
static int16_t rate_d2 = 0;
static int16_t rate_d3 = 0;
static int32_t last_rate = 0;
static int32_t last_rate = 0; // previous iterations rate
int32_t current_rate; // this iteration's rate
int32_t rate_d; // roll's acceleration
int32_t output; // output from pid controller
int32_t rate_d_dampener; // value to dampen output based on acceleration
int32_t current_rate = (omega.x * DEGX100);
// get current rate
current_rate = (omega.x * DEGX100);
// History of last 3 dir
rate_d3 = rate_d2;
rate_d2 = rate_d1;
rate_d1 = current_rate - last_rate;
// calculate and filter the acceleration
rate_d = roll_rate_d_filter.apply(current_rate - last_rate);
// store rate for next iteration
last_rate = current_rate;
// rate control
target_rate = target_rate - current_rate;
target_rate = g.pid_rate_roll.get_pid(target_rate, G_Dt);
// call pid controller
output = g.pid_rate_roll.get_pid(target_rate - current_rate, G_Dt);
// Dampening
//int16_t d_temp = (float)(current_rate - last_rate) * g.stabilize_d;
//target_rate -= constrain(d_temp, -500, 500);
//last_rate = current_rate;
// Dampening output with D term
rate_d_dampener = rate_d * roll_scale_d;
rate_d_dampener = constrain(rate_d_dampener, -400, 400);
output -= rate_d_dampener;
// D term
// I had tried this before with little result. Recently, someone mentioned to me that
// MultiWii uses a filter of the last three to get around noise and get a stronger signal.
// Works well! Thanks!
int16_t d_temp = (rate_d1 + rate_d2 + rate_d3) * g.stabilize_d;
target_rate -= d_temp;
// output control:
return constrain(target_rate, -2500, 2500);
// output control
return constrain(output, -2500, 2500);
}
static int
static int16_t
get_rate_pitch(int32_t target_rate)
{
int16_t rate_d1 = 0;
static int16_t rate_d2 = 0;
static int16_t rate_d3 = 0;
static int32_t last_rate = 0;
static int32_t last_rate = 0; // previous iterations rate
int32_t current_rate; // this iteration's rate
int32_t rate_d; // roll's acceleration
int32_t output; // output from pid controller
int32_t rate_d_dampener; // value to dampen output based on acceleration
int32_t current_rate = (omega.y * DEGX100);
// get current rate
current_rate = (omega.y * DEGX100);
// History of last 3 dir
rate_d3 = rate_d2;
rate_d2 = rate_d1;
rate_d1 = current_rate - last_rate;
// calculate and filter the acceleration
rate_d = pitch_rate_d_filter.apply(current_rate - last_rate);
// store rate for next iteration
last_rate = current_rate;
// rate control
target_rate = target_rate - current_rate;
target_rate = g.pid_rate_pitch.get_pid(target_rate, G_Dt);
// call pid controller
output = g.pid_rate_pitch.get_pid(target_rate - current_rate, G_Dt);
// Dampening
//int16_t d_temp = (float)(current_rate - last_rate) * g.stabilize_d;
//target_rate -= constrain(d_temp, -500, 500);
//last_rate = current_rate;
// Dampening output with D term
rate_d_dampener = rate_d * pitch_scale_d;
rate_d_dampener = constrain(rate_d_dampener, -400, 400);
output -= rate_d_dampener;
// D term
int16_t d_temp = (rate_d1 + rate_d2 + rate_d3) * g.stabilize_d;
target_rate -= d_temp;
// output control:
return constrain(target_rate, -2500, 2500);
// output control
return constrain(output, -2500, 2500);
}
static int
static int16_t
get_rate_yaw(int32_t target_rate)
{
// rate control
@ -196,7 +192,7 @@ get_nav_throttle(int32_t z_error)
// convert to desired Rate:
rate_error = g.pi_alt_hold.get_p(z_error);
rate_error = constrain(rate_error, -100, 100);
rate_error = constrain(rate_error, -150, 150);
// limit error to prevent I term wind up
z_error = constrain(z_error, -400, 400);
@ -339,7 +335,7 @@ get_nav_yaw_offset(int yaw_input, int reset)
}
}
static int get_angle_boost(int value)
static int16_t get_angle_boost(int16_t value)
{
float temp = cos_pitch_x * cos_roll_x;
temp = 1.0 - constrain(temp, .5, 1.0);
@ -489,7 +485,7 @@ get_of_roll(int32_t control_roll)
{
#ifdef OPTFLOW_ENABLED
static float tot_x_cm = 0; // total distance from target
static unsigned long last_of_roll_update = 0;
static uint32_t last_of_roll_update = 0;
int32_t new_roll = 0;
// check if new optflow data available
@ -523,7 +519,7 @@ get_of_pitch(int32_t control_pitch)
{
#ifdef OPTFLOW_ENABLED
static float tot_y_cm = 0; // total distance from target
static unsigned long last_of_pitch_update = 0;
static uint32_t last_of_pitch_update = 0;
int32_t new_pitch = 0;
// check if new optflow data available

2090
ArduCopter/GCS_Mavlink copy.txt
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File diff suppressed because it is too large Load Diff

18
ArduCopter/GCS_Mavlink.pde
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@ -1647,18 +1647,18 @@ GCS_MAVLINK::queued_param_send()
value = vp->cast_to_float(_queued_parameter_type);
char param_name[ONBOARD_PARAM_NAME_LENGTH];
vp->copy_name(param_name, sizeof(param_name));
vp->copy_name(param_name, sizeof(param_name), true);
mavlink_msg_param_value_send(
chan,
(int8_t*)param_name,
value,
_queued_parameter_count,
_queued_parameter_index);
mavlink_msg_param_value_send(
chan,
(int8_t*)param_name,
value,
_queued_parameter_count,
_queued_parameter_index);
_queued_parameter = AP_Param::next_scalar(&_queued_parameter_token, &_queued_parameter_type);
_queued_parameter_index++;
}
_queued_parameter_index++;
}
/**
* @brief Send the next pending waypoint, called from deferred message

12
ArduCopter/Log.pde
View File

@ -619,7 +619,7 @@ static void Log_Write_Performance()
DataFlash.WriteByte(LOG_PERFORMANCE_MSG);
DataFlash.WriteByte( dcm.gyro_sat_count); //1
DataFlash.WriteByte( imu.adc_constraints); //2
DataFlash.WriteByte( dcm.renorm_sqrt_count); //3
DataFlash.WriteByte( dcm.renorm_range_count); //3
DataFlash.WriteByte( dcm.renorm_blowup_count); //4
DataFlash.WriteByte( gps_fix_count); //5
DataFlash.WriteByte(END_BYTE);
@ -701,6 +701,7 @@ static void Log_Write_Attitude()
DataFlash.WriteInt((int)dcm.pitch_sensor); // 4
DataFlash.WriteInt(g.rc_4.control_in); // 5
DataFlash.WriteInt((uint16_t)dcm.yaw_sensor); // 6
DataFlash.WriteInt((uint16_t)compass.heading); // 6
DataFlash.WriteByte(END_BYTE);
}
@ -714,15 +715,18 @@ static void Log_Read_Attitude()
int16_t temp4 = DataFlash.ReadInt();
int16_t temp5 = DataFlash.ReadInt();
uint16_t temp6 = DataFlash.ReadInt();
uint16_t temp7 = DataFlash.ReadInt();
temp7 = wrap_360(temp7);
// 1 2 3 4 5 6
Serial.printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u\n"),
// 1 2 3 4 5 6 7
Serial.printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u, %u\n"),
temp1,
temp2,
temp3,
temp4,
temp5,
temp6);
temp6,
temp7);
}
// Write a mode packet. Total length : 7 bytes

13
ArduCopter/Parameters.h
View File

@ -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 = 116;
static const uint16_t k_format_version = 117;
// The parameter software_type is set up solely for ground station use
// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
@ -121,9 +121,9 @@ public:
//
// 180: Radio settings
// 170: Radio settings
//
k_param_rc_1 = 180,
k_param_rc_1 = 170,
k_param_rc_2,
k_param_rc_3,
k_param_rc_4,
@ -145,6 +145,7 @@ public:
k_param_radio_tuning_low,
k_param_camera_pitch_gain,
k_param_camera_roll_gain,
k_param_rc_speed,
//
// 200: flight modes
@ -171,6 +172,7 @@ public:
//
// 220: PI/D Controllers
//
k_param_stabilize_d_schedule = 219,
k_param_stabilize_d = 220,
k_param_acro_p,
k_param_axis_lock_p,
@ -292,10 +294,12 @@ public:
RC_Channel rc_8;
RC_Channel rc_camera_pitch;
RC_Channel rc_camera_roll;
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
AP_Float camera_pitch_gain;
AP_Float camera_roll_gain;
AP_Float stabilize_d;
AP_Float stabilize_d_schedule;
// PI/D controllers
AP_Float acro_p;
@ -399,9 +403,12 @@ public:
heli_collective_yaw_effect (0),
#endif
rc_speed(RC_FAST_SPEED),
camera_pitch_gain (CAM_PITCH_GAIN),
camera_roll_gain (CAM_ROLL_GAIN),
stabilize_d (STABILIZE_D),
stabilize_d_schedule (STABILIZE_D_SCHEDULE),
acro_p (ACRO_P),
axis_lock_p (AXIS_LOCK_P),

4
ArduCopter/Parameters.pde
View File

@ -105,11 +105,15 @@ static const AP_Param::Info var_info[] PROGMEM = {
GGROUP(rc_camera_pitch, "CAM_P_", RC_Channel),
GGROUP(rc_camera_roll, "CAM_R_", RC_Channel),
// speed of fast RC channels in Hz
GSCALAR(rc_speed, "RC_SPEED"),
// variable
//---------
GSCALAR(camera_pitch_gain, "CAM_P_G"),
GSCALAR(camera_roll_gain, "CAM_R_G"),
GSCALAR(stabilize_d, "STAB_D"),
GSCALAR(stabilize_d_schedule, "STAB_D_S"),
GSCALAR(acro_p, "ACRO_P"),
GSCALAR(axis_lock_p, "AXIS_P"),
GSCALAR(axis_enabled, "AXIS_ENABLE"),

0
ArduCopter/command description.txt → ArduCopter/command_description.txt
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31
ArduCopter/config.h
View File

@ -105,6 +105,11 @@
# define INSTANT_PWM DISABLED
#endif
// default RC speed in Hz if INSTANT_PWM is not used
#ifndef RC_FAST_SPEED
# define RC_FAST_SPEED 400
#endif
// LED and IO Pins
//
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
@ -644,14 +649,18 @@
#ifndef STABILIZE_D
# define STABILIZE_D 0.05
# define STABILIZE_D 0.1
#endif
#ifndef STABILIZE_D_SCHEDULE
# define STABILIZE_D_SCHEDULE 0.0
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter control gains
//
#ifndef LOITER_P
# define LOITER_P .2 // was .25 in previous
# define LOITER_P .8
#endif
#ifndef LOITER_I
# define LOITER_I 0.0
@ -663,27 +672,31 @@
//////////////////////////////////////////////////////////////////////////////
// Loiter Navigation control gains
//
#ifndef LOITER_RATE
# define LOITER_RATE 1
#endif
#ifndef LOITER_RATE_P
# define LOITER_RATE_P 3.0 //
# define LOITER_RATE_P 3.5 //
#endif
#ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.1 // Wind control
# define LOITER_RATE_I 0.2 // Wind control
#endif
#ifndef LOITER_RATE_D
# define LOITER_RATE_D 0.00 //
# define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1
#endif
#ifndef LOITER_RATE_IMAX
# define LOITER_RATE_IMAX 30 // degrees
# define LOITER_RATE_IMAX 30 // degrees
#endif
//////////////////////////////////////////////////////////////////////////////
// WP Navigation control gains
//
#ifndef NAV_P
# define NAV_P 3.0 //
# define NAV_P 3.5 //
#endif
#ifndef NAV_I
# define NAV_I 0.1 // Wind control
# define NAV_I 0.2 // Wind control
#endif
#ifndef NAV_D
# define NAV_D 0.00 //
@ -717,7 +730,7 @@
# define ALT_HOLD_P 0.4 //
#endif
#ifndef ALT_HOLD_I
# define ALT_HOLD_I 0.02
# define ALT_HOLD_I 0.04
#endif
#ifndef ALT_HOLD_IMAX
# define ALT_HOLD_IMAX 300

1
ArduCopter/defines.h
View File

@ -168,6 +168,7 @@
#define CH6_OPTFLOW_KD 19
#define CH6_NAV_I 20
#define CH6_LOITER_RATE_P 22
// nav byte mask

11
ArduCopter/heli.pde
View File

@ -141,6 +141,15 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
pitch_out = constrain(pitch_out, (int)-g.heli_pitch_max, (int)g.heli_pitch_max);
coll_out = constrain(coll_out, 0, 1000);
coll_out_scaled = coll_out * heli_collective_scalar + g.heli_collective_min - 1000;
// rescale roll_out and pitch-out into the min and max ranges to provide linear motion
// across the input range instead of stopping when the input hits the constrain value
// these calculations are based on an assumption of the user specified roll_max and pitch_max
// coming into this equation at 4500 or less, and based on the original assumption of the
// total g.heli_servo_x.servo_out range being -4500 to 4500.
roll_out = (-g.heli_roll_max + (float)( 2 * g.heli_roll_max * (roll_out + 4500.0)/9000.0));
pitch_out = (-g.heli_pitch_max + (float)(2 * g.heli_pitch_max * (pitch_out + 4500.0)/9000.0));
// rudder feed forward based on collective
#if HIL_MODE == HIL_MODE_DISABLED // don't do rudder feed forward in simulator
@ -209,7 +218,7 @@ 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
APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_3) | _BV(CH_4) );
APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_3) | _BV(CH_4), g.rc_speed );
#endif
}

146
ArduCopter/motors_hexa.pde
View File

@ -5,19 +5,19 @@
static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
| _BV(MOT_5) | _BV(MOT_6) );
APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
| _BV(MOT_5) | _BV(MOT_6), g.rc_speed);
#endif
}
static void motors_output_enable()
{
APM_RC.enable_out(MOT_1);
APM_RC.enable_out(MOT_2);
APM_RC.enable_out(MOT_3);
APM_RC.enable_out(MOT_4);
APM_RC.enable_out(MOT_5);
APM_RC.enable_out(MOT_6);
APM_RC.enable_out(MOT_1);
APM_RC.enable_out(MOT_2);
APM_RC.enable_out(MOT_3);
APM_RC.enable_out(MOT_4);
APM_RC.enable_out(MOT_5);
APM_RC.enable_out(MOT_6);
}
static void output_motors_armed()
@ -44,7 +44,7 @@ static void output_motors_armed()
//left side
motor_out[MOT_2] = g.rc_3.radio_out + g.rc_1.pwm_out; // CCW Middle
motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW Front
motor_out[MOT_6] = g.rc_3.radio_out + roll_out - pitch_out; // CW Back
motor_out[MOT_6] = g.rc_3.radio_out + roll_out - pitch_out; // CW Back
//right side
motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW Middle
@ -73,26 +73,26 @@ static void output_motors_armed()
motor_out[MOT_3] -= g.rc_4.pwm_out; // CW
motor_out[MOT_1] -= g.rc_4.pwm_out; // CW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
motor_out[MOT_6] -= g.rc_4.pwm_out; // CW
// Tridge's stability patch
for (int m = 0; m <= 6; m++) {
int c = ch_of_mot(m);
int c_opp = ch_of_mot(m^1); // m^1 is the opposite motor. c_opp is channel of opposite motor.
if (motor_out[c] > out_max) {
motor_out[c_opp] -= motor_out[c] - out_max;
motor_out[c] = out_max;
}
}
for (int m = 0; m <= 6; m++){
int c = ch_of_mot(m);
int c_opp = ch_of_mot(m ^ 1); // m ^ 1 is the opposite motor. c_opp is channel of opposite motor.
if(motor_out[c] > out_max){
motor_out[c_opp] -= motor_out[c] - out_max;
motor_out[c] = out_max;
}
}
// limit output so motors don't stop
motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
#if CUT_MOTORS == ENABLED
// if we are not sending a throttle output, we cut the motors
@ -108,8 +108,8 @@ static void output_motors_armed()
// this filter slows the acceleration of motors vs the deceleration
// Idea by Denny Rowland to help with his Yaw issue
for(int8_t m = 0; m <= 6; m++ ) {
int c = ch_of_mot(m);
for(int8_t m = 0; m <= 6; m++){
int c = ch_of_mot(m);
if(motor_filtered[c] < motor_out[c]){
motor_filtered[c] = (motor_out[c] + motor_filtered[c]) / 2;
}else{
@ -143,7 +143,7 @@ static void output_motors_disarmed()
}
// fill the motor_out[] array for HIL use
for (unsigned char i = 0; i < 8; i++) {
for (unsigned char i = 0; i < 8; i++){
motor_out[i] = g.rc_3.radio_min;
}
@ -158,7 +158,7 @@ static void output_motors_disarmed()
static void output_motor_test()
{
motors_output_enable();
motors_output_enable();
motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min;
@ -167,57 +167,69 @@ static void output_motor_test()
motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min;
bool right = (g.rc_1.control_in > 3000);
bool left = (g.rc_1.control_in < -3000);
bool front = (g.rc_2.control_in < -3000);
bool back = (g.rc_2.control_in > 3000);
if(g.frame_orientation == X_FRAME){
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
delay(4000);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
delay(300);
if(right && !(front || back))
motor_out[MOT_1] += 150; // Right
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
delay(300);
if(left && !(front || back))
motor_out[MOT_2] += 150; // Left
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
delay(300);
if(back){
if(left)
motor_out[MOT_6] += 150;
if(right)
motor_out[MOT_4] += 150;
}
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
delay(300);
if(front){
if(left)
motor_out[MOT_3] += 150;
if(right)
motor_out[MOT_5] += 150;
}
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
delay(300);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
delay(300);
} else { /* PLUS_FRAME */
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
delay(4000);
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
delay(300);
if(front && !(left || right))
motor_out[MOT_1] += 150;
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
delay(300);
if(back && !(left || right))
motor_out[MOT_2] += 150;
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
delay(300);
if(left){
if(front)
motor_out[MOT_5] += 150;
if(back)
motor_out[MOT_3] += 150;
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
delay(300);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
delay(300);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
delay(300);
}
if(right){
if(front)
motor_out[MOT_4] += 150;
if(back)
motor_out[MOT_6] += 150;
}
}
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);

3
ArduCopter/motors_octa.pde
View File

@ -6,7 +6,8 @@ static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
| _BV(MOT_5) | _BV(MOT_6) | _BV(MOT_7) | _BV(MOT_8));
| _BV(MOT_5) | _BV(MOT_6) | _BV(MOT_7) | _BV(MOT_8),
g.rc_speed);
#endif
}

3
ArduCopter/motors_octa_quad.pde
View File

@ -6,7 +6,8 @@ static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
| _BV(MOT_5) | _BV(MOT_6) | _BV(MOT_7) | _BV(MOT_8));
| _BV(MOT_5) | _BV(MOT_6) | _BV(MOT_7) | _BV(MOT_8),
g.rc_speed);
#endif
}

3
ArduCopter/motors_quad.pde
View File

@ -5,7 +5,8 @@
static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4));
APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4),
g.rc_speed);
#endif
}

3
ArduCopter/motors_tri.pde
View File

@ -4,7 +4,8 @@
static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_4));
APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_4),
g.rc_speed);
#endif
}

3
ArduCopter/motors_y6.pde
View File

@ -8,7 +8,8 @@ static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
| _BV(MOT_5) | _BV(MOT_6));
| _BV(MOT_5) | _BV(MOT_6),
g.rc_speed);
#endif
}

104
ArduCopter/navigation.pde
View File

@ -66,7 +66,7 @@ static void calc_XY_velocity(){
/*
// Ryan Beall's forward estimator:
int16_t x_speed_new = (float)(g_gps->longitude - last_longitude) * tmp;
int16_t x_speed_new = (float)(g_gps->longitude - last_longitude) * scaleLongDown* tmp;
int16_t y_speed_new = (float)(g_gps->latitude - last_latitude) * tmp;
x_actual_speed = x_speed_new + (x_speed_new - x_speed_old);
@ -101,33 +101,50 @@ static void calc_location_error(struct Location *next_loc)
#define NAV_ERR_MAX 600
static void calc_loiter(int x_error, int y_error)
{
// East/West
int16_t x_target_speed = g.pi_loiter_lon.get_p(x_error);
x_target_speed = constrain(x_error, -250, 250);
#if LOITER_RATE == 1
int16_t x_target_speed, y_target_speed;
int16_t x_iterm, y_iterm;
// East / West
x_target_speed = g.pi_loiter_lon.get_p(x_error); // not contstrained yet
//x_target_speed = constrain(x_target_speed, -250, 250); // limit to 2.5m/s travel speed
x_rate_error = x_target_speed - x_actual_speed; // calc the speed error
nav_lon = g.pid_loiter_rate_lon.get_pid(x_rate_error, dTnav);
nav_lon = constrain(nav_lon, -3000, 3000); // 30°
// North / South
y_target_speed = g.pi_loiter_lat.get_p(y_error);
//y_target_speed = constrain(y_target_speed, -250, 250);
y_rate_error = y_target_speed - y_actual_speed;
nav_lat = g.pid_loiter_rate_lat.get_pid(y_rate_error, dTnav);
nav_lat = constrain(nav_lat, -3000, 3000); // 30°
// copy over I term to Nav_Rate
g.pid_nav_lon.set_integrator(g.pid_loiter_rate_lon.get_integrator());
g.pid_nav_lat.set_integrator(g.pid_loiter_rate_lat.get_integrator());
#else
// no rate control on Loiter
nav_lon = g.pid_loiter_rate_lon.get_pid(x_error, dTnav);
nav_lat = g.pid_loiter_rate_lat.get_pid(y_error, dTnav);
nav_lon = constrain(nav_lon, -3000, 3000); // 30°
nav_lat = constrain(nav_lat, -3000, 3000); // 30°
#endif
// Wind I term based on location error,
// limit windup
x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
int16_t x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
x_rate_error = x_target_speed - x_actual_speed;
// North/South
int16_t y_target_speed = g.pi_loiter_lat.get_p(y_error);
y_target_speed = constrain(y_error, -250, 250);
// limit windup
y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
int16_t y_iterm = g.pi_loiter_lat.get_i(y_error, dTnav);
y_rate_error = y_target_speed - y_actual_speed;
//nav_lon = g.pid_loiter_rate_lon.get_pid(x_rate_error, dTnav);
//nav_lat = g.pid_loiter_rate_lat.get_pid(y_rate_error, dTnav);
nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
nav_lon = constrain(nav_lon, -3000, 3000);
nav_lat = constrain(nav_lat, -3000, 3000);
nav_lat = nav_lat + y_iterm;
nav_lon = nav_lon + x_iterm;
/*
x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
y_iterm = g.pi_loiter_lat.get_i(y_error, dTnav);
nav_lat = nav_lat + y_iterm;
nav_lon = nav_lon + x_iterm;
*/
/*
int8_t ttt = 1.0/dTnav;
@ -170,24 +187,31 @@ static void calc_nav_rate(int max_speed)
update_crosstrack();
// nav_bearing includes crosstrack
float temp = (9000l - nav_bearing) * RADX100;
float temp = (9000l - nav_bearing) * RADX100;
x_rate_error = (cos(temp) * max_speed) - x_actual_speed; // 413
x_rate_error = constrain(x_rate_error, -1000, 1000);
int16_t x_iterm = g.pi_loiter_lon.get_i(x_rate_error, dTnav);
// East / West
x_rate_error = (cos(temp) * max_speed) - x_actual_speed; // 413
x_rate_error = constrain(x_rate_error, -1000, 1000);
nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
nav_lon = constrain(nav_lon, -3000, 3000);
y_rate_error = (sin(temp) * max_speed) - y_actual_speed; // 413
y_rate_error = constrain(y_rate_error, -1000, 1000); // added a rate error limit to keep pitching down to a minimum
int16_t y_iterm = g.pi_loiter_lat.get_i(y_rate_error, dTnav);
// North / South
y_rate_error = (sin(temp) * max_speed) - y_actual_speed; // 413
y_rate_error = constrain(y_rate_error, -1000, 1000); // added a rate error limit to keep pitching down to a minimum
nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
nav_lat = constrain(nav_lat, -3000, 3000);
nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
// copy over I term to Loiter_Rate
g.pid_loiter_rate_lon.set_integrator(g.pid_nav_lon.get_integrator());
g.pid_loiter_rate_lat.set_integrator(g.pid_nav_lat.get_integrator());
//int16_t x_iterm = g.pi_loiter_lon.get_i(x_rate_error, dTnav);
//int16_t y_iterm = g.pi_loiter_lat.get_i(y_rate_error, dTnav);
//nav_lon = nav_lon + x_iterm;
//nav_lat = nav_lat + y_iterm;
nav_lon = constrain(nav_lon, -3000, 3000);
nav_lat = constrain(nav_lat, -3000, 3000);
nav_lon = nav_lon + x_iterm;
nav_lat = nav_lat + y_iterm;
/*
Serial.printf("max_sp %d,\t x_sp %d, y_sp %d,\t x_re: %d, y_re: %d, \tnav_lon: %d, nav_lat: %d, Xi:%d, Yi:%d, \t XE %d \n",

12
ArduCopter/sensors.pde
View File

@ -78,10 +78,14 @@ static int32_t read_barometer(void)
static void init_compass()
{
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
dcm.set_compass(&compass);
compass.init();
compass.get_offsets(); // load offsets to account for airframe magnetic interference
compass.null_offsets_enable();
if (!compass.init() || !compass.read()) {
// make sure we don't pass a broken compass to DCM
Serial.println_P(PSTR("COMPASS INIT ERROR"));
return;
}
dcm.set_compass(&compass);
compass.get_offsets(); // load offsets to account for airframe magnetic interference
compass.null_offsets_enable();
}
static void init_optflow()

49
ArduCopter/system.pde
View File

@ -343,6 +343,10 @@ static void init_ardupilot()
Log_Write_Data(20, (float)g.pid_nav_lon.kD());
Log_Write_Data(21, (int32_t)g.auto_slew_rate.get());
Log_Write_Data(22, (float)g.pid_loiter_rate_lon.kP());
Log_Write_Data(23, (float)g.pid_loiter_rate_lon.kI());
Log_Write_Data(24, (float)g.pid_loiter_rate_lon.kD());
#endif
SendDebug("\nReady to FLY ");
@ -405,10 +409,9 @@ static void set_mode(byte mode)
mode = STABILIZE;
}
old_control_mode = control_mode;
control_mode = mode;
control_mode = constrain(control_mode, 0, NUM_MODES - 1);
old_control_mode = control_mode;
control_mode = mode;
control_mode = constrain(control_mode, 0, NUM_MODES - 1);
// used to stop fly_aways
motor_auto_armed = (g.rc_3.control_in > 0);
@ -429,7 +432,7 @@ static void set_mode(byte mode)
land_complete = false;
// debug to Serial terminal
Serial.println(flight_mode_strings[control_mode]);
//Serial.println(flight_mode_strings[control_mode]);
// report the GPS and Motor arming status
led_mode = NORMAL_LEDS;
@ -532,6 +535,9 @@ static void set_mode(byte mode)
if(throttle_mode == THROTTLE_MANUAL){
// reset all of the throttle iterms
update_throttle_cruise();
// reset auto_throttle
nav_throttle = 0;
}else {
// an automatic throttle
init_throttle_cruise();
@ -657,3 +663,36 @@ void flash_leds(bool on)
digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
}
#ifndef DESKTOP_BUILD
/*
* Read Vcc vs 1.1v internal reference
*
* This call takes about 150us total. ADC conversion is 13 cycles of
* 125khz default changes the mux if it isn't set, and return last
* reading (allows necessary settle time) otherwise trigger the
* conversion
*/
uint16_t board_voltage(void)
{
static uint16_t vcc = 5000;
const uint8_t mux = (_BV(REFS0)|_BV(MUX4)|_BV(MUX3)|_BV(MUX2)|_BV(MUX1));
if (ADMUX == mux) {
ADCSRA |= _BV(ADSC); // Convert
uint16_t counter=4000; // normally takes about 1700 loops
while (bit_is_set(ADCSRA, ADSC) && counter) // Wait
counter--;
if (counter == 0) {
// we don't actually expect this timeout to happen,
// but we don't want any more code that could hang
return vcc;
}
uint32_t result = ADCL | ADCH<<8;
vcc = 1126400L / result; // Read and back-calculate Vcc in mV
} else {
ADMUX = mux; // switch mux, settle time is needed
}
return vcc; // in mV
}
#endif

38
ArduCopter/test.pde
View File

@ -16,6 +16,7 @@ static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
//static int8_t test_dcm_eulers(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);
//static int8_t test_stab_d(uint8_t argc, const Menu::arg *argv);
static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
//static int8_t test_boost(uint8_t argc, const Menu::arg *argv);
//static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv);
@ -65,6 +66,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
{"imu", test_imu},
// {"dcm", test_dcm_eulers},
//{"omega", test_omega},
// {"stab_d", test_stab_d},
{"battery", test_battery},
{"tune", test_tuning},
//{"tri", test_tri},
@ -592,6 +594,42 @@ test_gps(uint8_t argc, const Menu::arg *argv)
return 0;
}
// used to test the gain scheduler for Stab_D
/*
static int8_t
test_stab_d(uint8_t argc, const Menu::arg *argv)
{
int16_t i = 0;
g.stabilize_d = 1;
g.stabilize_d_schedule = 1
for (i = -4600; i < 4600; i+=10) {
new_radio_frame = true;
g.rc_1.control_in = i;
g.rc_2.control_in = i;
update_roll_pitch_mode();
Serial.printf("rin:%d, d:%1.6f \tpin:%d, d:%1.6f\n",g.rc_1.control_in, roll_scale_d, g.rc_2.control_in, pitch_scale_d);
}
g.stabilize_d_schedule = .5
for (i = -4600; i < 4600; i+=10) {
new_radio_frame = true;
g.rc_1.control_in = i;
g.rc_2.control_in = i;
update_roll_pitch_mode();
Serial.printf("rin:%d, d:%1.6f \tpin:%d, d:%1.6f\n",g.rc_1.control_in, roll_scale_d, g.rc_2.control_in, pitch_scale_d);
}
g.stabilize_d_schedule = 0
for (i = -4600; i < 4600; i+=10) {
new_radio_frame = true;
g.rc_1.control_in = i;
g.rc_2.control_in = i;
update_roll_pitch_mode();
Serial.printf("rin:%d, d:%1.6f \tpin:%d, d:%1.6f\n",g.rc_1.control_in, roll_scale_d, g.rc_2.control_in, pitch_scale_d);
}
}*/
/*
//static int8_t
//test_dcm(uint8_t argc, const Menu::arg *argv)

8
ArduPlane/ArduPlane.pde
View File

@ -44,7 +44,8 @@ version 2.1 of the License, or (at your option) any later version.
#include <PID.h> // PID library
#include <RC_Channel.h> // RC Channel Library
#include <AP_RangeFinder.h> // Range finder library
#include <ModeFilter.h>
#include <Filter.h> // Filter library
#include <ModeFilter.h> // Mode Filter from Filter library
#include <AP_Relay.h> // APM relay
#include <AP_Mount.h> // Camera/Antenna mount
#include <GCS_MAVLink.h> // MAVLink GCS definitions
@ -224,7 +225,7 @@ GCS_MAVLINK gcs3;
// PITOT selection
////////////////////////////////////////////////////////////////////////////////
//
ModeFilter sonar_mode_filter;
ModeFilterInt16_Size5 sonar_mode_filter(2);
#if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC
AP_AnalogSource_ADC pitot_analog_source( &adc,
@ -769,8 +770,11 @@ static void medium_loop()
#if HIL_MODE != HIL_MODE_ATTITUDE
if (g.compass_enabled && compass.read()) {
dcm.set_compass(&compass);
compass.calculate(dcm.get_dcm_matrix()); // Calculate heading
compass.null_offsets(dcm.get_dcm_matrix());
} else {
dcm.set_compass(NULL);
}
#endif
/*{

2
ArduPlane/GCS_Mavlink.pde
View File

@ -2000,7 +2000,7 @@ GCS_MAVLINK::queued_param_send()
value = vp->cast_to_float(_queued_parameter_type);
char param_name[ONBOARD_PARAM_NAME_LENGTH];
vp->copy_name(param_name, sizeof(param_name));
vp->copy_name(param_name, sizeof(param_name), true);
mavlink_msg_param_value_send(
chan,

2
ArduPlane/Log.pde
View File

@ -241,7 +241,7 @@ static void Log_Write_Performance()
DataFlash.WriteInt(G_Dt_max);
DataFlash.WriteByte(dcm.gyro_sat_count);
DataFlash.WriteByte(imu.adc_constraints);
DataFlash.WriteByte(dcm.renorm_sqrt_count);
DataFlash.WriteByte(dcm.renorm_range_count);
DataFlash.WriteByte(dcm.renorm_blowup_count);
DataFlash.WriteByte(gps_fix_count);
DataFlash.WriteInt((int)(dcm.get_health() * 1000));

0
ArduPlane/command description.txt → ArduPlane/command_description.txt
View File

38
ArduPlane/system.pde
View File

@ -175,12 +175,11 @@ static void init_ardupilot()
if (g.compass_enabled==true) {
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
if (!compass.init()) {
if (!compass.init() || !compass.read()) {
Serial.println_P(PSTR("Compass initialisation failed!"));
g.compass_enabled = false;
} else {
dcm.set_compass(&compass);
compass.get_offsets(); // load offsets to account for airframe magnetic interference
compass.null_offsets_enable();
}
}
@ -509,7 +508,7 @@ static void resetPerfData(void) {
G_Dt_max = 0;
dcm.gyro_sat_count = 0;
imu.adc_constraints = 0;
dcm.renorm_sqrt_count = 0;
dcm.renorm_range_count = 0;
dcm.renorm_blowup_count = 0;
gps_fix_count = 0;
pmTest1 = 0;
@ -566,3 +565,36 @@ void flash_leds(bool on)
digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
}
#ifndef DESKTOP_BUILD
/*
* Read Vcc vs 1.1v internal reference
*
* This call takes about 150us total. ADC conversion is 13 cycles of
* 125khz default changes the mux if it isn't set, and return last
* reading (allows necessary settle time) otherwise trigger the
* conversion
*/
uint16_t board_voltage(void)
{
static uint16_t vcc = 5000;
const uint8_t mux = (_BV(REFS0)|_BV(MUX4)|_BV(MUX3)|_BV(MUX2)|_BV(MUX1));
if (ADMUX == mux) {
ADCSRA |= _BV(ADSC); // Convert
uint16_t counter=4000; // normally takes about 1700 loops
while (bit_is_set(ADCSRA, ADSC) && counter) // Wait
counter--;
if (counter == 0) {
// we don't actually expect this timeout to happen,
// but we don't want any more code that could hang
return vcc;
}
uint32_t result = ADCL | ADCH<<8;
vcc = 1126400L / result; // Read and back-calculate Vcc in mV
} else {
ADMUX = mux; // switch mux, settle time is needed
}
return vcc; // in mV
}
#endif

0
Tools/ArduPPM/ATMega32U2/Drivers/Arduino MEGA 2560.inf → Tools/ArduPPM/ATMega32U2/Drivers/Arduino_MEGA_2560.inf
View File

0
Tools/ArduTracker/Terminal commands.txt → Tools/ArduTracker/Terminal_commands.txt
View File

0
Tools/ArduTracker/command description.txt → Tools/ArduTracker/command_description.txt
View File

30
Tools/ArdupilotMegaPlanner/Antenna/ITrackerOutput.cs Normal file
View File

@ -0,0 +1,30 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace ArdupilotMega.Antenna
{
interface ITrackerOutput
{
SerialPort ComPort { get; set; }
double TrimPan { get; set; }
double TrimTilt { get; set; }
int PanStartRange { get; set; }
int TiltStartRange { get; set; }
int PanEndRange { get; set; }
int TiltEndRange { get; set; }
bool PanReverse { get; set; }
bool TiltReverse { get; set; }
bool Init();
bool Setup();
bool Pan(double Angle);
bool Tilt(double Angle);
bool PanAndTilt(double Pan,double Tilt);
bool Close();
}
}

162
Tools/ArdupilotMegaPlanner/Antenna/Maestro.cs Normal file
View File

@ -0,0 +1,162 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace ArdupilotMega.Antenna
{
class Maestro : ITrackerOutput
{
public SerialPort ComPort { get; set; }
/// <summary>
/// 0-360
/// </summary>
public double TrimPan { get; set; }
/// <summary>
/// -90 - 90
/// </summary>
public double TrimTilt { get; set; }
public int PanStartRange { get; set; }
public int TiltStartRange { get; set; }
public int PanEndRange { get; set; }
public int TiltEndRange { get; set; }
public bool PanReverse { get { return _panreverse == -1; } set { _panreverse = value == true ? -1 : 1 ; } }
public bool TiltReverse { get { return _tiltreverse == -1; } set { _tiltreverse = value == true ? -1 : 1; } }
int _panreverse = 1;
int _tiltreverse = 1;
byte PanAddress = 0;
byte TiltAddress = 1;
public bool Init()
{
if ((PanStartRange - PanEndRange) == 0)
{
System.Windows.Forms.MessageBox.Show("Invalid Pan Range", "Error");
return false;
}
if ((TiltStartRange - TiltEndRange) == 0)
{
System.Windows.Forms.MessageBox.Show("Invalid Tilt Range", "Error");
return false;
}
try
{
ComPort.Open();
}
catch (Exception ex) { System.Windows.Forms.MessageBox.Show("Connect failed " + ex.Message,"Error"); return false; }
return true;
}
public bool Setup()
{
int target = 100;
// speed
var buffer = new byte[] { 0x87, PanAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) };
ComPort.Write(buffer, 0, buffer.Length);
buffer = new byte[] { 0x87, TiltAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) };
ComPort.Write(buffer, 0, buffer.Length);
// accel
target = 5;
buffer = new byte[] { 0x89, PanAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) };
ComPort.Write(buffer, 0, buffer.Length);
buffer = new byte[] { 0x89, TiltAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) };
ComPort.Write(buffer, 0, buffer.Length);
return true;
}
double wrap_180(double input)
{
if (input > 180)
return input - 360;
if (input < -180)
return input + 360;
return input;
}
double wrap_range(double input,double range)
{
if (input > range)
return input - 360;
if (input < -range)
return input + 360;
return input;
}
public bool Pan(double Angle)
{
double range = Math.Abs(PanStartRange - PanEndRange);
// get relative center based on tracking center
double rangeleft = PanStartRange - TrimPan;
double rangeright = PanEndRange - TrimPan;
double centerpos = 127;
// get the output angle the tracker needs to point and constrain the output to the allowed options
short PointAtAngle = Constrain(wrap_180(Angle - TrimPan), PanStartRange, PanEndRange);
// conver the angle into a 0-255 value
byte target = (byte)((((PointAtAngle / range) * 2.0) * 127 + centerpos) * _panreverse);
//Console.WriteLine("P " + Angle + " " + target + " " + PointAtAngle);
var buffer = new byte[] { 0xff,PanAddress,target};
ComPort.Write(buffer, 0, buffer.Length);
return true;
}
public bool Tilt(double Angle)
{
double range = Math.Abs(TiltStartRange - TiltEndRange);
short PointAtAngle = Constrain((Angle - TrimTilt), TiltStartRange, TiltEndRange);
byte target = (byte)((((PointAtAngle / range ) * 2) * 127 + 127) * _tiltreverse);
//Console.WriteLine("T " + Angle + " " + target + " " + PointAtAngle);
var buffer = new byte[] { 0xff, TiltAddress, target };
ComPort.Write(buffer, 0, buffer.Length);
return true;
}
public bool PanAndTilt(double pan, double tilt)
{
if (Tilt(tilt) && Pan(pan))
return true;
return false;
}
public bool Close()
{
try
{
ComPort.Close();
}
catch { }
return true;
}
short Constrain(double input, double min, double max)
{
if (input < min)
return (short)min;
if (input > max)
return (short)max;
return (short)input;
}
}
}

247
Tools/ArdupilotMegaPlanner/Antenna/Tracker.Designer.cs generated Normal file
View File

@ -0,0 +1,247 @@
namespace ArdupilotMega.Antenna
{
partial class Tracker
{
/// <summary>
/// Required designer variable.
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// Clean up any resources being used.
/// </summary>
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Tracker));
this.CMB_interface = new System.Windows.Forms.ComboBox();
this.label1 = new System.Windows.Forms.Label();
this.CMB_baudrate = new System.Windows.Forms.ComboBox();
this.CMB_serialport = new System.Windows.Forms.ComboBox();
this.BUT_connect = new ArdupilotMega.MyButton();
this.TRK_pantrim = new System.Windows.Forms.TrackBar();
this.TXT_panrange = new System.Windows.Forms.TextBox();
this.label3 = new System.Windows.Forms.Label();
this.label4 = new System.Windows.Forms.Label();
this.label5 = new System.Windows.Forms.Label();
this.label6 = new System.Windows.Forms.Label();
this.TXT_tiltrange = new System.Windows.Forms.TextBox();
this.TRK_tilttrim = new System.Windows.Forms.TrackBar();
this.label2 = new System.Windows.Forms.Label();
this.label7 = new System.Windows.Forms.Label();
((System.ComponentModel.ISupportInitialize)(this.TRK_pantrim)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.TRK_tilttrim)).BeginInit();
this.SuspendLayout();
//
// CMB_interface
//
this.CMB_interface.FormattingEnabled = true;
this.CMB_interface.Items.AddRange(new object[] {
"Maestro"});
this.CMB_interface.Location = new System.Drawing.Point(83, 10);
this.CMB_interface.Name = "CMB_interface";
this.CMB_interface.Size = new System.Drawing.Size(121, 21);
this.CMB_interface.TabIndex = 0;
this.CMB_interface.Text = "Maestro";
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(13, 13);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(49, 13);
this.label1.TabIndex = 1;
this.label1.Text = "Interface";
//
// CMB_baudrate
//
this.CMB_baudrate.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CMB_baudrate.FormattingEnabled = true;
this.CMB_baudrate.Items.AddRange(new object[] {
"4800",
"9600",
"14400",
"19200",
"28800",
"38400",
"57600",
"115200"});
this.CMB_baudrate.Location = new System.Drawing.Point(337, 9);
this.CMB_baudrate.Name = "CMB_baudrate";
this.CMB_baudrate.Size = new System.Drawing.Size(121, 21);
this.CMB_baudrate.TabIndex = 5;
//
// CMB_serialport
//
this.CMB_serialport.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CMB_serialport.FormattingEnabled = true;
this.CMB_serialport.Location = new System.Drawing.Point(210, 10);
this.CMB_serialport.Name = "CMB_serialport";
this.CMB_serialport.Size = new System.Drawing.Size(121, 21);
this.CMB_serialport.TabIndex = 3;
//
// BUT_connect
//
this.BUT_connect.Location = new System.Drawing.Point(476, 9);
this.BUT_connect.Name = "BUT_connect";
this.BUT_connect.Size = new System.Drawing.Size(75, 23);
this.BUT_connect.TabIndex = 4;
this.BUT_connect.Text = "Connect";
this.BUT_connect.UseVisualStyleBackColor = true;
this.BUT_connect.Click += new System.EventHandler(this.BUT_connect_Click);
//
// TRK_pantrim
//
this.TRK_pantrim.Location = new System.Drawing.Point(153, 65);
this.TRK_pantrim.Maximum = 180;
this.TRK_pantrim.Minimum = -180;
this.TRK_pantrim.Name = "TRK_pantrim";
this.TRK_pantrim.Size = new System.Drawing.Size(375, 45);
this.TRK_pantrim.TabIndex = 6;
this.TRK_pantrim.Scroll += new System.EventHandler(this.TRK_pantrim_Scroll);
//
// TXT_panrange
//
this.TXT_panrange.Location = new System.Drawing.Point(83, 65);
this.TXT_panrange.Name = "TXT_panrange";
this.TXT_panrange.Size = new System.Drawing.Size(64, 20);
this.TXT_panrange.TabIndex = 7;
this.TXT_panrange.Text = "180";
//
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(331, 49);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(38, 13);
this.label3.TabIndex = 10;
this.label3.Text = "Center";
//
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(83, 49);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(56, 13);
this.label4.TabIndex = 11;
this.label4.Text = "Range -/+";
//
// label5
//
this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(83, 125);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(56, 13);
this.label5.TabIndex = 17;
this.label5.Text = "Range -/+";
//
// label6
//
this.label6.AutoSize = true;
this.label6.Location = new System.Drawing.Point(331, 125);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(38, 13);
this.label6.TabIndex = 16;
this.label6.Text = "Center";
//
// TXT_tiltrange
//
this.TXT_tiltrange.Location = new System.Drawing.Point(83, 141);
this.TXT_tiltrange.Name = "TXT_tiltrange";
this.TXT_tiltrange.Size = new System.Drawing.Size(64, 20);
this.TXT_tiltrange.TabIndex = 13;
this.TXT_tiltrange.Text = "90";
//
// TRK_tilttrim
//
this.TRK_tilttrim.Location = new System.Drawing.Point(153, 141);
this.TRK_tilttrim.Maximum = 90;
this.TRK_tilttrim.Minimum = -90;
this.TRK_tilttrim.Name = "TRK_tilttrim";
this.TRK_tilttrim.Size = new System.Drawing.Size(375, 45);
this.TRK_tilttrim.TabIndex = 12;
this.TRK_tilttrim.Value = 45;
this.TRK_tilttrim.Scroll += new System.EventHandler(this.TRK_tilttrim_Scroll);
//
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(13, 68);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(26, 13);
this.label2.TabIndex = 18;
this.label2.Text = "Pan";
//
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(13, 144);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(21, 13);
this.label7.TabIndex = 19;
this.label7.Text = "Tilt";
//
// Tracker
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(569, 195);
this.Controls.Add(this.label7);
this.Controls.Add(this.label2);
this.Controls.Add(this.label5);
this.Controls.Add(this.label6);
this.Controls.Add(this.TXT_tiltrange);
this.Controls.Add(this.TRK_tilttrim);
this.Controls.Add(this.label4);
this.Controls.Add(this.label3);
this.Controls.Add(this.TXT_panrange);
this.Controls.Add(this.TRK_pantrim);
this.Controls.Add(this.CMB_baudrate);
this.Controls.Add(this.BUT_connect);
this.Controls.Add(this.CMB_serialport);
this.Controls.Add(this.label1);
this.Controls.Add(this.CMB_interface);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.Name = "Tracker";
this.Text = "Tracker";
((System.ComponentModel.ISupportInitialize)(this.TRK_pantrim)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.TRK_tilttrim)).EndInit();
this.ResumeLayout(false);
this.PerformLayout();
}
#endregion
private System.Windows.Forms.ComboBox CMB_interface;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.ComboBox CMB_baudrate;
private MyButton BUT_connect;
private System.Windows.Forms.ComboBox CMB_serialport;
private System.Windows.Forms.TrackBar TRK_pantrim;
private System.Windows.Forms.TextBox TXT_panrange;
private System.Windows.Forms.Label label3;
private System.Windows.Forms.Label label4;
private System.Windows.Forms.Label label5;
private System.Windows.Forms.Label label6;
private System.Windows.Forms.TextBox TXT_tiltrange;
private System.Windows.Forms.TrackBar TRK_tilttrim;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.Label label7;
}
}

115
Tools/ArdupilotMegaPlanner/Antenna/Tracker.cs Normal file
View File

@ -0,0 +1,115 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
namespace ArdupilotMega.Antenna
{
public partial class Tracker : Form
{
System.Threading.Thread t12;
static bool threadrun = false;
static ITrackerOutput tracker;
public Tracker()
{
InitializeComponent();
MainV2.fixtheme(this);
CMB_serialport.DataSource = SerialPort.GetPortNames();
if (threadrun)
{
BUT_connect.Text = "Disconnect";
}
}
private void BUT_connect_Click(object sender, EventArgs e)
{
if (threadrun)
{
threadrun = false;
BUT_connect.Text = "Connect";
tracker.Close();
return;
}
if (tracker != null && tracker.ComPort != null && tracker.ComPort.IsOpen)
{
tracker.ComPort.Close();
}
tracker = new ArdupilotMega.Antenna.Maestro();
try
{
tracker.ComPort = new SerialPort()
{
PortName = CMB_serialport.Text,
BaudRate = int.Parse(CMB_baudrate.Text)
};
}
catch (Exception ex) { MessageBox.Show("Bad Port settings " + ex.Message); return; }
try
{
tracker.PanStartRange = int.Parse(TXT_panrange.Text) / 2 * -1;
tracker.PanEndRange = int.Parse(TXT_panrange.Text) / 2;
tracker.TrimPan = TRK_pantrim.Value;
tracker.TiltStartRange = int.Parse(TXT_tiltrange.Text) / 2 * -1;
tracker.TiltEndRange = int.Parse(TXT_tiltrange.Text) / 2;
tracker.TrimTilt = TRK_tilttrim.Value;
}
catch (Exception ex) { MessageBox.Show("Bad User input " + ex.Message); return; }
if (tracker.Init())
{
if (tracker.Setup())
{
tracker.PanAndTilt(0, 0);
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
{
IsBackground = true,
Name = "Antenna Tracker"
};
t12.Start();
}
}
}
void mainloop()
{
threadrun = true;
while (threadrun)
{
try
{
// 10 hz - position updates default to 3 hz on the stream rate
tracker.PanAndTilt(MainV2.cs.AZToMAV, MainV2.cs.ELToMAV);
System.Threading.Thread.Sleep(100);
}
catch { }
}
}
private void TRK_pantrim_Scroll(object sender, EventArgs e)
{
if (tracker != null)
tracker.TrimPan = TRK_pantrim.Value;
}
private void TRK_tilttrim_Scroll(object sender, EventArgs e)
{
if (tracker != null)
tracker.TrimTilt = TRK_tilttrim.Value;
}
}
}

197
Tools/ArdupilotMegaPlanner/Antenna/Tracker.resx Normal file
View File

@ -0,0 +1,197 @@
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
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-->
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<xsd:attribute name="alias" type="xsd:string" />
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<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
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<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
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<xsd:element name="resheader">
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<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
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<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
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<resheader name="reader">
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<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
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<assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
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46
Tools/ArdupilotMegaPlanner/ArduinoDetect.cs
View File

@ -1,15 +1,15 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Reflection;
using System.Management;
using System.Windows.Forms;
using System.Threading;
using log4net;
namespace ArdupilotMega
{
class ArduinoDetect
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
/// <summary>
/// detects STK version 1 or 2
/// </summary>
@ -27,7 +27,7 @@ namespace ArdupilotMega
serialPort.BaudRate = 57600;
serialPort.Open();
System.Threading.Thread.Sleep(100);
Thread.Sleep(100);
int a = 0;
while (a < 20) // 20 * 50 = 1 sec
@ -36,7 +36,7 @@ namespace ArdupilotMega
serialPort.DiscardInBuffer();
serialPort.Write(new byte[] { (byte)'0', (byte)' ' }, 0, 2);
a++;
System.Threading.Thread.Sleep(50);
Thread.Sleep(50);
//Console.WriteLine("btr {0}", serialPort.BytesToRead);
if (serialPort.BytesToRead >= 2)
@ -53,15 +53,15 @@ namespace ArdupilotMega
serialPort.Close();
Console.WriteLine("Not a 1280");
log.Warn("Not a 1280");
System.Threading.Thread.Sleep(500);
Thread.Sleep(500);
serialPort.DtrEnable = true;
serialPort.BaudRate = 115200;
serialPort.Open();
System.Threading.Thread.Sleep(100);
Thread.Sleep(100);
a = 0;
while (a < 4)
@ -69,7 +69,7 @@ namespace ArdupilotMega
byte[] temp = new byte[] { 0x6, 0, 0, 0, 0 };
temp = ArduinoDetect.genstkv2packet(serialPort, temp);
a++;
System.Threading.Thread.Sleep(50);
Thread.Sleep(50);
try
{
@ -81,11 +81,13 @@ namespace ArdupilotMega
}
}
catch { }
catch
{
}
}
serialPort.Close();
Console.WriteLine("Not a 2560");
log.Warn("Not a 2560");
return "";
}
@ -106,7 +108,7 @@ namespace ArdupilotMega
serialPort.BaudRate = 57600;
serialPort.Open();
System.Threading.Thread.Sleep(100);
Thread.Sleep(100);
int a = 0;
while (a < 20) // 20 * 50 = 1 sec
@ -115,7 +117,7 @@ namespace ArdupilotMega
serialPort.DiscardInBuffer();
serialPort.Write(new byte[] { (byte)'0', (byte)' ' }, 0, 2);
a++;
System.Threading.Thread.Sleep(50);
Thread.Sleep(50);
//Console.WriteLine("btr {0}", serialPort.BytesToRead);
if (serialPort.BytesToRead >= 2)
@ -132,15 +134,15 @@ namespace ArdupilotMega
serialPort.Close();
Console.WriteLine("Not a 1280");
log.Warn("Not a 1280");
System.Threading.Thread.Sleep(500);
Thread.Sleep(500);
serialPort.DtrEnable = true;
serialPort.BaudRate = 115200;
serialPort.Open();
System.Threading.Thread.Sleep(100);
Thread.Sleep(100);
a = 0;
while (a < 4)
@ -148,7 +150,7 @@ namespace ArdupilotMega
byte[] temp = new byte[] { 0x6, 0, 0, 0, 0 };
temp = ArduinoDetect.genstkv2packet(serialPort, temp);
a++;
System.Threading.Thread.Sleep(50);
Thread.Sleep(50);
try
{
@ -192,7 +194,7 @@ namespace ArdupilotMega
}
serialPort.Close();
Console.WriteLine("Not a 2560");
log.Warn("Not a 2560");
return "";
}
@ -281,11 +283,11 @@ namespace ArdupilotMega
key = buffer[pos];
pos++;
Console.Write("{0:X4}: key {1} size {2}\n ", pos - 2, key, size + 1);
log.InfoFormat("{0:X4}: key {1} size {2}\n ", pos - 2, key, size + 1);
if (key == 0xff)
{
Console.WriteLine("end sentinal at {0}", pos - 2);
log.InfoFormat("end sentinal at {0}", pos - 2);
break;
}
@ -301,7 +303,6 @@ namespace ArdupilotMega
Console.Write(" {0:X2}", buffer[pos]);
pos++;
}
Console.WriteLine();
}
}
@ -325,7 +326,7 @@ namespace ArdupilotMega
if (key == 0xff)
{
Console.WriteLine("end sentinal at {0}", pos - 2);
log.InfoFormat("end sentinal at {0}", pos - 2);
break;
}
@ -341,7 +342,6 @@ namespace ArdupilotMega
Console.Write(" {0:X2}", buffer[pos]);
pos++;
}
Console.WriteLine();
}
}
}

20
Tools/ArdupilotMegaPlanner/ArduinoSTK.cs
View File

@ -1,8 +1,10 @@
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Text;
using System.IO.Ports;
using System.Threading;
using log4net;
// Written by Michael Oborne
@ -10,6 +12,7 @@ namespace ArdupilotMega
{
class ArduinoSTK : SerialPort, ArduinoComms
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public event ProgressEventHandler Progress;
public new void Open()
@ -48,7 +51,7 @@ namespace ArdupilotMega
a++;
Thread.Sleep(50);
Console.WriteLine("btr {0}", this.BytesToRead);
log.InfoFormat("btr {0}", this.BytesToRead);
if (this.BytesToRead >= 2)
{
byte b1 = (byte)this.ReadByte();
@ -96,14 +99,14 @@ namespace ArdupilotMega
{
byte b1 = (byte)this.ReadByte();
byte b2 = (byte)this.ReadByte();
Console.WriteLine("bytes {0:X} {1:X}", b1, b2);
log.DebugFormat("bytes {0:X} {1:X}", b1, b2);
if (b1 == 0x14 && b2 == 0x10)
{
return true;
}
}
Console.WriteLine("btr {0}", this.BytesToRead);
log.DebugFormat("btr {0}", this.BytesToRead);
Thread.Sleep(10);
a++;
}
@ -210,7 +213,7 @@ namespace ArdupilotMega
byte[] command = new byte[] { (byte)'d', (byte)(sending >> 8), (byte)(sending & 0xff), (byte)'F' };
this.Write(command, 0, command.Length);
Console.WriteLine((startfrom + (length - totalleft)) + " - " + sending);
log.Info((startfrom + (length - totalleft)) + " - " + sending);
this.Write(data, startfrom + (length - totalleft), sending);
command = new byte[] { (byte)' ' };
this.Write(command, 0, command.Length);
@ -223,7 +226,7 @@ namespace ArdupilotMega
if (!sync())
{
Console.WriteLine("No Sync");
log.Info("No Sync");
return false;
}
}
@ -247,7 +250,7 @@ namespace ArdupilotMega
throw new Exception("Address must be an even number");
}
Console.WriteLine("Sending address " + ((ushort)(address / 2)));
log.Info("Sending address " + ((ushort)(address / 2)));
address /= 2;
address = (ushort)address;
@ -257,6 +260,7 @@ namespace ArdupilotMega
return sync();
}
/// <summary>
/// Upload data at preset address
/// </summary>
@ -294,7 +298,7 @@ namespace ArdupilotMega
byte[] command = new byte[] { (byte)'d', (byte)(sending >> 8), (byte)(sending & 0xff), (byte)'E' };
this.Write(command, 0, command.Length);
Console.WriteLine((startfrom + (length - totalleft)) + " - " + sending);
log.Info((startfrom + (length - totalleft)) + " - " + sending);
this.Write(data, startfrom + (length - totalleft), sending);
command = new byte[] { (byte)' ' };
this.Write(command, 0, command.Length);
@ -303,7 +307,7 @@ namespace ArdupilotMega
if (!sync())
{
Console.WriteLine("No Sync");
log.Info("No Sync");
return false;
}
}

13
Tools/ArdupilotMegaPlanner/ArduinoSTKv2.cs
View File

@ -1,8 +1,10 @@
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Text;
using System.IO.Ports;
using System.Threading;
using log4net;
// Written by Michael Oborne
@ -10,6 +12,7 @@ namespace ArdupilotMega
{
class ArduinoSTKv2 : SerialPort,ArduinoComms
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public event ProgressEventHandler Progress;
public new void Open()
@ -250,7 +253,7 @@ namespace ArdupilotMega
byte[] command = new byte[] { (byte)0x13, (byte)(sending >> 8), (byte)(sending & 0xff) };
Console.WriteLine((startfrom + (length - totalleft)) + " - " + sending);
log.InfoFormat((startfrom + (length - totalleft)) + " - " + sending);
Array.Resize<byte>(ref command, sending + 10); // sending + head
@ -266,7 +269,7 @@ namespace ArdupilotMega
if (command[1] != 0)
{
Console.WriteLine("No Sync");
log.InfoFormat("No Sync");
return false;
}
}
@ -290,7 +293,7 @@ namespace ArdupilotMega
throw new Exception("Address must be an even number");
}
Console.WriteLine("Sending address " + ((address / 2)));
log.InfoFormat("Sending address " + ((address / 2)));
int tempstart = address / 2; // words
byte[] temp = new byte[] { 0x6, (byte)((tempstart >> 24) & 0xff), (byte)((tempstart >> 16) & 0xff), (byte)((tempstart >> 8) & 0xff), (byte)((tempstart >> 0) & 0xff) };
@ -342,7 +345,7 @@ namespace ArdupilotMega
byte[] command = new byte[] { (byte)0x15, (byte)(sending >> 8), (byte)(sending & 0xff) };
Console.WriteLine((startfrom + (length - totalleft)) + " - " + sending);
log.InfoFormat((startfrom + (length - totalleft)) + " - " + sending);
Array.Resize<byte>(ref command, sending + 10); // sending + head
@ -358,7 +361,7 @@ namespace ArdupilotMega
if (command[1] != 0)
{
Console.WriteLine("No Sync");
log.InfoFormat("No Sync");
return false;
}
}

52
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
View File

@ -51,7 +51,7 @@
<CheckForOverflowUnderflow>false</CheckForOverflowUnderflow>
<NoStdLib>false</NoStdLib>
<UseVSHostingProcess>true</UseVSHostingProcess>
<FileAlignment>1024</FileAlignment>
<FileAlignment>512</FileAlignment>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|x86' ">
<PlatformTarget>x86</PlatformTarget>
@ -68,7 +68,7 @@
<DebugSymbols>true</DebugSymbols>
<NoStdLib>false</NoStdLib>
<UseVSHostingProcess>true</UseVSHostingProcess>
<FileAlignment>1024</FileAlignment>
<FileAlignment>512</FileAlignment>
</PropertyGroup>
<PropertyGroup>
<StartupObject>ArdupilotMega.Program</StartupObject>
@ -147,6 +147,10 @@
<Reference Include="KMLib">
<HintPath>..\..\..\..\..\Desktop\DIYDrones\kml-library\KmlTestbed\bin\Release\KMLib.dll</HintPath>
</Reference>
<Reference Include="log4net, Version=1.2.11.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>Lib\log4net.dll</HintPath>
</Reference>
<Reference Include="MetaDataExtractor">
<HintPath>..\..\..\..\..\Desktop\DIYDrones\myquad\MetaDataExtractorCSharp240d\bin\Release\MetaDataExtractor.dll</HintPath>
</Reference>
@ -225,6 +229,27 @@
</Reference>
</ItemGroup>
<ItemGroup>
<Compile Include="Antenna\ITrackerOutput.cs" />
<Compile Include="Antenna\Maestro.cs" />
<Compile Include="Antenna\Tracker.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Antenna\Tracker.Designer.cs">
<DependentUpon>Tracker.cs</DependentUpon>
</Compile>
<Compile Include="Controls\ProgressReporterDialogue.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Controls\ProgressReporterDialogue.designer.cs">
<DependentUpon>ProgressReporterDialogue.cs</DependentUpon>
</Compile>
<Compile Include="MagCalib.cs" />
<Compile Include="Radio\3DRradio.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Radio\3DRradio.Designer.cs">
<DependentUpon>3DRradio.cs</DependentUpon>
</Compile>
<Compile Include="Controls\AGauge.cs">
<SubType>UserControl</SubType>
</Compile>
@ -252,18 +277,13 @@
<Compile Include="Controls\myGMAP.cs">
<SubType>UserControl</SubType>
</Compile>
<Compile Include="Controls\ProgressReporter.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Controls\ProgressReporter.designer.cs">
<DependentUpon>ProgressReporter.cs</DependentUpon>
</Compile>
<Compile Include="Controls\XorPlus.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Controls\XorPlus.Designer.cs">
<DependentUpon>XorPlus.cs</DependentUpon>
</Compile>
<Compile Include="Radio\IHex.cs" />
<Compile Include="Mavlink\MavlinkCRC.cs" />
<Compile Include="Mavlink\MavlinkUtil.cs" />
<Compile Include="SerialInput.cs">
@ -423,6 +443,7 @@
<Compile Include="Setup\Setup.Designer.cs">
<DependentUpon>Setup.cs</DependentUpon>
</Compile>
<Compile Include="Speech.cs" />
<Compile Include="Splash.cs">
<SubType>Form</SubType>
</Compile>
@ -437,6 +458,17 @@
<Compile Include="temp.Designer.cs">
<DependentUpon>temp.cs</DependentUpon>
</Compile>
<Compile Include="Radio\Uploader.cs" />
<Compile Include="LangUtility.cs" />
<EmbeddedResource Include="Antenna\Tracker.resx">
<DependentUpon>Tracker.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Controls\ProgressReporterDialogue.resx">
<DependentUpon>ProgressReporterDialogue.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Radio\3DRradio.resx">
<DependentUpon>3DRradio.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Controls\AGauge.resx">
<DependentUpon>AGauge.cs</DependentUpon>
<SubType>Designer</SubType>
@ -447,9 +479,6 @@
<EmbeddedResource Include="Controls\ImageLabel.resx">
<DependentUpon>ImageLabel.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Controls\ProgressReporter.resx">
<DependentUpon>ProgressReporter.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Controls\XorPlus.resx">
<DependentUpon>XorPlus.cs</DependentUpon>
</EmbeddedResource>
@ -830,6 +859,7 @@
<Content Include="mavcmd.xml">
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
</Content>
<None Include="Resources\y6.png" />
<None Include="Resources\new frames-13.png" />
<None Include="Resources\new frames-12.png" />
<None Include="Resources\new frames-11.png" />

2
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj.user
View File

@ -11,6 +11,6 @@
<UpdateUrlHistory />
</PropertyGroup>
<PropertyGroup>
<ReferencePath>C:\Users\hog\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\;C:\Users\hog\Desktop\DIYDrones\myquad\sharpkml\SharpKml\bin\Release\;C:\Users\hog\Desktop\DIYDrones\myquad\MetaDataExtractorCSharp240d\bin\Release\</ReferencePath>
<ReferencePath>C:\Users\hog\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\;C:\Users\hog\Desktop\DIYDrones\myquad\sharpkml\SharpKml\bin\Release\;C:\Users\hog\Desktop\DIYDrones\myquad\MetaDataExtractorCSharp240d\bin\Release\;C:\Users\hog\Documents\Visual Studio 2010\Projects\ArdupilotMega\ArdupilotMega\Lib\</ReferencePath>
</PropertyGroup>
</Project>

14
Tools/ArdupilotMegaPlanner/ArdupilotMega.sln
View File

@ -5,8 +5,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ArdupilotMega", "ArdupilotM
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Updater", "Updater\Updater.csproj", "{E64A1A41-A5B0-458E-8284-BB63705354DA}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ArduinoCPP", "..\..\ArduinoCPP\ArduinoCPP.csproj", "{C38A02C5-3179-4047-8DC3-945341008A74}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
@ -43,18 +41,6 @@ Global
{E64A1A41-A5B0-458E-8284-BB63705354DA}.Release|Win32.ActiveCfg = Release|x86
{E64A1A41-A5B0-458E-8284-BB63705354DA}.Release|x86.ActiveCfg = Release|x86
{E64A1A41-A5B0-458E-8284-BB63705354DA}.Release|x86.Build.0 = Release|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Debug|Any CPU.ActiveCfg = Debug|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Debug|Mixed Platforms.ActiveCfg = Debug|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Debug|Mixed Platforms.Build.0 = Debug|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Debug|Win32.ActiveCfg = Debug|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Debug|x86.ActiveCfg = Debug|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Debug|x86.Build.0 = Debug|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Release|Any CPU.ActiveCfg = Release|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Release|Mixed Platforms.ActiveCfg = Release|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Release|Mixed Platforms.Build.0 = Release|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Release|Win32.ActiveCfg = Release|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Release|x86.ActiveCfg = Release|x86
{C38A02C5-3179-4047-8DC3-945341008A74}.Release|x86.Build.0 = Release|x86
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE

174
Tools/ArdupilotMegaPlanner/Camera.Designer.cs generated
View File

@ -28,6 +28,7 @@
/// </summary>
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Camera));
this.num_agl = new System.Windows.Forms.NumericUpDown();
this.label2 = new System.Windows.Forms.Label();
this.num_focallength = new System.Windows.Forms.NumericUpDown();
@ -74,15 +75,13 @@
0,
0,
0});
this.num_agl.Location = new System.Drawing.Point(12, 38);
resources.ApplyResources(this.num_agl, "num_agl");
this.num_agl.Maximum = new decimal(new int[] {
10000,
0,
0,
0});
this.num_agl.Name = "num_agl";
this.num_agl.Size = new System.Drawing.Size(64, 20);
this.num_agl.TabIndex = 1;
this.num_agl.Value = new decimal(new int[] {
200,
0,
@ -92,12 +91,8 @@
//
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(82, 40);
resources.ApplyResources(this.label2, "label2");
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(72, 13);
this.label2.TabIndex = 4;
this.label2.Text = "Height m (agl)";
//
// num_focallength
//
@ -107,7 +102,7 @@
0,
0,
65536});
this.num_focallength.Location = new System.Drawing.Point(12, 64);
resources.ApplyResources(this.num_focallength, "num_focallength");
this.num_focallength.Maximum = new decimal(new int[] {
180,
0,
@ -119,8 +114,6 @@
0,
0});
this.num_focallength.Name = "num_focallength";
this.num_focallength.Size = new System.Drawing.Size(64, 20);
this.num_focallength.TabIndex = 6;
this.num_focallength.Value = new decimal(new int[] {
5,
0,
@ -130,181 +123,113 @@
//
// TXT_fovH
//
this.TXT_fovH.Location = new System.Drawing.Point(361, 12);
resources.ApplyResources(this.TXT_fovH, "TXT_fovH");
this.TXT_fovH.Name = "TXT_fovH";
this.TXT_fovH.Size = new System.Drawing.Size(100, 20);
this.TXT_fovH.TabIndex = 10;
//
// TXT_fovV
//
this.TXT_fovV.Location = new System.Drawing.Point(361, 39);
resources.ApplyResources(this.TXT_fovV, "TXT_fovV");
this.TXT_fovV.Name = "TXT_fovV";
this.TXT_fovV.Size = new System.Drawing.Size(100, 20);
this.TXT_fovV.TabIndex = 11;
//
// TXT_fovAV
//
this.TXT_fovAV.Location = new System.Drawing.Point(361, 92);
resources.ApplyResources(this.TXT_fovAV, "TXT_fovAV");
this.TXT_fovAV.Name = "TXT_fovAV";
this.TXT_fovAV.Size = new System.Drawing.Size(100, 20);
this.TXT_fovAV.TabIndex = 14;
//
// TXT_fovAH
//
this.TXT_fovAH.Location = new System.Drawing.Point(361, 65);
resources.ApplyResources(this.TXT_fovAH, "TXT_fovAH");
this.TXT_fovAH.Name = "TXT_fovAH";
this.TXT_fovAH.Size = new System.Drawing.Size(100, 20);
this.TXT_fovAH.TabIndex = 13;
//
// TXT_cmpixel
//
this.TXT_cmpixel.Location = new System.Drawing.Point(361, 118);
resources.ApplyResources(this.TXT_cmpixel, "TXT_cmpixel");
this.TXT_cmpixel.Name = "TXT_cmpixel";
this.TXT_cmpixel.Size = new System.Drawing.Size(100, 20);
this.TXT_cmpixel.TabIndex = 16;
//
// TXT_imgwidth
//
this.TXT_imgwidth.Location = new System.Drawing.Point(12, 90);
resources.ApplyResources(this.TXT_imgwidth, "TXT_imgwidth");
this.TXT_imgwidth.Name = "TXT_imgwidth";
this.TXT_imgwidth.Size = new System.Drawing.Size(64, 20);
this.TXT_imgwidth.TabIndex = 17;
this.TXT_imgwidth.Text = "4608";
this.TXT_imgwidth.TextChanged += new System.EventHandler(this.TXT_imgwidth_TextChanged);
//
// TXT_imgheight
//
this.TXT_imgheight.Location = new System.Drawing.Point(12, 116);
resources.ApplyResources(this.TXT_imgheight, "TXT_imgheight");
this.TXT_imgheight.Name = "TXT_imgheight";
this.TXT_imgheight.Size = new System.Drawing.Size(64, 20);
this.TXT_imgheight.TabIndex = 18;
this.TXT_imgheight.Text = "3456";
this.TXT_imgheight.TextChanged += new System.EventHandler(this.TXT_imgheight_TextChanged);
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(82, 71);
resources.ApplyResources(this.label1, "label1");
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(69, 13);
this.label1.TabIndex = 19;
this.label1.Text = "Focal Length";
//
// label6
//
this.label6.AutoSize = true;
this.label6.Location = new System.Drawing.Point(298, 19);
resources.ApplyResources(this.label6, "label6");
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(56, 13);
this.label6.TabIndex = 21;
this.label6.Text = "FOV H (m)";
//
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(299, 72);
resources.ApplyResources(this.label7, "label7");
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(45, 13);
this.label7.TabIndex = 22;
this.label7.Text = "Angle H";
//
// label8
//
this.label8.AutoSize = true;
this.label8.Location = new System.Drawing.Point(300, 99);
resources.ApplyResources(this.label8, "label8");
this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(44, 13);
this.label8.TabIndex = 23;
this.label8.Text = "Angle V";
//
// label10
//
this.label10.AutoSize = true;
this.label10.Location = new System.Drawing.Point(299, 46);
resources.ApplyResources(this.label10, "label10");
this.label10.Name = "label10";
this.label10.Size = new System.Drawing.Size(55, 13);
this.label10.TabIndex = 25;
this.label10.Text = "FOV V (m)";
//
// label12
//
this.label12.AutoSize = true;
this.label12.Location = new System.Drawing.Point(299, 125);
resources.ApplyResources(this.label12, "label12");
this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(50, 13);
this.label12.TabIndex = 27;
this.label12.Text = "CM/Pixel";
//
// label13
//
this.label13.AutoSize = true;
this.label13.Location = new System.Drawing.Point(82, 93);
resources.ApplyResources(this.label13, "label13");
this.label13.Name = "label13";
this.label13.Size = new System.Drawing.Size(60, 13);
this.label13.TabIndex = 28;
this.label13.Text = "Pixel Width";
//
// label14
//
this.label14.AutoSize = true;
this.label14.Location = new System.Drawing.Point(82, 119);
resources.ApplyResources(this.label14, "label14");
this.label14.Name = "label14";
this.label14.Size = new System.Drawing.Size(63, 13);
this.label14.TabIndex = 29;
this.label14.Text = "Pixel Height";
//
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(82, 171);
resources.ApplyResources(this.label3, "label3");
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(74, 13);
this.label3.TabIndex = 33;
this.label3.Text = "Sensor Height";
//
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(82, 145);
resources.ApplyResources(this.label4, "label4");
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(71, 13);
this.label4.TabIndex = 32;
this.label4.Text = "Sensor Width";
//
// TXT_sensheight
//
this.TXT_sensheight.Location = new System.Drawing.Point(12, 168);
resources.ApplyResources(this.TXT_sensheight, "TXT_sensheight");
this.TXT_sensheight.Name = "TXT_sensheight";
this.TXT_sensheight.Size = new System.Drawing.Size(64, 20);
this.TXT_sensheight.TabIndex = 31;
this.TXT_sensheight.Text = "4.62";
this.TXT_sensheight.TextChanged += new System.EventHandler(this.TXT_sensheight_TextChanged);
//
// TXT_senswidth
//
this.TXT_senswidth.Location = new System.Drawing.Point(12, 142);
resources.ApplyResources(this.TXT_senswidth, "TXT_senswidth");
this.TXT_senswidth.Name = "TXT_senswidth";
this.TXT_senswidth.Size = new System.Drawing.Size(64, 20);
this.TXT_senswidth.TabIndex = 30;
this.TXT_senswidth.Text = "6.16";
this.TXT_senswidth.TextChanged += new System.EventHandler(this.TXT_senswidth_TextChanged);
//
// label5
//
this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(82, 201);
resources.ApplyResources(this.label5, "label5");
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(44, 13);
this.label5.TabIndex = 35;
this.label5.Text = "Overlap";
//
// num_overlap
//
this.num_overlap.DecimalPlaces = 1;
this.num_overlap.Location = new System.Drawing.Point(12, 194);
resources.ApplyResources(this.num_overlap, "num_overlap");
this.num_overlap.Name = "num_overlap";
this.num_overlap.Size = new System.Drawing.Size(64, 20);
this.num_overlap.TabIndex = 34;
this.num_overlap.Value = new decimal(new int[] {
60,
0,
@ -314,20 +239,14 @@
//
// label15
//
this.label15.AutoSize = true;
this.label15.Location = new System.Drawing.Point(82, 227);
resources.ApplyResources(this.label15, "label15");
this.label15.Name = "label15";
this.label15.Size = new System.Drawing.Size(42, 13);
this.label15.TabIndex = 37;
this.label15.Text = "Sidelap";
//
// num_sidelap
//
this.num_sidelap.DecimalPlaces = 1;
this.num_sidelap.Location = new System.Drawing.Point(12, 220);
resources.ApplyResources(this.num_sidelap, "num_sidelap");
this.num_sidelap.Name = "num_sidelap";
this.num_sidelap.Size = new System.Drawing.Size(64, 20);
this.num_sidelap.TabIndex = 36;
this.num_sidelap.Value = new decimal(new int[] {
30,
0,
@ -337,73 +256,51 @@
//
// CHK_camdirection
//
this.CHK_camdirection.AutoSize = true;
resources.ApplyResources(this.CHK_camdirection, "CHK_camdirection");
this.CHK_camdirection.Checked = true;
this.CHK_camdirection.CheckState = System.Windows.Forms.CheckState.Checked;
this.CHK_camdirection.Location = new System.Drawing.Point(13, 247);
this.CHK_camdirection.Name = "CHK_camdirection";
this.CHK_camdirection.Size = new System.Drawing.Size(150, 17);
this.CHK_camdirection.TabIndex = 38;
this.CHK_camdirection.Text = "Camera top facing forward";
this.CHK_camdirection.UseVisualStyleBackColor = true;
this.CHK_camdirection.CheckedChanged += new System.EventHandler(this.CHK_camdirection_CheckedChanged);
//
// label9
//
this.label9.AutoSize = true;
this.label9.Location = new System.Drawing.Point(261, 198);
resources.ApplyResources(this.label9, "label9");
this.label9.Name = "label9";
this.label9.Size = new System.Drawing.Size(86, 13);
this.label9.TabIndex = 42;
this.label9.Text = "Across Flight line";
//
// label11
//
this.label11.AutoSize = true;
this.label11.Location = new System.Drawing.Point(261, 171);
resources.ApplyResources(this.label11, "label11");
this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(94, 13);
this.label11.TabIndex = 41;
this.label11.Text = "Flight line distance";
//
// TXT_distacflphotos
//
this.TXT_distacflphotos.Location = new System.Drawing.Point(361, 195);
resources.ApplyResources(this.TXT_distacflphotos, "TXT_distacflphotos");
this.TXT_distacflphotos.Name = "TXT_distacflphotos";
this.TXT_distacflphotos.Size = new System.Drawing.Size(100, 20);
this.TXT_distacflphotos.TabIndex = 40;
//
// TXT_distflphotos
//
this.TXT_distflphotos.Location = new System.Drawing.Point(361, 168);
resources.ApplyResources(this.TXT_distflphotos, "TXT_distflphotos");
this.TXT_distflphotos.Name = "TXT_distflphotos";
this.TXT_distflphotos.Size = new System.Drawing.Size(100, 20);
this.TXT_distflphotos.TabIndex = 39;
//
// CMB_camera
//
this.CMB_camera.FormattingEnabled = true;
this.CMB_camera.Location = new System.Drawing.Point(13, 13);
resources.ApplyResources(this.CMB_camera, "CMB_camera");
this.CMB_camera.Name = "CMB_camera";
this.CMB_camera.Size = new System.Drawing.Size(143, 21);
this.CMB_camera.TabIndex = 43;
this.CMB_camera.SelectedIndexChanged += new System.EventHandler(this.CMB_camera_SelectedIndexChanged);
//
// BUT_save
//
this.BUT_save.Location = new System.Drawing.Point(163, 10);
resources.ApplyResources(this.BUT_save, "BUT_save");
this.BUT_save.Name = "BUT_save";
this.BUT_save.Size = new System.Drawing.Size(75, 23);
this.BUT_save.TabIndex = 44;
this.BUT_save.Text = "Save";
this.BUT_save.UseVisualStyleBackColor = true;
this.BUT_save.Click += new System.EventHandler(this.BUT_save_Click);
//
// Camera
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
resources.ApplyResources(this, "$this");
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(473, 275);
this.Controls.Add(this.BUT_save);
this.Controls.Add(this.CMB_camera);
this.Controls.Add(this.label9);
@ -438,7 +335,6 @@
this.Controls.Add(this.label2);
this.Controls.Add(this.num_agl);
this.Name = "Camera";
this.Text = "Camera";
this.Load += new System.EventHandler(this.Camera_Load);
((System.ComponentModel.ISupportInitialize)(this.num_agl)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.num_focallength)).EndInit();

824
Tools/ArdupilotMegaPlanner/Camera.resx
View File

@ -117,4 +117,828 @@
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="num_agl.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 38</value>
</data>
<data name="num_agl.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<assembly alias="mscorlib" name="mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="num_agl.TabIndex" type="System.Int32, mscorlib">
<value>1</value>
</data>
<data name="&gt;&gt;num_agl.Name" xml:space="preserve">
<value>num_agl</value>
</data>
<data name="&gt;&gt;num_agl.Type" xml:space="preserve">
<value>System.Windows.Forms.NumericUpDown, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;num_agl.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;num_agl.ZOrder" xml:space="preserve">
<value>32</value>
</data>
<data name="label2.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label2.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 40</value>
</data>
<data name="label2.Size" type="System.Drawing.Size, System.Drawing">
<value>72, 13</value>
</data>
<data name="label2.TabIndex" type="System.Int32, mscorlib">
<value>4</value>
</data>
<data name="label2.Text" xml:space="preserve">
<value>Height m (agl)</value>
</data>
<data name="&gt;&gt;label2.Name" xml:space="preserve">
<value>label2</value>
</data>
<data name="&gt;&gt;label2.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label2.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label2.ZOrder" xml:space="preserve">
<value>31</value>
</data>
<data name="num_focallength.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 64</value>
</data>
<data name="num_focallength.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="num_focallength.TabIndex" type="System.Int32, mscorlib">
<value>6</value>
</data>
<data name="&gt;&gt;num_focallength.Name" xml:space="preserve">
<value>num_focallength</value>
</data>
<data name="&gt;&gt;num_focallength.Type" xml:space="preserve">
<value>System.Windows.Forms.NumericUpDown, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;num_focallength.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;num_focallength.ZOrder" xml:space="preserve">
<value>30</value>
</data>
<data name="TXT_fovH.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 12</value>
</data>
<data name="TXT_fovH.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_fovH.TabIndex" type="System.Int32, mscorlib">
<value>10</value>
</data>
<data name="&gt;&gt;TXT_fovH.Name" xml:space="preserve">
<value>TXT_fovH</value>
</data>
<data name="&gt;&gt;TXT_fovH.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_fovH.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_fovH.ZOrder" xml:space="preserve">
<value>29</value>
</data>
<data name="TXT_fovV.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 39</value>
</data>
<data name="TXT_fovV.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_fovV.TabIndex" type="System.Int32, mscorlib">
<value>11</value>
</data>
<data name="&gt;&gt;TXT_fovV.Name" xml:space="preserve">
<value>TXT_fovV</value>
</data>
<data name="&gt;&gt;TXT_fovV.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_fovV.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_fovV.ZOrder" xml:space="preserve">
<value>28</value>
</data>
<data name="TXT_fovAV.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 92</value>
</data>
<data name="TXT_fovAV.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_fovAV.TabIndex" type="System.Int32, mscorlib">
<value>14</value>
</data>
<data name="&gt;&gt;TXT_fovAV.Name" xml:space="preserve">
<value>TXT_fovAV</value>
</data>
<data name="&gt;&gt;TXT_fovAV.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_fovAV.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_fovAV.ZOrder" xml:space="preserve">
<value>26</value>
</data>
<data name="TXT_fovAH.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 65</value>
</data>
<data name="TXT_fovAH.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_fovAH.TabIndex" type="System.Int32, mscorlib">
<value>13</value>
</data>
<data name="&gt;&gt;TXT_fovAH.Name" xml:space="preserve">
<value>TXT_fovAH</value>
</data>
<data name="&gt;&gt;TXT_fovAH.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_fovAH.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_fovAH.ZOrder" xml:space="preserve">
<value>27</value>
</data>
<data name="TXT_cmpixel.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 118</value>
</data>
<data name="TXT_cmpixel.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_cmpixel.TabIndex" type="System.Int32, mscorlib">
<value>16</value>
</data>
<data name="&gt;&gt;TXT_cmpixel.Name" xml:space="preserve">
<value>TXT_cmpixel</value>
</data>
<data name="&gt;&gt;TXT_cmpixel.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_cmpixel.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_cmpixel.ZOrder" xml:space="preserve">
<value>25</value>
</data>
<data name="TXT_imgwidth.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 90</value>
</data>
<data name="TXT_imgwidth.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="TXT_imgwidth.TabIndex" type="System.Int32, mscorlib">
<value>17</value>
</data>
<data name="TXT_imgwidth.Text" xml:space="preserve">
<value>4608</value>
</data>
<data name="&gt;&gt;TXT_imgwidth.Name" xml:space="preserve">
<value>TXT_imgwidth</value>
</data>
<data name="&gt;&gt;TXT_imgwidth.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_imgwidth.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_imgwidth.ZOrder" xml:space="preserve">
<value>24</value>
</data>
<data name="TXT_imgheight.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 116</value>
</data>
<data name="TXT_imgheight.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="TXT_imgheight.TabIndex" type="System.Int32, mscorlib">
<value>18</value>
</data>
<data name="TXT_imgheight.Text" xml:space="preserve">
<value>3456</value>
</data>
<data name="&gt;&gt;TXT_imgheight.Name" xml:space="preserve">
<value>TXT_imgheight</value>
</data>
<data name="&gt;&gt;TXT_imgheight.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_imgheight.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_imgheight.ZOrder" xml:space="preserve">
<value>23</value>
</data>
<data name="label1.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label1.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 71</value>
</data>
<data name="label1.Size" type="System.Drawing.Size, System.Drawing">
<value>69, 13</value>
</data>
<data name="label1.TabIndex" type="System.Int32, mscorlib">
<value>19</value>
</data>
<data name="label1.Text" xml:space="preserve">
<value>Focal Length</value>
</data>
<data name="&gt;&gt;label1.Name" xml:space="preserve">
<value>label1</value>
</data>
<data name="&gt;&gt;label1.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label1.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label1.ZOrder" xml:space="preserve">
<value>22</value>
</data>
<data name="label6.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label6.Location" type="System.Drawing.Point, System.Drawing">
<value>298, 19</value>
</data>
<data name="label6.Size" type="System.Drawing.Size, System.Drawing">
<value>56, 13</value>
</data>
<data name="label6.TabIndex" type="System.Int32, mscorlib">
<value>21</value>
</data>
<data name="label6.Text" xml:space="preserve">
<value>FOV H (m)</value>
</data>
<data name="&gt;&gt;label6.Name" xml:space="preserve">
<value>label6</value>
</data>
<data name="&gt;&gt;label6.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label6.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label6.ZOrder" xml:space="preserve">
<value>21</value>
</data>
<data name="label7.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label7.Location" type="System.Drawing.Point, System.Drawing">
<value>299, 72</value>
</data>
<data name="label7.Size" type="System.Drawing.Size, System.Drawing">
<value>45, 13</value>
</data>
<data name="label7.TabIndex" type="System.Int32, mscorlib">
<value>22</value>
</data>
<data name="label7.Text" xml:space="preserve">
<value>Angle H</value>
</data>
<data name="&gt;&gt;label7.Name" xml:space="preserve">
<value>label7</value>
</data>
<data name="&gt;&gt;label7.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label7.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label7.ZOrder" xml:space="preserve">
<value>20</value>
</data>
<data name="label8.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label8.Location" type="System.Drawing.Point, System.Drawing">
<value>300, 99</value>
</data>
<data name="label8.Size" type="System.Drawing.Size, System.Drawing">
<value>44, 13</value>
</data>
<data name="label8.TabIndex" type="System.Int32, mscorlib">
<value>23</value>
</data>
<data name="label8.Text" xml:space="preserve">
<value>Angle V</value>
</data>
<data name="&gt;&gt;label8.Name" xml:space="preserve">
<value>label8</value>
</data>
<data name="&gt;&gt;label8.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label8.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label8.ZOrder" xml:space="preserve">
<value>19</value>
</data>
<data name="label10.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label10.Location" type="System.Drawing.Point, System.Drawing">
<value>299, 46</value>
</data>
<data name="label10.Size" type="System.Drawing.Size, System.Drawing">
<value>55, 13</value>
</data>
<data name="label10.TabIndex" type="System.Int32, mscorlib">
<value>25</value>
</data>
<data name="label10.Text" xml:space="preserve">
<value>FOV V (m)</value>
</data>
<data name="&gt;&gt;label10.Name" xml:space="preserve">
<value>label10</value>
</data>
<data name="&gt;&gt;label10.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label10.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label10.ZOrder" xml:space="preserve">
<value>18</value>
</data>
<data name="label12.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label12.Location" type="System.Drawing.Point, System.Drawing">
<value>299, 125</value>
</data>
<data name="label12.Size" type="System.Drawing.Size, System.Drawing">
<value>50, 13</value>
</data>
<data name="label12.TabIndex" type="System.Int32, mscorlib">
<value>27</value>
</data>
<data name="label12.Text" xml:space="preserve">
<value>CM/Pixel</value>
</data>
<data name="&gt;&gt;label12.Name" xml:space="preserve">
<value>label12</value>
</data>
<data name="&gt;&gt;label12.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label12.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label12.ZOrder" xml:space="preserve">
<value>17</value>
</data>
<data name="label13.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label13.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 93</value>
</data>
<data name="label13.Size" type="System.Drawing.Size, System.Drawing">
<value>60, 13</value>
</data>
<data name="label13.TabIndex" type="System.Int32, mscorlib">
<value>28</value>
</data>
<data name="label13.Text" xml:space="preserve">
<value>Pixel Width</value>
</data>
<data name="&gt;&gt;label13.Name" xml:space="preserve">
<value>label13</value>
</data>
<data name="&gt;&gt;label13.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label13.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label13.ZOrder" xml:space="preserve">
<value>16</value>
</data>
<data name="label14.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label14.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 119</value>
</data>
<data name="label14.Size" type="System.Drawing.Size, System.Drawing">
<value>63, 13</value>
</data>
<data name="label14.TabIndex" type="System.Int32, mscorlib">
<value>29</value>
</data>
<data name="label14.Text" xml:space="preserve">
<value>Pixel Height</value>
</data>
<data name="&gt;&gt;label14.Name" xml:space="preserve">
<value>label14</value>
</data>
<data name="&gt;&gt;label14.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label14.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label14.ZOrder" xml:space="preserve">
<value>15</value>
</data>
<data name="label3.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label3.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 171</value>
</data>
<data name="label3.Size" type="System.Drawing.Size, System.Drawing">
<value>74, 13</value>
</data>
<data name="label3.TabIndex" type="System.Int32, mscorlib">
<value>33</value>
</data>
<data name="label3.Text" xml:space="preserve">
<value>Sensor Height</value>
</data>
<data name="&gt;&gt;label3.Name" xml:space="preserve">
<value>label3</value>
</data>
<data name="&gt;&gt;label3.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label3.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label3.ZOrder" xml:space="preserve">
<value>11</value>
</data>
<data name="label4.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label4.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 145</value>
</data>
<data name="label4.Size" type="System.Drawing.Size, System.Drawing">
<value>71, 13</value>
</data>
<data name="label4.TabIndex" type="System.Int32, mscorlib">
<value>32</value>
</data>
<data name="label4.Text" xml:space="preserve">
<value>Sensor Width</value>
</data>
<data name="&gt;&gt;label4.Name" xml:space="preserve">
<value>label4</value>
</data>
<data name="&gt;&gt;label4.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label4.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label4.ZOrder" xml:space="preserve">
<value>12</value>
</data>
<data name="TXT_sensheight.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 168</value>
</data>
<data name="TXT_sensheight.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="TXT_sensheight.TabIndex" type="System.Int32, mscorlib">
<value>31</value>
</data>
<data name="TXT_sensheight.Text" xml:space="preserve">
<value>4.62</value>
</data>
<data name="&gt;&gt;TXT_sensheight.Name" xml:space="preserve">
<value>TXT_sensheight</value>
</data>
<data name="&gt;&gt;TXT_sensheight.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_sensheight.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_sensheight.ZOrder" xml:space="preserve">
<value>13</value>
</data>
<data name="TXT_senswidth.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 142</value>
</data>
<data name="TXT_senswidth.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="TXT_senswidth.TabIndex" type="System.Int32, mscorlib">
<value>30</value>
</data>
<data name="TXT_senswidth.Text" xml:space="preserve">
<value>6.16</value>
</data>
<data name="&gt;&gt;TXT_senswidth.Name" xml:space="preserve">
<value>TXT_senswidth</value>
</data>
<data name="&gt;&gt;TXT_senswidth.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_senswidth.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_senswidth.ZOrder" xml:space="preserve">
<value>14</value>
</data>
<data name="label5.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label5.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 201</value>
</data>
<data name="label5.Size" type="System.Drawing.Size, System.Drawing">
<value>44, 13</value>
</data>
<data name="label5.TabIndex" type="System.Int32, mscorlib">
<value>35</value>
</data>
<data name="label5.Text" xml:space="preserve">
<value>Overlap</value>
</data>
<data name="&gt;&gt;label5.Name" xml:space="preserve">
<value>label5</value>
</data>
<data name="&gt;&gt;label5.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label5.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label5.ZOrder" xml:space="preserve">
<value>9</value>
</data>
<data name="num_overlap.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 194</value>
</data>
<data name="num_overlap.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="num_overlap.TabIndex" type="System.Int32, mscorlib">
<value>34</value>
</data>
<data name="&gt;&gt;num_overlap.Name" xml:space="preserve">
<value>num_overlap</value>
</data>
<data name="&gt;&gt;num_overlap.Type" xml:space="preserve">
<value>System.Windows.Forms.NumericUpDown, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;num_overlap.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;num_overlap.ZOrder" xml:space="preserve">
<value>10</value>
</data>
<data name="label15.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label15.Location" type="System.Drawing.Point, System.Drawing">
<value>82, 227</value>
</data>
<data name="label15.Size" type="System.Drawing.Size, System.Drawing">
<value>42, 13</value>
</data>
<data name="label15.TabIndex" type="System.Int32, mscorlib">
<value>37</value>
</data>
<data name="label15.Text" xml:space="preserve">
<value>Sidelap</value>
</data>
<data name="&gt;&gt;label15.Name" xml:space="preserve">
<value>label15</value>
</data>
<data name="&gt;&gt;label15.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label15.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label15.ZOrder" xml:space="preserve">
<value>7</value>
</data>
<data name="num_sidelap.Location" type="System.Drawing.Point, System.Drawing">
<value>12, 220</value>
</data>
<data name="num_sidelap.Size" type="System.Drawing.Size, System.Drawing">
<value>64, 20</value>
</data>
<data name="num_sidelap.TabIndex" type="System.Int32, mscorlib">
<value>36</value>
</data>
<data name="&gt;&gt;num_sidelap.Name" xml:space="preserve">
<value>num_sidelap</value>
</data>
<data name="&gt;&gt;num_sidelap.Type" xml:space="preserve">
<value>System.Windows.Forms.NumericUpDown, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;num_sidelap.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;num_sidelap.ZOrder" xml:space="preserve">
<value>8</value>
</data>
<data name="CHK_camdirection.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="CHK_camdirection.Location" type="System.Drawing.Point, System.Drawing">
<value>13, 247</value>
</data>
<data name="CHK_camdirection.Size" type="System.Drawing.Size, System.Drawing">
<value>150, 17</value>
</data>
<data name="CHK_camdirection.TabIndex" type="System.Int32, mscorlib">
<value>38</value>
</data>
<data name="CHK_camdirection.Text" xml:space="preserve">
<value>Camera top facing forward</value>
</data>
<data name="&gt;&gt;CHK_camdirection.Name" xml:space="preserve">
<value>CHK_camdirection</value>
</data>
<data name="&gt;&gt;CHK_camdirection.Type" xml:space="preserve">
<value>System.Windows.Forms.CheckBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;CHK_camdirection.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;CHK_camdirection.ZOrder" xml:space="preserve">
<value>6</value>
</data>
<data name="label9.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label9.Location" type="System.Drawing.Point, System.Drawing">
<value>261, 198</value>
</data>
<data name="label9.Size" type="System.Drawing.Size, System.Drawing">
<value>86, 13</value>
</data>
<data name="label9.TabIndex" type="System.Int32, mscorlib">
<value>42</value>
</data>
<data name="label9.Text" xml:space="preserve">
<value>Across Flight line</value>
</data>
<data name="&gt;&gt;label9.Name" xml:space="preserve">
<value>label9</value>
</data>
<data name="&gt;&gt;label9.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label9.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label9.ZOrder" xml:space="preserve">
<value>2</value>
</data>
<data name="label11.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="label11.Location" type="System.Drawing.Point, System.Drawing">
<value>261, 171</value>
</data>
<data name="label11.Size" type="System.Drawing.Size, System.Drawing">
<value>94, 13</value>
</data>
<data name="label11.TabIndex" type="System.Int32, mscorlib">
<value>41</value>
</data>
<data name="label11.Text" xml:space="preserve">
<value>Flight line distance</value>
</data>
<data name="&gt;&gt;label11.Name" xml:space="preserve">
<value>label11</value>
</data>
<data name="&gt;&gt;label11.Type" xml:space="preserve">
<value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label11.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;label11.ZOrder" xml:space="preserve">
<value>3</value>
</data>
<data name="TXT_distacflphotos.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 195</value>
</data>
<data name="TXT_distacflphotos.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_distacflphotos.TabIndex" type="System.Int32, mscorlib">
<value>40</value>
</data>
<data name="&gt;&gt;TXT_distacflphotos.Name" xml:space="preserve">
<value>TXT_distacflphotos</value>
</data>
<data name="&gt;&gt;TXT_distacflphotos.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_distacflphotos.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_distacflphotos.ZOrder" xml:space="preserve">
<value>4</value>
</data>
<data name="TXT_distflphotos.Location" type="System.Drawing.Point, System.Drawing">
<value>361, 168</value>
</data>
<data name="TXT_distflphotos.Size" type="System.Drawing.Size, System.Drawing">
<value>100, 20</value>
</data>
<data name="TXT_distflphotos.TabIndex" type="System.Int32, mscorlib">
<value>39</value>
</data>
<data name="&gt;&gt;TXT_distflphotos.Name" xml:space="preserve">
<value>TXT_distflphotos</value>
</data>
<data name="&gt;&gt;TXT_distflphotos.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_distflphotos.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;TXT_distflphotos.ZOrder" xml:space="preserve">
<value>5</value>
</data>
<data name="CMB_camera.Location" type="System.Drawing.Point, System.Drawing">
<value>13, 13</value>
</data>
<data name="CMB_camera.Size" type="System.Drawing.Size, System.Drawing">
<value>143, 21</value>
</data>
<data name="CMB_camera.TabIndex" type="System.Int32, mscorlib">
<value>43</value>
</data>
<data name="&gt;&gt;CMB_camera.Name" xml:space="preserve">
<value>CMB_camera</value>
</data>
<data name="&gt;&gt;CMB_camera.Type" xml:space="preserve">
<value>System.Windows.Forms.ComboBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;CMB_camera.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;CMB_camera.ZOrder" xml:space="preserve">
<value>1</value>
</data>
<data name="BUT_save.Location" type="System.Drawing.Point, System.Drawing">
<value>163, 10</value>
</data>
<data name="BUT_save.Size" type="System.Drawing.Size, System.Drawing">
<value>75, 23</value>
</data>
<data name="BUT_save.TabIndex" type="System.Int32, mscorlib">
<value>44</value>
</data>
<data name="BUT_save.Text" xml:space="preserve">
<value>Save</value>
</data>
<data name="&gt;&gt;BUT_save.Name" xml:space="preserve">
<value>BUT_save</value>
</data>
<data name="&gt;&gt;BUT_save.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_save.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;BUT_save.ZOrder" xml:space="preserve">
<value>0</value>
</data>
<metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<data name="$this.AutoScaleDimensions" type="System.Drawing.SizeF, System.Drawing">
<value>6, 13</value>
</data>
<data name="$this.ClientSize" type="System.Drawing.Size, System.Drawing">
<value>473, 275</value>
</data>
<data name="$this.Text" xml:space="preserve">
<value>Camera</value>
</data>
<data name="&gt;&gt;$this.Name" xml:space="preserve">
<value>Camera</value>
</data>
<data name="&gt;&gt;$this.Type" xml:space="preserve">
<value>System.Windows.Forms.Form, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
</root>

137
Tools/ArdupilotMegaPlanner/Common.cs
View File

@ -12,10 +12,13 @@ using GMap.NET;
using GMap.NET.WindowsForms;
using GMap.NET.WindowsForms.Markers;
using System.Security.Cryptography.X509Certificates;
using System.Net;
using System.Net.Sockets;
using System.Xml; // config file
using System.Runtime.InteropServices; // dll imports
using log4net;
using ZedGraph; // Graphs
using ArdupilotMega;
using System.Reflection;
@ -118,13 +121,19 @@ namespace ArdupilotMega
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);
// anti NaN
try
{
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);
}
catch { }
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);
// anti NaN
try {
g.RotateTransform(heading);
} catch{}
g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.planeicon, global::ArdupilotMega.Properties.Resources.planeicon.Width / -2, global::ArdupilotMega.Properties.Resources.planeicon.Height / -2);
g.Transform = temp;
@ -157,14 +166,21 @@ namespace ArdupilotMega
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);
// anti NaN
try
{
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);
}
catch { }
//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);
// anti NaN
try
{
g.RotateTransform(heading);
}
catch { }
g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.quadicon, global::ArdupilotMega.Properties.Resources.quadicon.Width / -2 + 2, global::ArdupilotMega.Properties.Resources.quadicon.Height / -2);
g.Transform = temp;
@ -198,6 +214,13 @@ namespace ArdupilotMega
this.Lng = pll.Lng;
}
public PointLatLngAlt(Locationwp locwp)
{
this.Lat = locwp.lat;
this.Lng = locwp.lng;
this.Alt = locwp.alt;
}
public PointLatLngAlt(PointLatLngAlt plla)
{
this.Lat = plla.Lat;
@ -254,8 +277,18 @@ namespace ArdupilotMega
}
}
class NoCheckCertificatePolicy : ICertificatePolicy
{
public bool CheckValidationResult(ServicePoint srvPoint, X509Certificate certificate, WebRequest request, int certificateProblem)
{
return true;
}
}
public class Common
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public enum distances
{
Meters,
@ -299,6 +332,59 @@ namespace ArdupilotMega
OF_LOITER = 10
}
public enum ac2ch7modes
{
CH7_DO_NOTHING = 0,
CH7_SET_HOVER = 1,
CH7_FLIP = 2,
CH7_SIMPLE_MODE = 3,
CH7_RTL = 4,
CH7_AUTO_TRIM = 5,
CH7_ADC_FILTER = 6,
CH7_SAVE_WP = 7
}
public enum ac2ch6modes
{
// CH_6 Tuning
// -----------
CH6_NONE = 0,
// Attitude
CH6_STABILIZE_KP = 1,
CH6_STABILIZE_KI = 2,
CH6_YAW_KP = 3,
// Rate
CH6_RATE_KP = 4,
CH6_RATE_KI = 5,
CH6_RATE_KD = 21,
CH6_YAW_RATE_KP = 6,
// Altitude rate controller
CH6_THROTTLE_KP = 7,
// Extras
CH6_TOP_BOTTOM_RATIO = 8,
CH6_RELAY = 9,
CH6_TRAVERSE_SPEED = 10,
CH6_NAV_P = 11,
CH6_LOITER_P = 12,
CH6_HELI_EXTERNAL_GYRO = 13,
// altitude controller
CH6_THR_HOLD_KP = 14,
CH6_Z_GAIN = 15,
CH6_DAMP = 16,
// optical flow controller
CH6_OPTFLOW_KP = 17,
CH6_OPTFLOW_KI = 18,
CH6_OPTFLOW_KD = 19,
CH6_NAV_I = 20,
CH6_LOITER_RATE_P = 22
}
public static void linearRegression()
{
double[] values = { 4.8, 4.8, 4.5, 3.9, 4.4, 3.6, 3.6, 2.9, 3.5, 3.0, 2.5, 2.2, 2.6, 2.1, 2.2 };
@ -328,9 +414,9 @@ namespace ArdupilotMega
double a = v1 / v2;
double b = yAvg - a * xAvg;
Console.WriteLine("y = ax + b");
Console.WriteLine("a = {0}, the slope of the trend line.", Math.Round(a, 2));
Console.WriteLine("b = {0}, the intercept of the trend line.", Math.Round(b, 2));
log.Debug("y = ax + b");
log.DebugFormat("a = {0}, the slope of the trend line.", Math.Round(a, 2));
log.DebugFormat("b = {0}, the intercept of the trend line.", Math.Round(b, 2));
//Console.ReadLine();
}
@ -477,10 +563,15 @@ namespace ArdupilotMega
return true;
}
#endif
public static bool getFilefromNet(string url,string saveto) {
try
{
// this is for mono to a ssl server
ServicePointManager.CertificatePolicy = new NoCheckCertificatePolicy();
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(url);
request.Timeout = 5000;
@ -489,8 +580,8 @@ namespace ArdupilotMega
// Get the response.
WebResponse response = request.GetResponse();
// Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription);
if (((HttpWebResponse)response).StatusDescription != "200")
log.Info(((HttpWebResponse)response).StatusDescription);
if (((HttpWebResponse)response).StatusCode != HttpStatusCode.OK)
return false;
// Get the stream containing content returned by the server.
Stream dataStream = response.GetResponseStream();
@ -500,14 +591,14 @@ namespace ArdupilotMega
byte[] buf1 = new byte[1024];
FileStream fs = new FileStream(saveto+".new", FileMode.Create);
FileStream fs = new FileStream(saveto + ".new", FileMode.Create);
DateTime dt = DateTime.Now;
while (dataStream.CanRead && bytes > 0)
{
Application.DoEvents();
Console.WriteLine(saveto + " " + bytes);
log.Info(saveto + " " + bytes);
int len = dataStream.Read(buf1, 0, buf1.Length);
bytes -= len;
fs.Write(buf1, 0, len);
@ -522,7 +613,7 @@ namespace ArdupilotMega
return true;
}
catch { return false; }
catch (Exception ex) { log.Info("getFilefromNet(): " + ex.ToString()); return false; }
}
public static Type getModes()
@ -617,7 +708,11 @@ namespace ArdupilotMega
MainV2.fixtheme(form);
return form.ShowDialog();
DialogResult dialogResult =form.ShowDialog();
form.Dispose();
return dialogResult;
}
static void chk_CheckStateChanged(object sender, EventArgs e)
@ -667,11 +762,17 @@ namespace ArdupilotMega
MainV2.fixtheme(form);
DialogResult dialogResult = form.ShowDialog();
DialogResult dialogResult = DialogResult.Cancel;
dialogResult = form.ShowDialog();
if (dialogResult == DialogResult.OK)
{
value = textBox.Text;
}
form.Dispose();
return dialogResult;
}

6
Tools/ArdupilotMegaPlanner/CommsSerialPort.cs
View File

@ -8,7 +8,13 @@ namespace ArdupilotMega
{
class SerialPort : System.IO.Ports.SerialPort,ICommsSerial
{
public new void Open()
{
if (base.IsOpen)
return;
base.Open();
}
public void toggleDTR()
{

17
Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs
View File

@ -1,16 +1,19 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Reflection;
using System.Text;
using System.IO.Ports;
using System.Threading;
using System.Net; // dns, ip address
using System.Net.Sockets; // tcplistner
using log4net;
namespace System.IO.Ports
{
public class TcpSerial : ArdupilotMega.ICommsSerial
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
TcpClient client = new TcpClient();
IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
byte[] rbuffer = new byte[0];
@ -73,12 +76,19 @@ namespace System.IO.Ports
{
if (client.Client.Connected)
{
Console.WriteLine("tcpserial socket already open");
log.Warn("tcpserial socket already open");
return;
}
string dest = Port;
string host = "127.0.0.1";
if (ArdupilotMega.MainV2.config["TCP_port"] != null)
dest = ArdupilotMega.MainV2.config["TCP_port"].ToString();
if (ArdupilotMega.MainV2.config["TCP_host"] != null)
host = ArdupilotMega.MainV2.config["TCP_host"].ToString();
if (Windows.Forms.DialogResult.Cancel == ArdupilotMega.Common.InputBox("remote host", "Enter host name/ip (ensure remote end is already started)", ref host))
{
throw new Exception("Canceled by request");
@ -89,6 +99,9 @@ namespace System.IO.Ports
}
Port = dest;
ArdupilotMega.MainV2.config["TCP_port"] = Port;
ArdupilotMega.MainV2.config["TCP_host"] = host;
client = new TcpClient(host, int.Parse(Port));
client.NoDelay = true;
@ -186,7 +199,7 @@ namespace System.IO.Ports
VerifyConnected();
int size = client.Available;
byte[] crap = new byte[size];
Console.WriteLine("TcpSerial DiscardInBuffer {0}",size);
log.InfoFormat("TcpSerial DiscardInBuffer {0}",size);
Read(crap, 0, size);
}

88
Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs
View File

@ -1,16 +1,15 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Reflection;
using System.Text;
using System.IO.Ports;
using System.Threading;
using System.Net; // dns, ip address
using System.Net.Sockets; // tcplistner
using log4net;
using ArdupilotMega.Controls;
namespace System.IO.Ports
{
public class UdpSerial : ArdupilotMega.ICommsSerial
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
UdpClient client = new UdpClient();
IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
byte[] rbuffer = new byte[0];
@ -61,7 +60,7 @@ namespace System.IO.Ports
get { return client.Available + rbuffer.Length - rbufferread; }
}
public bool IsOpen { get { return client.Client.Connected; } }
public bool IsOpen { get { if (client.Client == null) return false; return client.Client.Connected; } }
public bool DtrEnable
{
@ -73,41 +72,80 @@ namespace System.IO.Ports
{
if (client.Client.Connected)
{
Console.WriteLine("udpserial socket already open");
log.Info("udpserial socket already open");
return;
}
ProgressReporterDialogue frmProgressReporter = new ProgressReporterDialogue
{
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Text = "Connecting Mavlink UDP"
};
frmProgressReporter.DoWork += frmProgressReporter_DoWork;
frmProgressReporter.UpdateProgressAndStatus(-1, "Connecting Mavlink UDP");
ArdupilotMega.MainV2.fixtheme(frmProgressReporter);
frmProgressReporter.RunBackgroundOperationAsync();
}
void frmProgressReporter_DoWork(object sender, ArdupilotMega.Controls.ProgressWorkerEventArgs e)
{
string dest = Port;
if (ArdupilotMega.MainV2.config["UDP_port"] != null)
dest = ArdupilotMega.MainV2.config["UDP_port"].ToString();
ArdupilotMega.Common.InputBox("Listern Port", "Enter Local port (ensure remote end is already sending)", ref dest);
Port = dest;
ArdupilotMega.MainV2.config["UDP_port"] = Port;
client = new UdpClient(int.Parse(Port));
int timeout = 5;
while (timeout > 0)
{
if (BytesToRead > 0)
break;
System.Threading.Thread.Sleep(1000);
timeout--;
}
if (BytesToRead == 0)
return;
while (true)
{
((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Waiting for UDP");
System.Threading.Thread.Sleep(500);
if (((ProgressReporterDialogue)sender).doWorkArgs.CancelRequested)
{
((ProgressReporterDialogue)sender).doWorkArgs.CancelAcknowledged = true;
try
{
client.Close();
}
catch { }
return;
}
if (BytesToRead > 0)
break;
}
if (BytesToRead == 0)
return;
try
{
client.Receive(ref RemoteIpEndPoint);
Console.WriteLine("NetSerial connecting to {0} : {1}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port);
log.InfoFormat("NetSerial connecting to {0} : {1}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port);
client.Connect(RemoteIpEndPoint);
}
catch (Exception e) {
if (client != null && client.Client.Connected) { client.Close(); }
Console.WriteLine(e.ToString());
catch (Exception ex)
{
if (client != null && client.Client.Connected)
{
client.Close();
}
log.Info(ex.ToString());
System.Windows.Forms.MessageBox.Show("Please check your Firewall settings\nPlease try running this command\n1. Run the following command in an elevated command prompt to disable Windows Firewall temporarily:\n \nNetsh advfirewall set allprofiles state off\n \nNote: This is just for test; please turn it back on with the command 'Netsh advfirewall set allprofiles state on'.\n");
throw new Exception("The socket/serialproxy is closed " + e);
}
return;
}
void VerifyConnected()
@ -208,7 +246,7 @@ namespace System.IO.Ports
VerifyConnected();
int size = client.Available;
byte[] crap = new byte[size];
Console.WriteLine("UdpSerial DiscardInBuffer {0}",size);
log.InfoFormat("UdpSerial DiscardInBuffer {0}",size);
Read(crap, 0, size);
}
@ -249,7 +287,7 @@ namespace System.IO.Ports
public void Close()
{
if (client.Client.Connected)
if (client.Client != null && client.Client.Connected)
{
client.Client.Close();
client.Close();

215
Tools/ArdupilotMegaPlanner/Controls/ProgressReporterDialogue.cs Normal file
View File

@ -0,0 +1,215 @@
using System;
using System.ComponentModel;
using System.Threading;
using System.Windows.Forms;
namespace ArdupilotMega.Controls
{
/// <summary>
/// Form that is shown to the user during a background operation
/// </summary>
/// <remarks>
/// Performs operation excplicitely on a threadpool thread due to
/// Mono not playing nice with the BackgroundWorker
/// </remarks>
public partial class ProgressReporterDialogue : Form
{
private Exception workerException;
public ProgressWorkerEventArgs doWorkArgs;
public delegate void DoWorkEventHandler(object sender, ProgressWorkerEventArgs e);
// This is the event that will be raised on the BG thread
public event DoWorkEventHandler DoWork;
public ProgressReporterDialogue()
{
InitializeComponent();
doWorkArgs = new ProgressWorkerEventArgs();
this.btnClose.Visible = false;
}
/// <summary>
/// Called at setup - will kick off the background process on a thread pool thread
/// </summary>
public void RunBackgroundOperationAsync()
{
ThreadPool.QueueUserWorkItem(RunBackgroundOperation);
this.ShowDialog();
}
private void RunBackgroundOperation(object o)
{
Thread.CurrentThread.Name = "ProgressReporterDialogue Background thread";
try
{
if (this.DoWork != null) this.DoWork(this, doWorkArgs);
}
catch(Exception e)
{
// The background operation thew an exception.
// Examine the work args, if there is an error, then display that and the exception details
// Otherwise display 'Unexpected error' and exception details
ShowDoneWithError(e, doWorkArgs.ErrorMessage);
return;
}
if (doWorkArgs.CancelRequested && doWorkArgs.CancelAcknowledged)
{
ShowDoneCancelled();
return;
}
if (!string.IsNullOrEmpty(doWorkArgs.ErrorMessage))
{
ShowDoneWithError(null, doWorkArgs.ErrorMessage);
return;
}
if (doWorkArgs.CancelRequested)
{
ShowDoneWithError(null, "Operation could not cancel");
return;
}
ShowDone();
}
// Called as a possible last operation of the bg thread that was cancelled
// - Hide progress bar
// - Set label text
private void ShowDoneCancelled()
{
this.Invoke((MethodInvoker)delegate
{
this.progressBar1.Visible = false;
this.lblProgressMessage.Text = "Cancelled";
this.btnClose.Visible = true;
});
}
// Called as a possible last operation of the bg thread
// - Set progress bar to 100%
// - Wait a little bit to allow the Aero progress animatiom to catch up
// - Signal that we can close
private void ShowDone()
{
this.Invoke((MethodInvoker) delegate
{
this.progressBar1.Style = ProgressBarStyle.Continuous;
this.progressBar1.Value = 100;
this.btnCancel.Visible = false;
this.btnClose.Visible = false;
});
Thread.Sleep(1000);
this.BeginInvoke((MethodInvoker) this.Close);
}
// Called as a possible last operation of the bg thread
// There was an exception on the worker event, so:
// - Show the error message supplied by the worker, or a default message
// - Make visible the error icon
// - Make the progress bar invisible to make room for:
// - Add the exception details and stack trace in an expansion panel
// - Change the Cancel button to 'Close', so that the user can look at the exception message a bit
private void ShowDoneWithError(Exception exception, string doWorkArgs)
{
var errMessage = doWorkArgs ?? "There was an unexpected error";
if (this.InvokeRequired)
{
this.Invoke((MethodInvoker) delegate
{
this.Text = "Error";
this.lblProgressMessage.Left = 65;
this.lblProgressMessage.Text = errMessage;
this.imgWarning.Visible = true;
this.progressBar1.Visible = false;
this.btnCancel.Visible = false;
this.btnClose.Visible = true;
this.linkLabel1.Visible = exception != null;
this.workerException = exception;
});
}
}
private void btnCancel_Click(object sender, EventArgs e)
{
// User wants to cancel -
// * Set the text of the Cancel button to 'Close'
// * Set the cancel button to disabled, will enable it and let the user dismiss the dialogue
// when the async operation is complete
// * Set the status text to 'Cancelling...'
// * Set the progress bar to marquee, we don't know how long the worker will take to cancel
// * Signal the worker.
this.btnCancel.Visible = false;
this.lblProgressMessage.Text = "Cancelling...";
this.progressBar1.Style = ProgressBarStyle.Marquee;
doWorkArgs.CancelRequested = true;
}
private void btn_Close_Click(object sender, EventArgs e)
{
// we have already cancelled, and this now a 'close' button
this.Close();
}
/// <summary>
/// Called from the BG thread
/// </summary>
/// <param name="progress">progress in %, -1 means inderteminate</param>
/// <param name="status"></param>
public void UpdateProgressAndStatus(int progress, string status)
{
// we don't let the worker update progress when a cancel has been
// requested, unless the cancel has been acknowleged, so we know that
// this progress update pertains to the cancellation cleanup
if (doWorkArgs.CancelRequested && !doWorkArgs.CancelAcknowledged)
return;
if (this.InvokeRequired)
{
this.Invoke((MethodInvoker) delegate
{
lblProgressMessage.Text = status;
if (progress == -1)
{
this.progressBar1.Style = ProgressBarStyle.Marquee;
}
else
{
this.progressBar1.Style = ProgressBarStyle.Continuous;
this.progressBar1.Value = progress;
}
});
}
}
private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
{
var message = this.workerException.Message
+ Environment.NewLine + Environment.NewLine
+ this.workerException.StackTrace;
MessageBox.Show(message,"Exception Details",MessageBoxButtons.OK,MessageBoxIcon.Information);
}
}
public class ProgressWorkerEventArgs : EventArgs
{
public string ErrorMessage;
public volatile bool CancelRequested;
public volatile bool CancelAcknowledged;
}
}

141
Tools/ArdupilotMegaPlanner/Controls/ProgressReporterDialogue.designer.cs generated Normal file
View File

@ -0,0 +1,141 @@
using System;
using System.ComponentModel;
using System.Windows.Forms;
namespace ArdupilotMega.Controls
{
partial class ProgressReporterDialogue
{
/// <summary>
/// Required designer variable.
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// Clean up any resources being used.
/// </summary>
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
private void InitializeComponent()
{
this.progressBar1 = new System.Windows.Forms.ProgressBar();
this.lblProgressMessage = new System.Windows.Forms.Label();
this.btnCancel = new System.Windows.Forms.Button();
this.imgWarning = new System.Windows.Forms.PictureBox();
this.linkLabel1 = new System.Windows.Forms.LinkLabel();
this.btnClose = new System.Windows.Forms.Button();
((System.ComponentModel.ISupportInitialize)(this.imgWarning)).BeginInit();
this.SuspendLayout();
//
// progressBar1
//
this.progressBar1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.progressBar1.Location = new System.Drawing.Point(11, 90);
this.progressBar1.Name = "progressBar1";
this.progressBar1.Size = new System.Drawing.Size(277, 13);
this.progressBar1.TabIndex = 0;
//
// lblProgressMessage
//
this.lblProgressMessage.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.lblProgressMessage.Location = new System.Drawing.Point(13, 13);
this.lblProgressMessage.Name = "lblProgressMessage";
this.lblProgressMessage.Size = new System.Drawing.Size(275, 74);
this.lblProgressMessage.TabIndex = 1;
this.lblProgressMessage.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
//
// btnCancel
//
this.btnCancel.Location = new System.Drawing.Point(213, 109);
this.btnCancel.Name = "btnCancel";
this.btnCancel.Size = new System.Drawing.Size(75, 23);
this.btnCancel.TabIndex = 2;
this.btnCancel.Text = "Cancel";
this.btnCancel.UseVisualStyleBackColor = true;
this.btnCancel.Click += new System.EventHandler(this.btnCancel_Click);
//
// imgWarning
//
this.imgWarning.Image = global::ArdupilotMega.Properties.Resources.iconWarning48;
this.imgWarning.Location = new System.Drawing.Point(13, 22);
this.imgWarning.Name = "imgWarning";
this.imgWarning.Size = new System.Drawing.Size(48, 48);
this.imgWarning.TabIndex = 3;
this.imgWarning.TabStop = false;
this.imgWarning.Visible = false;
//
// linkLabel1
//
this.linkLabel1.AutoSize = true;
this.linkLabel1.Location = new System.Drawing.Point(240, 90);
this.linkLabel1.Name = "linkLabel1";
this.linkLabel1.Size = new System.Drawing.Size(48, 13);
this.linkLabel1.TabIndex = 4;
this.linkLabel1.TabStop = true;
this.linkLabel1.Text = "Details...";
this.linkLabel1.Visible = false;
this.linkLabel1.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.linkLabel1_LinkClicked);
//
// btn_Close
//
this.btnClose.Location = new System.Drawing.Point(213, 109);
this.btnClose.Name = "btnClose";
this.btnClose.Size = new System.Drawing.Size(75, 23);
this.btnClose.TabIndex = 5;
this.btnClose.Text = "Close";
this.btnClose.UseVisualStyleBackColor = true;
this.btnClose.Click += new System.EventHandler(this.btn_Close_Click);
//
// ProgressReporterDialogue
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(306, 144);
this.ControlBox = false;
this.Controls.Add(this.btnClose);
this.Controls.Add(this.linkLabel1);
this.Controls.Add(this.imgWarning);
this.Controls.Add(this.btnCancel);
this.Controls.Add(this.lblProgressMessage);
this.Controls.Add(this.progressBar1);
this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedToolWindow;
this.MaximizeBox = false;
this.MinimizeBox = false;
this.Name = "ProgressReporterDialogue";
this.SizeGripStyle = System.Windows.Forms.SizeGripStyle.Hide;
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterParent;
this.Text = "Progress";
((System.ComponentModel.ISupportInitialize)(this.imgWarning)).EndInit();
this.ResumeLayout(false);
this.PerformLayout();
}
#endregion
private ProgressBar progressBar1;
private System.Windows.Forms.Label lblProgressMessage;
private Button btnCancel;
private PictureBox imgWarning;
private LinkLabel linkLabel1;
private Button btnClose;
}
}

120
Tools/ArdupilotMegaPlanner/Controls/ProgressReporterDialogue.resx Normal file
View File

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

25
Tools/ArdupilotMegaPlanner/CurrentState.cs
View File

@ -1,13 +1,16 @@
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Text;
using System.ComponentModel;
using ArdupilotMega.Mavlink;
using log4net;
namespace ArdupilotMega
{
public class CurrentState : ICloneable
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
// multipliers
public float multiplierdist = 1;
public float multiplierspeed = 1;
@ -194,7 +197,7 @@ namespace ArdupilotMega
public float DistToMAV
{
get
{
{
// shrinking factor for longitude going to poles direction
double rads = Math.Abs(HomeLocation.Lat) * 0.0174532925;
double scaleLongDown = Math.Cos(rads);
@ -224,7 +227,7 @@ namespace ArdupilotMega
public float AZToMAV
{
get
{
{
// shrinking factor for longitude going to poles direction
double rads = Math.Abs(HomeLocation.Lat) * 0.0174532925;
double scaleLongDown = Math.Cos(rads);
@ -314,11 +317,11 @@ namespace ArdupilotMega
try
{
while (messages.Count > 5)
{
messages.RemoveAt(0);
}
messages.Add(logdata + "\n");
while (messages.Count > 5)
{
messages.RemoveAt(0);
}
messages.Add(logdata + "\n");
}
catch { }
@ -578,7 +581,7 @@ namespace ArdupilotMega
packetdropremote = sysstatus.packet_drop;
if (oldmode != mode && MainV2.speechenable && MainV2.getConfig("speechmodeenabled") == "True")
if (oldmode != mode && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechmodeenabled") == "True")
{
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
}
@ -729,7 +732,7 @@ namespace ArdupilotMega
wpno = wpcur.seq;
if (oldwp != wpno && MainV2.speechenable && MainV2.getConfig("speechwaypointenabled") == "True")
if (oldwp != wpno && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechwaypointenabled") == "True")
{
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
}
@ -858,7 +861,7 @@ namespace ArdupilotMega
//Console.WriteLine(DateTime.Now.Millisecond + " done ");
}
}
catch { Console.WriteLine("CurrentState Binding error"); }
catch { log.InfoFormat("CurrentState Binding error"); }
}
public object Clone()
@ -898,4 +901,4 @@ namespace ArdupilotMega
//low pass the outputs for better results!
}
}
}
}

14
Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
View File

@ -47,7 +47,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2>
<name>ArduCopter V2.4 Quad</name>
<name>ArduCopter V2.4.1 Quad</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
@ -58,7 +58,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2>
<name>ArduCopter V2.4 Tri</name>
<name>ArduCopter V2.4.1 Tri</name>
<desc>
#define FRAME_CONFIG TRI_FRAME
@ -69,7 +69,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
<name>ArduCopter V2.4 Hexa X</name>
<name>ArduCopter V2.4.1 Hexa X</name>
<desc>
#define FRAME_CONFIG HEXA_FRAME
@ -80,7 +80,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2>
<name>ArduCopter V2.4 Y6</name>
<name>ArduCopter V2.4.1 Y6</name>
<desc>
#define FRAME_CONFIG Y6_FRAME
@ -91,7 +91,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex</url2560-2>
<name>ArduCopter V2.4 Octa V</name>
<name>ArduCopter V2.4.1 Octa V</name>
<desc>
#define FRAME_CONFIG OCTA_FRAME
#define FRAME_ORIENTATION V_FRAME
@ -103,7 +103,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2>
<name>ArduCopter V2.4 Octa X</name>
<name>ArduCopter V2.4.1 Octa X</name>
<desc>
#define FRAME_CONFIG OCTA_FRAME
@ -162,7 +162,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2>
<name>ArduCopter V2.4 Quad Hil</name>
<name>ArduCopter V2.4.1 Quad Hil</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION PLUS_FRAME

59
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs generated
View File

@ -30,8 +30,8 @@
{
this.components = new System.ComponentModel.Container();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle();
this.Params = new System.Windows.Forms.DataGridView();
this.Command = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Value = new System.Windows.Forms.DataGridViewTextBoxColumn();
@ -141,6 +141,8 @@
this.RLL2SRV_P = new System.Windows.Forms.NumericUpDown();
this.label52 = new System.Windows.Forms.Label();
this.TabAC = new System.Windows.Forms.TabPage();
this.TUNE_LOW = new System.Windows.Forms.NumericUpDown();
this.TUNE_HIGH = new System.Windows.Forms.NumericUpDown();
this.myLabel2 = new ArdupilotMega.MyLabel();
this.TUNE = new System.Windows.Forms.ComboBox();
this.myLabel1 = new ArdupilotMega.MyLabel();
@ -345,6 +347,8 @@
((System.ComponentModel.ISupportInitialize)(this.RLL2SRV_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.RLL2SRV_P)).BeginInit();
this.TabAC.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.TUNE_LOW)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.TUNE_HIGH)).BeginInit();
this.groupBox5.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_D)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_IMAX)).BeginInit();
@ -403,14 +407,14 @@
this.Params.AllowUserToAddRows = false;
this.Params.AllowUserToDeleteRows = false;
resources.ApplyResources(this.Params, "Params");
dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle1.BackColor = System.Drawing.Color.Maroon;
dataGridViewCellStyle1.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle1.ForeColor = System.Drawing.Color.White;
dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle1;
dataGridViewCellStyle3.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle3.BackColor = System.Drawing.Color.Maroon;
dataGridViewCellStyle3.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle3.ForeColor = System.Drawing.Color.White;
dataGridViewCellStyle3.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle3.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle3.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle3;
this.Params.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.Params.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Command,
@ -419,14 +423,14 @@
this.mavScale,
this.RawValue});
this.Params.Name = "Params";
dataGridViewCellStyle2.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle2.BackColor = System.Drawing.SystemColors.ActiveCaption;
dataGridViewCellStyle2.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle2.ForeColor = System.Drawing.SystemColors.WindowText;
dataGridViewCellStyle2.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle2.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle2.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle2;
dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle4.BackColor = System.Drawing.SystemColors.ActiveCaption;
dataGridViewCellStyle4.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle4.ForeColor = System.Drawing.SystemColors.WindowText;
dataGridViewCellStyle4.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle4.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle4.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle4;
this.Params.RowHeadersVisible = false;
this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged);
//
@ -1087,6 +1091,8 @@
//
// TabAC
//
this.TabAC.Controls.Add(this.TUNE_LOW);
this.TabAC.Controls.Add(this.TUNE_HIGH);
this.TabAC.Controls.Add(this.myLabel2);
this.TabAC.Controls.Add(this.TUNE);
this.TabAC.Controls.Add(this.myLabel1);
@ -1106,6 +1112,16 @@
resources.ApplyResources(this.TabAC, "TabAC");
this.TabAC.Name = "TabAC";
//
// TUNE_LOW
//
resources.ApplyResources(this.TUNE_LOW, "TUNE_LOW");
this.TUNE_LOW.Name = "TUNE_LOW";
//
// TUNE_HIGH
//
resources.ApplyResources(this.TUNE_HIGH, "TUNE_HIGH");
this.TUNE_HIGH.Name = "TUNE_HIGH";
//
// myLabel2
//
resources.ApplyResources(this.myLabel2, "myLabel2");
@ -1138,7 +1154,8 @@
resources.GetString("TUNE.Items17"),
resources.GetString("TUNE.Items18"),
resources.GetString("TUNE.Items19"),
resources.GetString("TUNE.Items20")});
resources.GetString("TUNE.Items20"),
resources.GetString("TUNE.Items21")});
resources.ApplyResources(this.TUNE, "TUNE");
this.TUNE.Name = "TUNE";
//
@ -2190,6 +2207,8 @@
((System.ComponentModel.ISupportInitialize)(this.RLL2SRV_P)).EndInit();
this.TabAC.ResumeLayout(false);
this.TabAC.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.TUNE_LOW)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.TUNE_HIGH)).EndInit();
this.groupBox5.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_D)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.THR_RATE_IMAX)).EndInit();
@ -2500,5 +2519,7 @@
private System.Windows.Forms.Label label29;
private System.Windows.Forms.NumericUpDown STAB_D;
private System.Windows.Forms.Label lblSTAB_D;
private System.Windows.Forms.NumericUpDown TUNE_LOW;
private System.Windows.Forms.NumericUpDown TUNE_HIGH;
}
}

89
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
View File

@ -95,6 +95,10 @@ namespace ArdupilotMega.GCSViews
if (tooltips.Count == 0)
readToolTips();
// ensure the fields are populated before setting them
CH7_OPT.DataSource = Enum.GetNames(typeof(Common.ac2ch7modes));
TUNE.DataSource = Enum.GetNames(typeof(Common.ac2ch6modes));
// prefill all fields
param = MainV2.comPort.param;
processToScreen();
@ -164,6 +168,7 @@ namespace ArdupilotMega.GCSViews
// set distance/speed unit states
CMB_distunits.DataSource = Enum.GetNames(typeof(Common.distances));
CMB_speedunits.DataSource = Enum.GetNames(typeof(Common.speeds));
if (MainV2.config["distunits"] != null)
CMB_distunits.Text = MainV2.config["distunits"].ToString();
if (MainV2.config["speedunits"] != null)
@ -173,26 +178,20 @@ namespace ArdupilotMega.GCSViews
CultureInfo ci = null;
foreach (string name in new string[] { "en-US", "zh-Hans", "zh-TW", "ru-RU", "Fr", "Pl", "it-IT", "es-ES" })
{
ci = MainV2.getcultureinfo(name);
ci = CultureInfoEx.GetCultureInfo(name);
if (ci != null)
languages.Add(ci);
}
CMB_language.DisplayMember = "DisplayName";
CMB_language.DataSource = languages;
bool match = false;
for (int i = 0; i < languages.Count && !match; i++)
ci = Thread.CurrentThread.CurrentUICulture;
for (int i = 0; i < languages.Count; i++)
{
ci = Thread.CurrentThread.CurrentUICulture;
while (!ci.Equals(CultureInfo.InvariantCulture))
if (ci.IsChildOf(languages[i]))
{
if (ci.Equals(languages[i]))
{
CMB_language.SelectedIndex = i;
match = true;
break;
}
ci = ci.Parent;
CMB_language.SelectedIndex = i;
break;
}
}
CMB_language.SelectedIndexChanged += CMB_language_SelectedIndexChanged;
@ -237,7 +236,9 @@ namespace ArdupilotMega.GCSViews
string data = resources.GetString("MAVParam");
if (data == null)
return;
{
data = global::ArdupilotMega.Properties.Resources.MAVParam;
}
string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
@ -555,23 +556,23 @@ namespace ArdupilotMega.GCSViews
if (text.Length > 0)
{
if (text[0].GetType() == typeof(NumericUpDown))
{
decimal option = (decimal)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
((NumericUpDown)text[0]).Value = option;
((NumericUpDown)text[0]).BackColor = Color.Green;
}
{
decimal option = (decimal)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
((NumericUpDown)text[0]).Value = option;
((NumericUpDown)text[0]).BackColor = Color.Green;
}
else if (text[0].GetType() == typeof(ComboBox))
{
int option = (int)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
((ComboBox)text[0]).SelectedIndex = option;
((ComboBox)text[0]).BackColor = Color.Green;
}
{
int option = (int)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
((ComboBox)text[0]).SelectedIndex = option;
((ComboBox)text[0]).BackColor = Color.Green;
}
}
}
catch { ((Control)text[0]).BackColor = Color.Red; }
Params.Focus();
}
}
private void BUT_load_Click(object sender, EventArgs e)
{
@ -599,12 +600,12 @@ namespace ArdupilotMega.GCSViews
continue;
if (index2 != -1)
line = line.Replace(',','.');
line = line.Replace(',', '.');
string name = line.Substring(0, index);
float value = float.Parse(line.Substring(index + 1), new System.Globalization.CultureInfo("en-US"));
MAVLink.modifyParamForDisplay(true,name,ref value);
MAVLink.modifyParamForDisplay(true, name, ref value);
// set param table as well
foreach (DataGridViewRow row in Params.Rows)
@ -759,6 +760,8 @@ namespace ArdupilotMega.GCSViews
MainV2.cam.Start();
MainV2.config["video_options"] = CMB_videoresolutions.SelectedIndex;
BUT_videostart.Enabled = false;
}
catch (Exception ex) { MessageBox.Show("Camera Fail: " + ex.Message); }
@ -813,9 +816,10 @@ namespace ArdupilotMega.GCSViews
{
DsError.ThrowExceptionForHR(hr);
}
catch (Exception ex) {
MessageBox.Show("Can not add video source\n" + ex.ToString());
return;
catch (Exception ex)
{
MessageBox.Show("Can not add video source\n" + ex.ToString());
return;
}
// Find the stream config interface
@ -844,6 +848,11 @@ namespace ArdupilotMega.GCSViews
DsUtils.FreeAMMediaType(media);
CMB_videoresolutions.DataSource = modes;
if (MainV2.getConfig("video_options") != "" && CMB_videosources.Text != "")
{
CMB_videoresolutions.SelectedIndex = int.Parse(MainV2.getConfig("video_options"));
}
}
private void CHK_hudshow_CheckedChanged(object sender, EventArgs e)
@ -940,7 +949,7 @@ namespace ArdupilotMega.GCSViews
}
catch { MessageBox.Show("Error: getting param list"); }
@ -1154,5 +1163,25 @@ namespace ArdupilotMega.GCSViews
{
}
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
if (keyData == Keys.F5)
{
BUT_rerequestparams_Click(BUT_rerequestparams, null);
return true;
}
if (keyData == (Keys.Control | Keys.S))
{
BUT_writePIDS_Click(BUT_writePIDS, null);
return true;
}
if (keyData == (Keys.Control | Keys.O))
{
BUT_load_Click(BUT_load, null);
return true;
}
return base.ProcessCmdKey(ref msg, keyData);
}
}
}

4224
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.resx
View File

File diff suppressed because it is too large Load Diff

127
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.zh-Hans.resx
View File

@ -727,30 +727,33 @@
<data name="groupBox8.ToolTip" xml:space="preserve">
<value />
</data>
<data name="TabAPM2.ToolTip" xml:space="preserve">
<data name="TabAP.ToolTip" xml:space="preserve">
<value />
</data>
<data name="ACRO_PIT_IMAX.ToolTip" xml:space="preserve">
<data name="myLabel2.Text" xml:space="preserve">
<value>Ch6 选项</value>
</data>
<data name="myLabel2.ToolTip" xml:space="preserve">
<value />
</data>
<data name="label27.ToolTip" xml:space="preserve">
<data name="TUNE.ToolTip" xml:space="preserve">
<value />
</data>
<data name="ACRO_PIT_I.ToolTip" xml:space="preserve">
<data name="myLabel1.Text" xml:space="preserve">
<value>Ch7 选项</value>
</data>
<data name="myLabel1.ToolTip" xml:space="preserve">
<value />
</data>
<data name="CH7_OPT.ToolTip" xml:space="preserve">
<value />
</data>
<data name="THR_RATE_D.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>
@ -769,30 +772,12 @@
<data name="label25.ToolTip" xml:space="preserve">
<value />
</data>
<data name="groupBox5.Text" xml:space="preserve">
<value>油门比率</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>
@ -802,6 +787,12 @@
<data name="CHK_lockrollpitch.ToolTip" xml:space="preserve">
<value />
</data>
<data name="NAV_LAT_D.ToolTip" xml:space="preserve">
<value />
</data>
<data name="label27.ToolTip" xml:space="preserve">
<value />
</data>
<data name="WP_SPEED_MAX.ToolTip" xml:space="preserve">
<value />
</data>
@ -838,25 +829,7 @@
<data name="groupBox4.ToolTip" xml:space="preserve">
<value />
</data>
<data name="XTRK_ANGLE_CD1.ToolTip" xml:space="preserve">
<value />
</data>
<data name="label10.ToolTip" xml:space="preserve">
<value />
</data>
<data name="XTRACK_IMAX.ToolTip" xml:space="preserve">
<value />
</data>
<data name="label11.ToolTip" xml:space="preserve">
<value />
</data>
<data name="XTRACK_I.ToolTip" xml:space="preserve">
<value />
</data>
<data name="label17.ToolTip" xml:space="preserve">
<value />
</data>
<data name="XTRACK_P.ToolTip" xml:space="preserve">
<data name="XTRK_GAIN_SC1.ToolTip" xml:space="preserve">
<value />
</data>
<data name="label18.ToolTip" xml:space="preserve">
@ -934,9 +907,18 @@
<data name="label35.ToolTip" xml:space="preserve">
<value />
</data>
<data name="groupBox20.Text" xml:space="preserve">
<value>稳定偏航</value>
</data>
<data name="groupBox20.ToolTip" xml:space="preserve">
<value />
</data>
<data name="STAB_D.ToolTip" xml:space="preserve">
<value />
</data>
<data name="lblSTAB_D.ToolTip" xml:space="preserve">
<value />
</data>
<data name="STB_PIT_IMAX.ToolTip" xml:space="preserve">
<value />
</data>
@ -955,6 +937,9 @@
<data name="label42.ToolTip" xml:space="preserve">
<value />
</data>
<data name="groupBox21.Text" xml:space="preserve">
<value>稳定俯仰</value>
</data>
<data name="groupBox21.ToolTip" xml:space="preserve">
<value />
</data>
@ -976,9 +961,18 @@
<data name="label46.ToolTip" xml:space="preserve">
<value />
</data>
<data name="groupBox22.Text" xml:space="preserve">
<value>稳定侧倾</value>
</data>
<data name="groupBox22.ToolTip" xml:space="preserve">
<value />
</data>
<data name="RATE_YAW_D.ToolTip" xml:space="preserve">
<value />
</data>
<data name="label10.ToolTip" xml:space="preserve">
<value />
</data>
<data name="RATE_YAW_IMAX.ToolTip" xml:space="preserve">
<value />
</data>
@ -997,9 +991,18 @@
<data name="label82.ToolTip" xml:space="preserve">
<value />
</data>
<data name="groupBox23.Text" xml:space="preserve">
<value>比率偏航</value>
</data>
<data name="groupBox23.ToolTip" xml:space="preserve">
<value />
</data>
<data name="RATE_PIT_D.ToolTip" xml:space="preserve">
<value />
</data>
<data name="label11.ToolTip" xml:space="preserve">
<value />
</data>
<data name="RATE_PIT_IMAX.ToolTip" xml:space="preserve">
<value />
</data>
@ -1018,9 +1021,18 @@
<data name="label87.ToolTip" xml:space="preserve">
<value />
</data>
<data name="groupBox24.Text" xml:space="preserve">
<value>比率俯仰</value>
</data>
<data name="groupBox24.ToolTip" xml:space="preserve">
<value />
</data>
<data name="RATE_RLL_D.ToolTip" xml:space="preserve">
<value />
</data>
<data name="label17.ToolTip" xml:space="preserve">
<value />
</data>
<data name="RATE_RLL_IMAX.ToolTip" xml:space="preserve">
<value />
</data>
@ -1039,10 +1051,13 @@
<data name="label91.ToolTip" xml:space="preserve">
<value />
</data>
<data name="groupBox25.Text" xml:space="preserve">
<value>比率侧倾</value>
</data>
<data name="groupBox25.ToolTip" xml:space="preserve">
<value />
</data>
<data name="TabAC2.ToolTip" xml:space="preserve">
<data name="TabAC.ToolTip" xml:space="preserve">
<value />
</data>
<data name="label26.Text" xml:space="preserve">
@ -1357,8 +1372,4 @@
<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>

71
Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
View File

@ -1,28 +1,24 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Reflection;
using System.Windows.Forms;
using System.Text.RegularExpressions;
using System.IO.Ports;
using System.IO;
using System.Runtime.InteropServices;
using System.Xml;
using System.Net;
using log4net;
namespace ArdupilotMega.GCSViews
{
partial class Firmware : MyUserControl
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
if (keyData == (Keys.Control | Keys.C))
{
OpenFileDialog fd = new OpenFileDialog();
fd.Filter = "Firmware (*.hex)|*.hex";
var fd = new OpenFileDialog {Filter = "Firmware (*.hex)|*.hex"};
fd.ShowDialog();
if (File.Exists(fd.FileName))
{
@ -69,7 +65,7 @@ namespace ArdupilotMega.GCSViews
internal void Firmware_Load(object sender, EventArgs e)
{
Console.WriteLine("FW load");
log.Info("FW load");
string url = "";
string url2560 = "";
@ -141,11 +137,14 @@ namespace ArdupilotMega.GCSViews
}
}
List<string> list = new List<string>();
}
catch (Exception ex) { MessageBox.Show("Failed to get Firmware List : " + ex.Message); }
Console.WriteLine("FW load done");
catch (Exception ex)
{
MessageBox.Show("Failed to get Firmware List : " + ex.Message);
}
log.Info("FW load done");
}
void updateDisplayName(software temp)
@ -192,7 +191,7 @@ namespace ArdupilotMega.GCSViews
}
else
{
Console.WriteLine("No Home " + temp.name + " " + temp.url);
log.Info("No Home " + temp.name + " " + temp.url);
}
}
@ -354,7 +353,7 @@ namespace ArdupilotMega.GCSViews
Console.WriteLine("Detected a " + board);
log.Info("Detected a " + board);
string baseurl = "";
if (board == "2560")
@ -375,7 +374,7 @@ namespace ArdupilotMega.GCSViews
return;
}
Console.WriteLine("Using " + baseurl);
log.Info("Using " + baseurl);
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl);
@ -387,7 +386,7 @@ namespace ArdupilotMega.GCSViews
// Get the response.
WebResponse response = request.GetResponse();
// Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription);
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
dataStream = response.GetResponseStream();
@ -425,7 +424,7 @@ namespace ArdupilotMega.GCSViews
progress.Value = 100;
this.Refresh();
Console.WriteLine("Downloaded");
log.Info("Downloaded");
}
catch (Exception ex) { lbl_status.Text = "Failed download"; MessageBox.Show("Failed to download new firmware : " + ex.ToString()); return; }
@ -443,9 +442,18 @@ namespace ArdupilotMega.GCSViews
sr = new StreamReader(filename);
FLASH = readIntelHEXv2(sr);
sr.Close();
Console.WriteLine("\n\nSize: {0}\n\n", FLASH.Length);
log.InfoFormat("\n\nSize: {0}\n\n", FLASH.Length);
}
catch (Exception ex)
{
if (sr != null)
{
sr.Dispose();
}
lbl_status.Text = "Failed read HEX";
MessageBox.Show("Failed to read firmware.hex : " + ex.Message);
return;
}
catch (Exception ex) { if (sr != null) { sr.Dispose(); } lbl_status.Text = "Failed read HEX"; MessageBox.Show("Failed to read firmware.hex : " + ex.Message); return; }
ArduinoComms port = new ArduinoSTK();
if (board == "1280")
@ -460,8 +468,10 @@ namespace ArdupilotMega.GCSViews
}
else if (board == "2560" || board == "2560-2")
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;
port = new ArduinoSTKv2
{
BaudRate = 115200
};
}
port.DataBits = 8;
port.StopBits = StopBits.One;
@ -478,7 +488,7 @@ namespace ArdupilotMega.GCSViews
if (port.connectAP())
{
Console.WriteLine("starting");
log.Info("starting");
lbl_status.Text = "Uploading " + FLASH.Length + " bytes to APM";
progress.Value = 0;
this.Refresh();
@ -486,7 +496,7 @@ namespace ArdupilotMega.GCSViews
// this is enough to make ap_var reset
//port.upload(new byte[256], 0, 2, 0);
port.Progress += new ProgressEventHandler(port_Progress);
port.Progress += port_Progress;
if (!port.uploadflash(FLASH, 0, FLASH.Length, 0))
{
@ -500,7 +510,7 @@ namespace ArdupilotMega.GCSViews
progress.Value = 100;
Console.WriteLine("Uploaded");
log.Info("Uploaded");
this.Refresh();
@ -518,7 +528,7 @@ namespace ArdupilotMega.GCSViews
progress.Value = (int)((start / (float)FLASH.Length) * 100);
progress.Refresh();
port.setaddress(start);
Console.WriteLine("Downloading " + length + " at " + start);
log.Info("Downloading " + length + " at " + start);
port.downloadflash(length).CopyTo(flashverify, start);
start += length;
}
@ -575,14 +585,19 @@ namespace ArdupilotMega.GCSViews
progress.Value = 100;
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(); }
catch (Exception ex)
{
lbl_status.Text = "Failed upload";
MessageBox.Show("Check port settings or Port in use? " + ex);
port.Close();
}
flashing = false;
MainV2.givecomport = false;
}
void port_Progress(int progress,string status)
{
Console.WriteLine("Progress {0} ", progress);
log.InfoFormat("Progress {0} ", progress);
this.progress.Value = progress;
this.progress.Refresh();
}
@ -607,7 +622,7 @@ namespace ArdupilotMega.GCSViews
int length = Convert.ToInt32(line.Substring(1, 2), 16);
int address = Convert.ToInt32(line.Substring(3, 4), 16);
int option = Convert.ToInt32(line.Substring(7, 2), 16);
Console.WriteLine("len {0} add {1} opt {2}", length, address, option);
log.InfoFormat("len {0} add {1} opt {2}", length, address, option);
if (option == 0)
{

2
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs generated
View File

@ -55,7 +55,7 @@
this.zg1 = new ZedGraph.ZedGraphControl();
this.lbl_winddir = new ArdupilotMega.MyLabel();
this.lbl_windvel = new ArdupilotMega.MyLabel();
this.gMapControl1 = new myGMAP();
this.gMapControl1 = new ArdupilotMega.myGMAP();
this.panel1 = new System.Windows.Forms.Panel();
this.TXT_lat = new ArdupilotMega.MyLabel();
this.Zoomlevel = new System.Windows.Forms.NumericUpDown();

23
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
View File

@ -75,12 +75,14 @@ namespace ArdupilotMega.GCSViews
public static GMapControl mymap = null;
PointLatLngAlt GuidedModeWP = new PointLatLngAlt();
public static PointLatLngAlt GuidedModeWP = new PointLatLngAlt();
AviWriter aviwriter;
public SplitContainer MainHcopy = null;
public static FlightData instance;
protected override void Dispose(bool disposing)
{
threadrun = 0;
@ -94,6 +96,8 @@ namespace ArdupilotMega.GCSViews
{
InitializeComponent();
instance = this;
mymap = gMapControl1;
myhud = hud1;
MainHcopy = MainH;
@ -271,6 +275,7 @@ namespace ArdupilotMega.GCSViews
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION, MainV2.cs.rateposition); // request gps
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA1, MainV2.cs.rateattitude); // request attitude
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA2, MainV2.cs.rateattitude); // request vfr
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA3, MainV2.cs.ratesensors); // request extra stuff - tridge
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, MainV2.cs.raterc); // request rc info
}
@ -1013,11 +1018,27 @@ namespace ArdupilotMega.GCSViews
if (MainV2.comPort.logreadmode)
{
MainV2.comPort.logreadmode = false;
ZedGraphTimer.Stop();
}
else
{
BUT_clear_track_Click(sender, e);
MainV2.comPort.logreadmode = true;
list1.Clear();
list2.Clear();
list3.Clear();
list4.Clear();
list5.Clear();
list6.Clear();
list7.Clear();
list8.Clear();
list9.Clear();
list10.Clear();
tickStart = Environment.TickCount;
zg1.GraphPane.XAxis.Scale.Min = 0;
zg1.GraphPane.XAxis.Scale.Max = 1;
ZedGraphTimer.Start();
}
}

2
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.resx
View File

@ -1391,7 +1391,7 @@
<value>gMapControl1</value>
</data>
<data name="&gt;&gt;gMapControl1.Type" xml:space="preserve">
<value>GMap.NET.WindowsForms.GMapControl, GMap.NET.WindowsForms, Version=1.5.5.5, Culture=neutral, PublicKeyToken=b85b9027b614afef</value>
<value>ArdupilotMega.myGMAP, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;gMapControl1.Parent" xml:space="preserve">
<value>splitContainer1.Panel2</value>

343
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
View File

@ -18,6 +18,7 @@ using System.Resources;
using System.Reflection;
using System.ComponentModel;
using System.Threading;
using log4net;
using SharpKml.Base;
using SharpKml.Dom;
@ -27,6 +28,7 @@ namespace ArdupilotMega.GCSViews
{
partial class FlightPlanner : MyUserControl
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
int selectedrow = 0;
bool quickadd = false;
bool isonline = true;
@ -598,7 +600,7 @@ namespace ArdupilotMega.GCSViews
void Commands_DataError(object sender, DataGridViewDataErrorEventArgs e)
{
Console.WriteLine(e.Exception.ToString() + " " + e.Context + " col " + e.ColumnIndex);
log.Info(e.Exception.ToString() + " " + e.Context + " col " + e.ColumnIndex);
e.Cancel = false;
e.ThrowException = false;
//throw new NotImplementedException();
@ -700,7 +702,7 @@ namespace ArdupilotMega.GCSViews
{
try
{
Console.WriteLine(Element.ToString() + " " + Element.Parent);
log.Info(Element.ToString() + " " + Element.Parent);
}
catch { }
@ -924,7 +926,7 @@ namespace ArdupilotMega.GCSViews
drawnpolygons.Markers.Add(m);
drawnpolygons.Markers.Add(mBorders);
}
catch (Exception ex) { Console.WriteLine(ex.ToString()); }
catch (Exception ex) { log.Info(ex.ToString()); }
}
/// <summary>
@ -1052,7 +1054,7 @@ namespace ArdupilotMega.GCSViews
System.Diagnostics.Debug.WriteLine(temp - System.Diagnostics.Stopwatch.GetTimestamp());
}
}
catch (Exception e) { Console.WriteLine("writekml - bad wp data " + e.ToString()); }
catch (Exception e) { log.Info("writekml - bad wp data " + e.ToString()); }
}
if (usable > 0)
@ -1128,7 +1130,7 @@ namespace ArdupilotMega.GCSViews
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
log.Info(ex.ToString());
}
System.Diagnostics.Debug.WriteLine(DateTime.Now);
@ -1193,69 +1195,82 @@ namespace ArdupilotMega.GCSViews
/// <param name="sender"></param>
/// <param name="e"></param>
internal void BUT_read_Click(object sender, EventArgs e)
{
Controls.ProgressReporterDialogue frmProgressReporter = new Controls.ProgressReporterDialogue
{
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Text = "Receiving WP's"
};
frmProgressReporter.DoWork += getWPs;
frmProgressReporter.UpdateProgressAndStatus(-1, "Receiving WP's");
MainV2.fixtheme(frmProgressReporter);
frmProgressReporter.RunBackgroundOperationAsync();
}
void getWPs(object sender, Controls.ProgressWorkerEventArgs e)
{
List<Locationwp> cmds = new List<Locationwp>();
int error = 0;
System.Threading.Thread t12 = new System.Threading.Thread(delegate()
try
{
try
MAVLink port = MainV2.comPort;
if (!port.BaseStream.IsOpen)
{
MAVLink port = MainV2.comPort;
if (!port.BaseStream.IsOpen)
{
throw new Exception("Please Connect First!");
}
MainV2.givecomport = true;
param = port.param;
Console.WriteLine("Getting WP #");
int cmdcount = port.getWPCount();
for (ushort a = 0; a < cmdcount; a++)
{
Console.WriteLine("Getting WP" + a);
cmds.Add(port.getWP(a));
}
port.setWPACK();
Console.WriteLine("Done");
throw new Exception("Please Connect First!");
}
catch (Exception ex) { error = 1; MessageBox.Show("Error : " + ex.ToString()); }
try
MainV2.givecomport = true;
param = port.param;
log.Info("Getting WP #");
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(0, "Getting WP count");
int cmdcount = port.getWPCount();
for (ushort a = 0; a < cmdcount; a++)
{
this.BeginInvoke((System.Threading.ThreadStart)delegate()
log.Info("Getting WP" + a);
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(a * 100 / cmdcount, "Getting WP " + a);
cmds.Add(port.getWP(a));
}
port.setWPACK();
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done");
log.Info("Done");
}
catch (Exception ex) { error = 1; MessageBox.Show("Error : " + ex.ToString()); }
try
{
this.BeginInvoke((MethodInvoker)delegate()
{
if (error == 0)
{
if (error == 0)
try
{
try
{
processToScreen(cmds);
}
catch (Exception exx) { Console.WriteLine(exx.ToString()); }
processToScreen(cmds);
}
catch (Exception exx) { log.Info(exx.ToString()); }
}
MainV2.givecomport = false;
MainV2.givecomport = false;
BUT_read.Enabled = true;
BUT_read.Enabled = true;
writeKML();
writeKML();
});
}
catch (Exception exx) { Console.WriteLine(exx.ToString()); }
});
t12.IsBackground = true;
t12.Name = "Read wps";
t12.Start();
MainV2.threads.Add(t12);
BUT_read.Enabled = false;
});
}
catch (Exception exx) { log.Info(exx.ToString()); }
}
/// <summary>
@ -1290,111 +1305,118 @@ namespace ArdupilotMega.GCSViews
}
}
System.Threading.Thread t12 = new System.Threading.Thread(delegate()
Controls.ProgressReporterDialogue frmProgressReporter = new Controls.ProgressReporterDialogue
{
try
{
MAVLink port = MainV2.comPort;
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Text = "Sending WP's"
};
if (!port.BaseStream.IsOpen)
{
throw new Exception("Please Connect First!");
}
frmProgressReporter.DoWork += saveWPs;
frmProgressReporter.UpdateProgressAndStatus(-1, "Sending WP's");
MainV2.givecomport = true;
MainV2.fixtheme(frmProgressReporter);
Locationwp home = new Locationwp();
frmProgressReporter.RunBackgroundOperationAsync();
try
{
home.id = (byte)MAVLink.MAV_CMD.WAYPOINT;
home.lat = (float.Parse(TXT_homelat.Text));
home.lng = (float.Parse(TXT_homelng.Text));
home.alt = (float.Parse(TXT_homealt.Text) / MainV2.cs.multiplierdist); // use saved home
}
catch { throw new Exception("Your home location is invalid"); }
port.setWPTotal((ushort)(Commands.Rows.Count + 1)); // + home
port.setWP(home, (ushort)0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL, 0);
MAVLink.MAV_FRAME frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT;
// process grid to memory eeprom
for (int a = 0; a < Commands.Rows.Count - 0; a++)
{
Locationwp temp = new Locationwp();
temp.id = (byte)(int)Enum.Parse(typeof(MAVLink.MAV_CMD), Commands.Rows[a].Cells[Command.Index].Value.ToString(), false);
temp.p1 = float.Parse(Commands.Rows[a].Cells[Param1.Index].Value.ToString());
if (temp.id < (byte)MAVLink.MAV_CMD.LAST || temp.id == (byte)MAVLink.MAV_CMD.DO_SET_HOME)
{
if (CHK_altmode.Checked)
{
frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL;
}
else
{
frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
}
temp.alt = (float)(double.Parse(Commands.Rows[a].Cells[Alt.Index].Value.ToString()) / MainV2.cs.multiplierdist);
temp.lat = (float)(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()));
temp.lng = (float)(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()));
temp.p2 = (float)(double.Parse(Commands.Rows[a].Cells[Param2.Index].Value.ToString()));
temp.p3 = (float)(double.Parse(Commands.Rows[a].Cells[Param3.Index].Value.ToString()));
temp.p4 = (float)(double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString()));
port.setWP(temp, (ushort)(a + 1), frame, 0);
}
port.setWPACK();
if (CHK_holdalt.Checked)
{
port.setParam("ALT_HOLD_RTL", int.Parse(TXT_DefaultAlt.Text) / MainV2.cs.multiplierdist);
}
else
{
port.setParam("ALT_HOLD_RTL", -1);
}
port.setParam("WP_RADIUS", (byte)int.Parse(TXT_WPRad.Text) / MainV2.cs.multiplierdist);
try
{
port.setParam("WP_LOITER_RAD", (byte)(int.Parse(TXT_loiterrad.Text) / MainV2.cs.multiplierdist));
}
catch
{
port.setParam("LOITER_RAD", (byte)int.Parse(TXT_loiterrad.Text) / MainV2.cs.multiplierdist);
}
}
catch (Exception ex) { MessageBox.Show("Error : " + ex.ToString()); }
MainV2.givecomport = false;
try
{
this.BeginInvoke((System.Threading.ThreadStart)delegate()
{
BUT_write.Enabled = true;
});
}
catch { }
});
t12.IsBackground = true;
t12.Name = "Write wps";
t12.Start();
MainV2.threads.Add(t12);
MainMap.Focus();
BUT_write.Enabled = false;
}
void saveWPs(object sender, Controls.ProgressWorkerEventArgs e)
{
try
{
MAVLink port = MainV2.comPort;
if (!port.BaseStream.IsOpen)
{
throw new Exception("Please Connect First!");
}
MainV2.givecomport = true;
Locationwp home = new Locationwp();
try
{
home.id = (byte)MAVLink.MAV_CMD.WAYPOINT;
home.lat = (float.Parse(TXT_homelat.Text));
home.lng = (float.Parse(TXT_homelng.Text));
home.alt = (float.Parse(TXT_homealt.Text) / MainV2.cs.multiplierdist); // use saved home
}
catch { throw new Exception("Your home location is invalid"); }
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(0, "Set Total WPs ");
port.setWPTotal((ushort)(Commands.Rows.Count + 1)); // + home
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(0, "Set Home");
port.setWP(home, (ushort)0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL, 0);
MAVLink.MAV_FRAME frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT;
// process grid to memory eeprom
for (int a = 0; a < Commands.Rows.Count - 0; a++)
{
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(a * 100 / Commands.Rows.Count, "Setting WP " + a);
Locationwp temp = new Locationwp();
temp.id = (byte)(int)Enum.Parse(typeof(MAVLink.MAV_CMD), Commands.Rows[a].Cells[Command.Index].Value.ToString(), false);
temp.p1 = float.Parse(Commands.Rows[a].Cells[Param1.Index].Value.ToString());
if (temp.id < (byte)MAVLink.MAV_CMD.LAST || temp.id == (byte)MAVLink.MAV_CMD.DO_SET_HOME)
{
if (CHK_altmode.Checked)
{
frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL;
}
else
{
frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
}
temp.alt = (float)(double.Parse(Commands.Rows[a].Cells[Alt.Index].Value.ToString()) / MainV2.cs.multiplierdist);
temp.lat = (float)(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()));
temp.lng = (float)(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()));
temp.p2 = (float)(double.Parse(Commands.Rows[a].Cells[Param2.Index].Value.ToString()));
temp.p3 = (float)(double.Parse(Commands.Rows[a].Cells[Param3.Index].Value.ToString()));
temp.p4 = (float)(double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString()));
port.setWP(temp, (ushort)(a + 1), frame, 0);
}
port.setWPACK();
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(95, "Setting Params");
if (CHK_holdalt.Checked)
{
port.setParam("ALT_HOLD_RTL", int.Parse(TXT_DefaultAlt.Text) / MainV2.cs.multiplierdist);
}
else
{
port.setParam("ALT_HOLD_RTL", -1);
}
port.setParam("WP_RADIUS", (byte)int.Parse(TXT_WPRad.Text) / MainV2.cs.multiplierdist);
try
{
port.setParam("WP_LOITER_RAD", (byte)(int.Parse(TXT_loiterrad.Text) / MainV2.cs.multiplierdist));
}
catch
{
port.setParam("LOITER_RAD", (byte)int.Parse(TXT_loiterrad.Text) / MainV2.cs.multiplierdist);
}
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done.");
}
catch (Exception ex) { MainV2.givecomport = false; throw ex; }
MainV2.givecomport = false;
}
/// <summary>
@ -1486,29 +1508,44 @@ namespace ArdupilotMega.GCSViews
}
}
log.Info("Setting wp params");
string hold_alt = ((int)((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist)).ToString();
log.Info("param ALT_HOLD_RTL " + hold_alt);
if (!hold_alt.Equals("-1"))
{
TXT_DefaultAlt.Text = hold_alt;
}
TXT_WPRad.Text = ((int)((float)param["WP_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
log.Info("param WP_RADIUS " + TXT_WPRad.Text);
try
{
TXT_loiterrad.Text = ((int)((float)param["LOITER_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
if (param["LOITER_RADIUS"] != null)
TXT_loiterrad.Text = ((int)((float)param["LOITER_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
if (param["WP_LOITER_RAD"] != null)
TXT_loiterrad.Text = ((int)((float)param["WP_LOITER_RAD"] * MainV2.cs.multiplierdist)).ToString();
log.Info("param LOITER_RADIUS " + TXT_loiterrad.Text);
}
catch
{
TXT_loiterrad.Text = ((int)((float)param["WP_LOITER_RAD"] * MainV2.cs.multiplierdist)).ToString();
}
CHK_holdalt.Checked = Convert.ToBoolean((float)param["ALT_HOLD_RTL"] > 0);
log.Info("param ALT_HOLD_RTL " + CHK_holdalt.Checked.ToString());
}
catch (Exception) { } // if there is no valid home
catch (Exception ex) { log.Info(ex.ToString()); } // if there is no valid home
if (Commands.RowCount > 0)
{
log.Info("remove home from list");
Commands.Rows.Remove(Commands.Rows[0]); // remove home row
}
@ -2523,7 +2560,7 @@ namespace ArdupilotMega.GCSViews
double x = bottomleft.Lat - Math.Abs(fulllatdiff);
double y = bottomleft.Lng - Math.Abs(fulllngdiff);
Console.WriteLine("{0} < {1} {2} < {3}", x, (topright.Lat), y, (topright.Lng));
log.InfoFormat("{0} < {1} {2} < {3}", x, (topright.Lat), y, (topright.Lng));
while (x < (topright.Lat + Math.Abs(fulllatdiff)) && y < (topright.Lng + Math.Abs(fulllngdiff)))
{

2
Tools/ArdupilotMegaPlanner/GCSViews/Help.cs
View File

@ -24,7 +24,7 @@ namespace ArdupilotMega.GCSViews
public void BUT_updatecheck_Click(object sender, EventArgs e)
{
MainV2.doupdate();
MainV2.DoUpdate();
}
private void CHK_showconsole_CheckedChanged(object sender, EventArgs e)

23
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
View File

@ -9,6 +9,7 @@ using System.IO.Ports;
using System.IO;
using System.Xml; // config file
using System.Runtime.InteropServices; // dll imports
using log4net;
using ZedGraph; // Graphs
using ArdupilotMega;
using ArdupilotMega.Mavlink;
@ -21,6 +22,7 @@ namespace ArdupilotMega.GCSViews
{
public partial class Simulation : MyUserControl
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
MAVLink comPort = MainV2.comPort;
UdpClient XplanesSEND;
UdpClient MavLink;
@ -570,7 +572,6 @@ namespace ArdupilotMega.GCSViews
// re-request servo data
if (!(lastdata.AddSeconds(8) > DateTime.Now))
{
Console.WriteLine("REQ streams - sim");
try
{
if (CHK_quad.Checked && !RAD_aerosimrc.Checked)// || chkSensor.Checked && RAD_JSBSim.Checked)
@ -610,12 +611,6 @@ namespace ArdupilotMega.GCSViews
{
Byte[] receiveBytes = MavLink.Receive(ref RemoteIpEndPoint);
Console.WriteLine("sending " + receiveBytes[5]);
if (receiveBytes[5] == 39)
{
Console.WriteLine("wp no " + receiveBytes[9]); // ??
}
comPort.BaseStream.Write(receiveBytes, 0, receiveBytes.Length);
}
@ -633,7 +628,7 @@ namespace ArdupilotMega.GCSViews
processArduPilot();
}
}
catch (Exception ex) { Console.WriteLine("SIM Main loop exception " + ex.ToString()); }
catch (Exception ex) { log.Info("SIM Main loop exception " + ex.ToString()); }
if (hzcounttime.Second != DateTime.Now.Second)
{
@ -689,7 +684,7 @@ namespace ArdupilotMega.GCSViews
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("resume\r\n"));
}
catch { Console.WriteLine("JSB console fail"); }
catch { log.Info("JSB console fail"); }
}
private void SetupUDPXplanes()
@ -1348,7 +1343,7 @@ namespace ArdupilotMega.GCSViews
quad.update(ref m, lastfdmdata);
}
catch (Exception e) { Console.WriteLine("Quad hill error " + e.ToString()); }
catch (Exception e) { log.Info("Quad hill error " + e.ToString()); }
byte[] FlightGear = new byte[8 * 11];// StructureToByteArray(fg);
@ -1385,7 +1380,7 @@ namespace ArdupilotMega.GCSViews
{
XplanesSEND.Send(FlightGear, FlightGear.Length);
}
catch (Exception) { Console.WriteLine("Socket Write failed, FG closed?"); }
catch (Exception) { log.Info("Socket Write failed, FG closed?"); }
updateScreenDisplay(lastfdmdata.latitude, lastfdmdata.longitude, lastfdmdata.altitude * .3048, lastfdmdata.phi, lastfdmdata.theta, lastfdmdata.psi, lastfdmdata.psi, m[0], m[1], m[2], m[3]);
@ -1491,7 +1486,7 @@ namespace ArdupilotMega.GCSViews
}
}
}
catch (Exception e) { Console.WriteLine("Error updateing screen stuff " + e.ToString()); }
catch (Exception e) { log.Info("Error updateing screen stuff " + e.ToString()); }
packetssent++;
@ -1580,7 +1575,7 @@ namespace ArdupilotMega.GCSViews
{
XplanesSEND.Send(FlightGear, FlightGear.Length);
}
catch (Exception) { Console.WriteLine("Socket Write failed, FG closed?"); }
catch (Exception) { log.Info("Socket Write failed, FG closed?"); }
}
@ -1661,7 +1656,7 @@ namespace ArdupilotMega.GCSViews
XplanesSEND.Send(Xplane, Xplane.Length);
}
catch (Exception e) { Console.WriteLine("Xplanes udp send error " + e.Message); }
catch (Exception e) { log.Info("Xplanes udp send error " + e.Message); }
}
}

32
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.zh-Hans.resx
View File

@ -122,7 +122,7 @@
<value>86, 17</value>
</data>
<data name="CHKREV_roll.Text" xml:space="preserve">
<value>横滚舵反向</value>
<value>侧倾舵反向</value>
</data>
<data name="CHKREV_roll.ToolTip" xml:space="preserve">
<value />
@ -278,7 +278,7 @@
<value>31, 13</value>
</data>
<data name="label5.Text" xml:space="preserve">
<value>横滚</value>
<value>侧倾</value>
</data>
<data name="label5.ToolTip" xml:space="preserve">
<value />
@ -350,7 +350,7 @@
<value>31, 13</value>
</data>
<data name="label12.Text" xml:space="preserve">
<value>横滚</value>
<value>侧倾</value>
</data>
<data name="label12.ToolTip" xml:space="preserve">
<value />
@ -464,7 +464,7 @@
<value>55, 13</value>
</data>
<data name="label22.Text" xml:space="preserve">
<value>横滚增益</value>
<value>侧倾增益</value>
</data>
<data name="label22.ToolTip" xml:space="preserve">
<value />
@ -505,15 +505,36 @@
<data name="CHKdisplayall.ToolTip" xml:space="preserve">
<value />
</data>
<data name="CHKgraphroll.Text" xml:space="preserve">
<value>显示侧倾</value>
</data>
<data name="CHKgraphroll.ToolTip" xml:space="preserve">
<value />
</data>
<data name="CHKgraphpitch.Size" type="System.Drawing.Size, System.Drawing">
<value>74, 17</value>
</data>
<data name="CHKgraphpitch.Text" xml:space="preserve">
<value>显示俯仰</value>
</data>
<data name="CHKgraphpitch.ToolTip" xml:space="preserve">
<value />
</data>
<data name="CHKgraphrudder.Size" type="System.Drawing.Size, System.Drawing">
<value>86, 17</value>
</data>
<data name="CHKgraphrudder.Text" xml:space="preserve">
<value>显示方向舵</value>
</data>
<data name="CHKgraphrudder.ToolTip" xml:space="preserve">
<value />
</data>
<data name="CHKgraphthrottle.Size" type="System.Drawing.Size, System.Drawing">
<value>74, 17</value>
</data>
<data name="CHKgraphthrottle.Text" xml:space="preserve">
<value>显示油门</value>
</data>
<data name="CHKgraphthrottle.ToolTip" xml:space="preserve">
<value />
</data>
@ -568,6 +589,9 @@
<data name="CHK_heli.ToolTip" xml:space="preserve">
<value />
</data>
<data name="CHK_xplane10.ToolTip" xml:space="preserve">
<value />
</data>
<data name="$this.ToolTip" xml:space="preserve">
<value />
</data>

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

@ -146,7 +146,11 @@ namespace ArdupilotMega.GCSViews
}
}
// do not change this \r is correct - no \n
if (cmd == "+++")
comPort.Write(Encoding.ASCII.GetBytes(cmd), 0, cmd.Length);
else {
comPort.Write(Encoding.ASCII.GetBytes(cmd + "\r"), 0, cmd.Length + 1);
}
}
catch { MessageBox.Show("Error writing to com port"); }
}

3
Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs
View File

@ -1,7 +1,9 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using log4net;
using YLScsDrawing.Drawing3d;
using ArdupilotMega.HIL;
@ -101,6 +103,7 @@ namespace ArdupilotMega.HIL
public class QuadCopter : Aircraft
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
QuadCopter self;
int framecount = 0;

61
Tools/ArdupilotMegaPlanner/HUD.cs
View File

@ -11,7 +11,7 @@ using System.Drawing.Imaging;
using System.Threading;
using System.Drawing.Drawing2D;
using log4net;
using OpenTK;
using OpenTK.Graphics.OpenGL;
using OpenTK.Graphics;
@ -24,6 +24,8 @@ namespace hud
{
public class HUD : GLControl
{
private static readonly ILog log = LogManager.GetLogger(
System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
object paintlock = new object();
object streamlock = new object();
MemoryStream _streamjpg = new MemoryStream();
@ -44,6 +46,8 @@ namespace hud
bool started = false;
public bool SixteenXNine = false;
public HUD()
{
if (this.DesignMode)
@ -189,10 +193,10 @@ namespace hud
{
GraphicsMode test = this.GraphicsMode;
Console.WriteLine(test.ToString());
Console.WriteLine("Vendor: " + GL.GetString(StringName.Vendor));
Console.WriteLine("Version: " + GL.GetString(StringName.Version));
Console.WriteLine("Device: " + GL.GetString(StringName.Renderer));
log.Info(test.ToString());
log.Info("Vendor: " + GL.GetString(StringName.Vendor));
log.Info("Version: " + GL.GetString(StringName.Version));
log.Info("Device: " + GL.GetString(StringName.Renderer));
//Console.WriteLine("Extensions: " + GL.GetString(StringName.Extensions));
int[] viewPort = new int[4];
@ -212,7 +216,7 @@ namespace hud
GL.Enable(EnableCap.Blend);
}
catch (Exception ex) { Console.WriteLine("HUD opengl onload " + ex.ToString()); }
catch (Exception ex) { log.Info("HUD opengl onload " + ex.ToString()); }
try
{
@ -266,7 +270,7 @@ namespace hud
if (inOnPaint)
{
Console.WriteLine("Was in onpaint Hud th:" + System.Threading.Thread.CurrentThread.Name + " in " + otherthread);
log.Info("Was in onpaint Hud th:" + System.Threading.Thread.CurrentThread.Name + " in " + otherthread);
return;
}
@ -295,7 +299,7 @@ namespace hud
}
}
catch (Exception ex) { Console.WriteLine(ex.ToString()); }
catch (Exception ex) { log.Info(ex.ToString()); }
inOnPaint = false;
@ -676,6 +680,7 @@ namespace hud
void doPaint(PaintEventArgs e)
{
bool isNaN = false;
try
{
if (graphicsObjectGDIP == null || !opengl && (objBitmap.Width != this.Width || objBitmap.Height != this.Height))
@ -709,9 +714,22 @@ namespace hud
bgon = true;
}
if (float.IsNaN(_roll) || float.IsNaN(_pitch) || float.IsNaN(_heading))
{
isNaN = true;
_roll = 0;
_pitch = 0;
_heading = 0;
}
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
graphicsObject.RotateTransform(-_roll);
graphicsObject.RotateTransform(-_roll);
int fontsize = this.Height / 30; // = 10
int fontoffset = fontsize - 10;
@ -1272,6 +1290,11 @@ namespace hud
drawstring(graphicsObject, gps, font, fontsize + 2, whiteBrush, this.Width - 10 * fontsize, this.Height - 30 - fontoffset);
if (isNaN)
drawstring(graphicsObject, "NaN Error " + DateTime.Now, font, this.Height / 30 + 10, Brushes.Red, 50, 50);
if (!opengl)
{
e.Graphics.DrawImageUnscaled(objBitmap, 0, 0);
@ -1304,8 +1327,7 @@ namespace hud
}
catch (Exception ex)
{
Console.WriteLine("hud error "+ex.ToString());
//MessageBox.Show(ex.ToString());
log.Info("hud error "+ex.ToString());
}
}
@ -1513,7 +1535,7 @@ namespace hud
base.OnHandleCreated(e);
}
}
catch (Exception ex) { Console.WriteLine(ex.ToString()); opengl = false; } // macs fail here
catch (Exception ex) { log.Info(ex.ToString()); opengl = false; } // macs fail here
}
protected override void OnHandleDestroyed(EventArgs e)
@ -1525,14 +1547,25 @@ namespace hud
base.OnHandleDestroyed(e);
}
}
catch (Exception ex) { Console.WriteLine(ex.ToString()); opengl = false; }
catch (Exception ex) { log.Info(ex.ToString()); opengl = false; }
}
protected override void OnResize(EventArgs e)
{
if (DesignMode || !started)
return;
this.Height = (int)(this.Width / 1.333f);
if (SixteenXNine)
{
this.Height = (int)(this.Width / 1.777f);
}
else
{
// 4x3
this.Height = (int)(this.Width / 1.333f);
}
base.OnResize(e);
graphicsObjectGDIP = Graphics.FromImage(objBitmap);

12
Tools/ArdupilotMegaPlanner/Joystick.cs
View File

@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.Collections;
using System.Linq;
using System.Text;
using log4net;
using Microsoft.DirectX.DirectInput;
using System.Reflection;
@ -10,6 +11,7 @@ namespace ArdupilotMega
{
public class Joystick
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
Device joystick;
JoystickState state;
public bool enabled = false;
@ -148,12 +150,12 @@ namespace ArdupilotMega
{
//Console.WriteLine("Name: " + property.Name + ", Value: " + property.GetValue(obj, null));
Console.WriteLine("test name {0} old {1} new {2} ", property.Name, values[property.Name], int.Parse(property.GetValue(nextstate, null).ToString()));
Console.WriteLine("{0} {1}", (int)values[property.Name], (int.Parse(property.GetValue(nextstate, null).ToString()) + threshold));
log.InfoFormat("test name {0} old {1} new {2} ", property.Name, values[property.Name], int.Parse(property.GetValue(nextstate, null).ToString()));
log.InfoFormat("{0} {1}", (int)values[property.Name], (int.Parse(property.GetValue(nextstate, null).ToString()) + threshold));
if ((int)values[property.Name] > (int.Parse(property.GetValue(nextstate, null).ToString()) + threshold) ||
(int)values[property.Name] < (int.Parse(property.GetValue(nextstate, null).ToString()) - threshold))
{
Console.WriteLine("{0}", property.Name);
log.Info(property.Name);
joystick.Unacquire();
return (joystickaxis)Enum.Parse(typeof(joystickaxis), property.Name);
}
@ -337,7 +339,7 @@ namespace ArdupilotMega
//Console.WriteLine("{0} {1} {2} {3}", MainV2.cs.rcoverridech1, MainV2.cs.rcoverridech2, MainV2.cs.rcoverridech3, MainV2.cs.rcoverridech4);
}
catch (Exception ex) { Console.WriteLine("Joystick thread error "+ex.ToString()); } // so we cant fall out
catch (Exception ex) { log.Info("Joystick thread error "+ex.ToString()); } // so we cant fall out
}
}
@ -484,7 +486,7 @@ namespace ArdupilotMega
state = joystick.CurrentJoystickState;
ushort ans = pickchannel(channel, JoyChannels[channel].axis, JoyChannels[channel].reverse, JoyChannels[channel].expo);
Console.WriteLine("{0} = {1} = {2}",channel,ans, state.X);
log.DebugFormat("{0} = {1} = {2}",channel,ans, state.X);
return ans;
}

64
Tools/ArdupilotMegaPlanner/LangUtility.cs Normal file
View File

@ -0,0 +1,64 @@
//this file contains some simple extension methods
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Globalization;
using System.ComponentModel;
using System.Windows.Forms;
namespace ArdupilotMega
{
static class CultureInfoEx
{
public static CultureInfo GetCultureInfo(string name)
{
try { return new CultureInfo(name); }
catch (Exception) { return null; }
}
public static bool IsChildOf(this CultureInfo cX, CultureInfo cY)
{
if (cX == null || cY == null)
return false;
CultureInfo c = cX;
while (!c.Equals(CultureInfo.InvariantCulture))
{
if (c.Equals(cY))
return true;
c = c.Parent;
}
return false;
}
}
static class ComponentResourceManagerEx
{
public static void ApplyResource(this ComponentResourceManager rm, Control ctrl)
{
rm.ApplyResources(ctrl, ctrl.Name);
foreach (Control subctrl in ctrl.Controls)
ApplyResource(rm, subctrl);
if (ctrl.ContextMenu != null)
ApplyResource(rm, ctrl.ContextMenu);
if (ctrl is DataGridView)
{
foreach (DataGridViewColumn col in (ctrl as DataGridView).Columns)
rm.ApplyResources(col, col.Name);
}
}
public static void ApplyResource(this ComponentResourceManager rm, Menu menu)
{
rm.ApplyResources(menu, menu.Name);
foreach (MenuItem submenu in menu.MenuItems)
ApplyResource(rm, submenu);
}
}
}

41
Tools/ArdupilotMegaPlanner/Log.cs
View File

@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Reflection;
using System.Text;
using System.Windows.Forms;
using System.IO.Ports;
@ -15,16 +16,17 @@ using Core.Geometry;
using ICSharpCode.SharpZipLib.Zip;
using ICSharpCode.SharpZipLib.Checksums;
using ICSharpCode.SharpZipLib.Core;
using log4net;
namespace ArdupilotMega
{
public partial class Log : Form
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
ICommsSerial comPort;
int logcount = 0;
serialstatus status = serialstatus.Connecting;
byte[] buffer = new byte[4000];
StreamWriter sw;
int currentlog = 0;
bool threadrun = true;
@ -72,14 +74,15 @@ namespace ArdupilotMega
comPort.toggleDTR();
//comPort.Open();
}
catch (Exception)
catch (Exception ex)
{
log.Error("Error opening comport", ex);
MessageBox.Show("Error opening comport");
}
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
var t11 = new System.Threading.Thread(delegate()
{
DateTime start = DateTime.Now;
var start = DateTime.Now;
threadrun = true;
@ -87,9 +90,11 @@ namespace ArdupilotMega
try
{
comPort.Write("\n\n\n\n");
comPort.Write("\n\n\n\n"); // more in "connecting"
}
catch
{
}
catch { }
while (threadrun)
{
@ -105,11 +110,13 @@ namespace ArdupilotMega
comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
}
}
catch (Exception ex) { Console.WriteLine("crash in comport reader " + ex.ToString()); } // cant exit unless told to
catch (Exception ex)
{
log.Error("crash in comport reader " + ex);
} // cant exit unless told to
}
Console.WriteLine("Comport thread close");
});
t11.Name = "comport reader";
log.Info("Comport thread close");
}) {Name = "comport reader"};
t11.Start();
MainV2.threads.Add(t11);
@ -187,8 +194,14 @@ namespace ArdupilotMega
{
case serialstatus.Connecting:
if (line.Contains("reset to FLY") || line.Contains("interactive setup") || line.Contains("CLI:") || line.Contains("Ardu"))
if (line.Contains("ENTER") || line.Contains("GROUND START") || line.Contains("reset to FLY") || line.Contains("interactive setup") || line.Contains("CLI") || line.Contains("Ardu"))
{
try
{
comPort.Write("\n\n\n\n");
}
catch { }
comPort.Write("logs\r");
status = serialstatus.Done;
}
@ -276,7 +289,7 @@ namespace ArdupilotMega
Console.Write(line);
TXT_seriallog.AppendText(line);
TXT_seriallog.AppendText(line.Replace((char)0x0,' '));
// auto scroll
if (TXT_seriallog.TextLength >= 10000)
@ -297,7 +310,7 @@ namespace ArdupilotMega
}
}
Console.WriteLine("exit while");
log.Info("exit while");
}
catch (Exception ex) { MessageBox.Show("Error reading data" + ex.ToString()); }
}
@ -526,7 +539,7 @@ namespace ArdupilotMega
Style style2 = new Style();
Color color = Color.FromArgb(0xff, (stylecode >> 16) & 0xff, (stylecode >> 8) & 0xff, (stylecode >> 0) & 0xff);
Console.WriteLine("colour " + color.ToArgb().ToString("X") + " " + color.ToKnownColor().ToString());
log.Info("colour " + color.ToArgb().ToString("X") + " " + color.ToKnownColor().ToString());
style2.Add(new LineStyle(color, 4));

9
Tools/ArdupilotMegaPlanner/LogBrowse.cs
View File

@ -3,9 +3,11 @@ using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Reflection;
using System.Text;
using System.Windows.Forms;
using System.IO;
using log4net;
using ZedGraph; // Graphs
using System.Xml;
@ -13,6 +15,7 @@ namespace ArdupilotMega
{
public partial class LogBrowse : Form
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
int m_iColumnCount = 0;
DataTable m_dtCSV = new DataTable();
@ -180,7 +183,7 @@ namespace ArdupilotMega
if (inner.Name.StartsWith("F"))
{
dataGridView1.Columns[a].HeaderText = inner.ReadString();
Console.WriteLine(a + " " + dataGridView1.Columns[a].HeaderText);
log.Info(a + " " + dataGridView1.Columns[a].HeaderText);
a++;
}
@ -194,7 +197,7 @@ namespace ArdupilotMega
}
}
catch { Console.WriteLine("DGV logbrowse error"); }
catch { log.Info("DGV logbrowse error"); }
}
public void CreateChart(ZedGraphControl zgc)
@ -308,7 +311,7 @@ namespace ArdupilotMega
break;
}
}
catch { error++; Console.WriteLine("Bad Data : " + type + " " + col + " " + a); if (error >= 500) { MessageBox.Show("There is to much bad data - failing"); break; } }
catch { error++; log.Info("Bad Data : " + type + " " + col + " " + a); if (error >= 500) { MessageBox.Show("There is to much bad data - failing"); break; } }
}
a++;
}

374
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -9,25 +9,25 @@ using System.Reflection;
using System.Reflection.Emit;
using System.IO;
using System.Drawing;
using System.Threading;
using ArdupilotMega.Controls;
using ArdupilotMega.Mavlink;
using System.ComponentModel;
using log4net;
namespace ArdupilotMega
{
public partial class MAVLink
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public ICommsSerial BaseStream = new SerialPort();
private const double CONNECT_TIMEOUT_SECONDS = 30;
/// <summary>
/// Used for progress reporting on all internal functions
/// </summary>
public event ProgressEventHandler Progress;
/// <summary>
/// progress form to handle connect and param requests
/// </summary>
ProgressReporter frm;
ProgressReporterDialogue frmProgressReporter;
/// <summary>
/// used for outbound packet sending
@ -131,22 +131,39 @@ namespace ArdupilotMega
if (BaseStream.IsOpen)
return;
//System.Windows.Forms.Form frm = Common.LoadingBox("Mavlink Connecting..", "Mavlink Connecting..");
//frm.TopMost = true;
frmProgressReporter = new ProgressReporterDialogue
{
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Text = "Connecting Mavlink"
};
frm = new ProgressReporter();
MainV2.fixtheme(frm);
this.Progress += new ProgressEventHandler(MAVLink_Progress);
//(progress, status) => { frm.updateProgressAndStatus(progress, status); };
if (getparams)
{
frmProgressReporter.DoWork += FrmProgressReporterDoWorkAndParams;
}
else
{
frmProgressReporter.DoWork += FrmProgressReporterDoWorkNOParams;
}
frmProgressReporter.UpdateProgressAndStatus(-1, "Mavlink Connecting...");
MainV2.fixtheme(frmProgressReporter);
frm.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
frmProgressReporter.RunBackgroundOperationAsync();
}
frm.Show();
void FrmProgressReporterDoWorkAndParams(object sender, ProgressWorkerEventArgs e)
{
OpenBg(true, e);
}
frm.Focus();
void FrmProgressReporterDoWorkNOParams(object sender, ProgressWorkerEventArgs e)
{
OpenBg(false, e);
}
if (Progress != null)
Progress(-1, "Mavlink Connecting...");
private void OpenBg(bool getparams, ProgressWorkerEventArgs progressWorkerEventArgs)
{
frmProgressReporter.UpdateProgressAndStatus(-1, "Mavlink Connecting...");
// reset
sysid = 0;
@ -161,6 +178,7 @@ namespace ArdupilotMega
lock (objlock) // so we dont have random traffic
{
log.Info("Open port with " + BaseStream.PortName + " " + BaseStream.BaudRate);
BaseStream.Open();
@ -168,15 +186,7 @@ namespace ArdupilotMega
BaseStream.toggleDTR();
// allow 2560 connect timeout on usb
for (int a = 0; a < 1000; a++ ) {
System.Threading.Thread.Sleep(1);
if (!MainV2.instance.InvokeRequired)
{
System.Windows.Forms.Application.DoEvents();
}
}
Thread.Sleep(1000);
}
byte[] buffer;
@ -189,8 +199,9 @@ namespace ArdupilotMega
countDown.Elapsed += (sender, e) =>
{
int secondsRemaining = (deadline - e.SignalTime).Seconds;
if (Progress != null)
Progress(-1, string.Format("Trying to connect.\nTimeout in {0}", secondsRemaining));
//if (Progress != null)
// Progress(-1, string.Format("Trying to connect.\nTimeout in {0}", secondsRemaining));
frmProgressReporter.UpdateProgressAndStatus(-1, string.Format("Trying to connect.\nTimeout in {0}", secondsRemaining));
if (secondsRemaining > 0) countDown.Start();
};
countDown.Start();
@ -199,31 +210,35 @@ namespace ArdupilotMega
while (true)
{
if (progressWorkerEventArgs.CancelRequested)
{
progressWorkerEventArgs.CancelAcknowledged = true;
countDown.Stop();
if (BaseStream.IsOpen)
BaseStream.Close();
MainV2.givecomport = false;
return;
}
// incase we are in setup mode
BaseStream.WriteLine("planner\rgcs\r");
Console.WriteLine(DateTime.Now.Millisecond + " start ");
/*
if (Progress != null)
{
int secondsRemaining = (start.AddSeconds(CONNECT_TIMEOUT_SECONDS) - DateTime.Now).Seconds;
Progress(-1, string.Format("Trying to connect.\nTimeout in {0}", secondsRemaining));
}
*/
log.Info(DateTime.Now.Millisecond + " Start connect loop ");
if (lastbad[0] == '!' && lastbad[1] == 'G' || lastbad[0] == 'G' && lastbad[1] == '!') // waiting for gps lock
{
if (Progress != null)
Progress(-1, "Waiting for GPS detection..");
start = start.AddSeconds(5); // each round is 1.1 seconds
//if (Progress != null)
// Progress(-1, "Waiting for GPS detection..");
frmProgressReporter.UpdateProgressAndStatus(-1, "Waiting for GPS detection..");
deadline = deadline.AddSeconds(5); // each round is 1.1 seconds
}
if (DateTime.Now > deadline)
{
if (Progress != null)
Progress(-1, "No Heatbeat Packets");
//if (Progress != null)
// Progress(-1, "No Heatbeat Packets");
this.Close();
progressWorkerEventArgs.ErrorMessage = "No Heatbeat Packets Received";
throw new Exception("No Mavlink Heartbeat Packets where read from this port - Verify Baud Rate and setup\nIt might also be waiting for GPS Lock\nAPM Planner waits for 2 valid heartbeat packets before connecting");
}
@ -243,7 +258,7 @@ namespace ArdupilotMega
try
{
Console.WriteLine("MAv Data: len " + buffer.Length + " btr " + BaseStream.BytesToRead);
log.Debug("MAv Data: len " + buffer.Length + " btr " + BaseStream.BytesToRead);
}
catch { }
@ -259,7 +274,7 @@ namespace ArdupilotMega
sysid = buffer[3];
compid = buffer[4];
recvpacketcount = buffer[2];
Console.WriteLine("ID sys {0} comp {1} ver{2}", sysid, compid, mavlinkversion);
log.InfoFormat("ID sys {0} comp {1} ver{2}", sysid, compid, mavlinkversion);
break;
}
@ -267,11 +282,20 @@ namespace ArdupilotMega
countDown.Stop();
if (Progress != null)
Progress(-1, "Getting Params.. (sysid " + sysid + " compid " + compid + ") ");
// if (Progress != null)
// Progress(-1, "Getting Params.. (sysid " + sysid + " compid " + compid + ") ");
frmProgressReporter.UpdateProgressAndStatus(0, "Getting Params.. (sysid " + sysid + " compid " + compid + ") ");
if (getparams)
getParamList();
getParamListBG();
if (frmProgressReporter.doWorkArgs.CancelAcknowledged == true)
{
MainV2.givecomport = false;
if (BaseStream.IsOpen)
BaseStream.Close();
return;
}
}
catch (Exception e)
{
@ -281,28 +305,19 @@ namespace ArdupilotMega
}
catch { }
MainV2.givecomport = false;
if (Progress != null)
Progress(-1, "Connect Failed\n" + e.Message);
// if (Progress != null)
// Progress(-1, "Connect Failed\n" + e.Message);
if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage))
progressWorkerEventArgs.ErrorMessage = "Connect Failed";
throw e;
}
frm.Close();
//frmProgressReporter.Close();
MainV2.givecomport = false;
Console.WriteLine("Done open " + sysid + " " + compid);
frmProgressReporter.UpdateProgressAndStatus(100, "Done.");
log.Info("Done open " + sysid + " " + compid);
packetslost = 0;
}
void MAVLink_Progress(int progress, string status)
{
if (frm != null)
{
try
{
frm.updateProgressAndStatus(progress, status);
}
catch (Exception ex) { throw ex; }
}
}
byte[] getHeartBeat()
{
DateTime start = DateTime.Now;
@ -311,6 +326,7 @@ namespace ArdupilotMega
byte[] buffer = readPacket();
if (buffer.Length > 5)
{
log.Info("getHB packet received: " + buffer.Length + " btr " + BaseStream.BytesToRead + " type " + buffer[5] );
if (buffer[5] == MAVLINK_MSG_ID_HEARTBEAT)
{
return buffer;
@ -337,7 +353,7 @@ namespace ArdupilotMega
}
if (!run)
{
Console.WriteLine("Mavlink : NOT VALID PACKET sendPacket() " + indata.GetType().ToString());
log.Info("Mavlink : NOT VALID PACKET sendPacket() " + indata.GetType().ToString());
}
}
@ -472,7 +488,7 @@ namespace ArdupilotMega
{
if (!param.ContainsKey(paramname))
{
Console.WriteLine("Param doesnt exist " + paramname);
log.Info("Param doesnt exist " + paramname);
return false;
}
@ -495,7 +511,7 @@ namespace ArdupilotMega
generatePacket(MAVLINK_MSG_ID_PARAM_SET, req);
Console.WriteLine("setParam '{0}' = '{1}' sysid {2} compid {3}", paramname, req.param_value, sysid, compid);
log.InfoFormat("setParam '{0}' = '{1}' sysid {2} compid {3}", paramname, req.param_value, sysid, compid);
DateTime start = DateTime.Now;
int retrys = 3;
@ -506,7 +522,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("setParam Retry " + retrys);
log.Info("setParam Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_PARAM_SET, req);
start = DateTime.Now;
retrys--;
@ -534,7 +550,7 @@ namespace ArdupilotMega
if (st != paramname)
{
Console.WriteLine("MAVLINK bad param responce - {0} vs {1}", paramname, st);
log.InfoFormat("MAVLINK bad param responce - {0} vs {1}", paramname, st);
continue;
}
@ -556,19 +572,48 @@ namespace ArdupilotMega
}
*/
public void getParamList()
{
frmProgressReporter = new ProgressReporterDialogue
{
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Text = "Getting Params"
};
frmProgressReporter.DoWork += FrmProgressReporterGetParams;
frmProgressReporter.UpdateProgressAndStatus(-1, "Getting Params...");
MainV2.fixtheme(frmProgressReporter);
frmProgressReporter.RunBackgroundOperationAsync();
}
void FrmProgressReporterGetParams(object sender, ProgressWorkerEventArgs e)
{
Hashtable old = new Hashtable(param);
getParamListBG();
if (frmProgressReporter.doWorkArgs.CancelRequested)
{
param = old;
}
}
/// <summary>
/// Get param list from apm
/// </summary>
/// <returns></returns>
public Hashtable getParamList()
private Hashtable getParamListBG()
{
MainV2.givecomport = true;
List<int> missed = new List<int>();
List<int> got = new List<int>();
// ryan - re start
__mavlink_param_request_read_t rereq = new __mavlink_param_request_read_t();
rereq.target_system = sysid;
rereq.target_component = compid;
// clear old
param = new Hashtable();
int retrys = 3;
int param_count = 0;
int param_total = 5;
goagain:
__mavlink_param_request_list_t req = new __mavlink_param_request_list_t();
req.target_system = sysid;
@ -579,34 +624,31 @@ namespace ArdupilotMega
DateTime start = DateTime.Now;
DateTime restart = DateTime.Now;
int retrys = 3;
int nextid = 0;
int param_count = 0;
int param_total = 5;
while (param_count < param_total)
while (got.Count < param_total)
{
if (frmProgressReporter.doWorkArgs.CancelRequested)
{
frmProgressReporter.doWorkArgs.CancelAcknowledged = true;
MainV2.givecomport = false;
frmProgressReporter.doWorkArgs.ErrorMessage = "User Canceled";
return param;
}
if (!(start.AddMilliseconds(5000) > DateTime.Now))
{
if (retrys > 0)
{
Console.WriteLine("getParamList Retry {0} sys {1} comp {2}", retrys, sysid, compid);
log.InfoFormat("getParamList Retry {0} sys {1} comp {2}", retrys, sysid, compid);
generatePacket(MAVLINK_MSG_ID_PARAM_REQUEST_LIST, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - getParamList");
}
if (!(restart.AddMilliseconds(1000) > DateTime.Now))
{
rereq.param_id = new byte[] { 0x0, 0x0 };
rereq.param_index = (short)nextid;
sendPacket(rereq);
restart = DateTime.Now;
throw new Exception("Timeout on read - getParamList " + param_count +" "+ param_total);
}
System.Windows.Forms.Application.DoEvents();
byte[] buffer = readPacket();
if (buffer.Length > 5)
{
@ -619,9 +661,10 @@ namespace ArdupilotMega
__mavlink_param_value_t par = buffer.ByteArrayToStructure<__mavlink_param_value_t>(6);
// set new target
param_total = (par.param_count);
string paramID = System.Text.ASCIIEncoding.ASCII.GetString(par.param_id);
int pos = paramID.IndexOf('\0');
@ -629,47 +672,44 @@ namespace ArdupilotMega
{
paramID = paramID.Substring(0, pos);
}
Console.WriteLine(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (param_total - 1) + " name: " + paramID);
// for out of order udp packets
if (BaseStream.GetType() != typeof(UdpSerial))
// check if we already have it
if (got.Contains(par.param_index))
{
if (nextid == (par.param_index))
{
nextid++;
if (Progress != null)
Progress((par.param_index * 100) / param_total, "Got param " + paramID);
}
else
{
if (retrys > 0)
{
generatePacket(MAVLINK_MSG_ID_PARAM_REQUEST_LIST, req);
param_count = 0;
nextid = 0;
retrys--;
continue;
}
Console.WriteLine("Out of order packet. Re-requesting list");
missed.Add(nextid); // for later devel
MainV2.givecomport = false;
throw new Exception("Missed ID expecting " + nextid + " got " + (par.param_index) + "\nPlease try loading again");
}
//Console.WriteLine("Already got '"+paramID+"'");
continue;
}
log.Info(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (param_total - 1) + " name: " + paramID);
modifyParamForDisplay(true, paramID, ref par.param_value);
param[paramID] = (par.param_value);
param_count++;
got.Add(par.param_index);
// if (Progress != null)
// Progress((param.Count * 100) / param_total, "Got param " + paramID);
this.frmProgressReporter.UpdateProgressAndStatus((got.Count * 100) / param_total, "Got param " + paramID);
}
else
{
//Console.WriteLine(DateTime.Now + " PC paramlist " + buffer[5] + " " + this.BytesToRead);
//Console.WriteLine(DateTime.Now + " PC paramlist " + buffer[5] + " want " + MAVLINK_MSG_ID_PARAM_VALUE + " btr " + BaseStream.BytesToRead);
}
//stopwatch.Stop();
//Console.WriteLine("Time elapsed: {0}", stopwatch.Elapsed);
}
}
if (got.Count != param_total)
{
if (retrys > 0)
{
this.frmProgressReporter.UpdateProgressAndStatus((got.Count * 100) / param_total, "Getting missed params");
retrys--;
goto goagain;
}
throw new Exception("Missing Params");
}
MainV2.givecomport = false;
return param;
}
@ -717,7 +757,7 @@ namespace ArdupilotMega
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
System.Threading.Thread.Sleep(20);
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
Console.WriteLine("Stopall Done");
log.Info("Stopall Done");
}
catch { }
@ -765,7 +805,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("setWPCurrent Retry " + retrys);
log.Info("setWPCurrent Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_MISSION_SET_CURRENT, req);
start = DateTime.Now;
retrys--;
@ -828,7 +868,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("doAction Retry " + retrys);
log.Info("doAction Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_COMMAND_LONG, req);
start = DateTime.Now;
retrys--;
@ -882,7 +922,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("setWPCurrent Retry " + retrys);
log.Info("setWPCurrent Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, req);
start = DateTime.Now;
retrys--;
@ -940,7 +980,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("doAction Retry " + retrys);
log.Info("doAction Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_ACTION, req);
start = DateTime.Now;
retrys--;
@ -1056,7 +1096,7 @@ namespace ArdupilotMega
return;
}
Console.WriteLine("Request stream {0} at {1} hz : currently {2}", Enum.Parse(typeof(MAV_DATA_STREAM), id.ToString()), hzrate, pps);
log.InfoFormat("Request stream {0} at {1} hz : currently {2}", Enum.Parse(typeof(MAV_DATA_STREAM), id.ToString()), hzrate, pps);
getDatastream(id, hzrate);
}
@ -1129,7 +1169,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport);
log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport);
generatePacket(MAVLINK_MSG_ID_MISSION_REQUEST_LIST, req);
start = DateTime.Now;
retrys--;
@ -1151,13 +1191,13 @@ namespace ArdupilotMega
var count = buffer.ByteArrayToStructure<__mavlink_mission_count_t>(6);
Console.WriteLine("wpcount: " + count.count);
log.Info("wpcount: " + count.count);
MainV2.givecomport = false;
return (byte)count.count; // should be ushort, but apm has limited wp count < byte
}
else
{
Console.WriteLine(DateTime.Now + " PC wpcount " + buffer[5] + " need " + MAVLINK_MSG_ID_MISSION_COUNT + " " + this.BaseStream.BytesToRead);
log.Info(DateTime.Now + " PC wpcount " + buffer[5] + " need " + MAVLINK_MSG_ID_MISSION_COUNT + " " + this.BaseStream.BytesToRead);
}
}
}
@ -1180,7 +1220,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport);
log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, req);
start = DateTime.Now;
retrys--;
@ -1197,13 +1237,13 @@ namespace ArdupilotMega
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_COUNT)
{
Console.WriteLine("wpcount: " + buffer[9]);
log.Info("wpcount: " + buffer[9]);
MainV2.givecomport = false;
return buffer[9]; // should be ushort, but apm has limited wp count < byte
}
else
{
Console.WriteLine(DateTime.Now + " PC wpcount " + buffer[5] + " need " + MAVLINK_MSG_ID_WAYPOINT_COUNT + " " + this.BaseStream.BytesToRead);
log.Info(DateTime.Now + " PC wpcount " + buffer[5] + " need " + MAVLINK_MSG_ID_WAYPOINT_COUNT + " " + this.BaseStream.BytesToRead);
}
}
}
@ -1241,7 +1281,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("getWP Retry " + retrys);
log.Info("getWP Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_MISSION_REQUEST, req);
start = DateTime.Now;
retrys--;
@ -1288,7 +1328,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("getWP Retry " + retrys);
log.Info("getWP Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST, req);
start = DateTime.Now;
retrys--;
@ -1383,13 +1423,13 @@ namespace ArdupilotMega
}
}
*/
Console.WriteLine("getWP {0} {1} {2} {3} {4} opt {5}", loc.id, loc.p1, loc.alt, loc.lat, loc.lng, loc.options);
log.InfoFormat("getWP {0} {1} {2} {3} {4} opt {5}", loc.id, loc.p1, loc.alt, loc.lat, loc.lng, loc.options);
break;
}
else
{
Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]);
log.Info(DateTime.Now + " PC getwp " + buffer[5]);
}
}
}
@ -1493,7 +1533,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("setWPTotal Retry " + retrys);
log.Info("setWPTotal Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_MISSION_COUNT, req);
start = DateTime.Now;
retrys--;
@ -1548,7 +1588,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("setWPTotal Retry " + retrys);
log.Info("setWPTotal Retry " + retrys);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_COUNT, req);
start = DateTime.Now;
retrys--;
@ -1671,7 +1711,7 @@ namespace ArdupilotMega
*/
req.seq = index;
Console.WriteLine("setWP {6} frame {0} cmd {1} p1 {2} x {3} y {4} z {5}", req.frame, req.command, req.param1, req.x, req.y, req.z, index);
log.InfoFormat("setWP {6} frame {0} cmd {1} p1 {2} x {3} y {4} z {5}", req.frame, req.command, req.param1, req.x, req.y, req.z, index);
// request
#if MAVLINK10
@ -1689,7 +1729,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("setWP Retry " + retrys);
log.Info("setWP Retry " + retrys);
#if MAVLINK10
generatePacket(MAVLINK_MSG_ID_MISSION_ITEM, req);
#else
@ -1713,7 +1753,7 @@ namespace ArdupilotMega
var ans = buffer.ByteArrayToStructure<__mavlink_mission_ack_t>(6);
Console.WriteLine("set wp " + index + " ACK 47 : " + buffer[5] + " ans " + Enum.Parse(typeof(MAV_MISSION_RESULT), ans.type.ToString()));
log.Info("set wp " + index + " ACK 47 : " + buffer[5] + " ans " + Enum.Parse(typeof(MAV_MISSION_RESULT), ans.type.ToString()));
break;
}
else if (buffer[5] == MAVLINK_MSG_ID_MISSION_REQUEST)
@ -1725,13 +1765,13 @@ namespace ArdupilotMega
if (ans.seq == (index + 1))
{
Console.WriteLine("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
MainV2.givecomport = false;
break;
}
else
{
Console.WriteLine("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
log.Info("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
//break;
}
}
@ -1742,7 +1782,7 @@ namespace ArdupilotMega
#else
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_ACK)
{ //__mavlink_waypoint_request_t
Console.WriteLine("set wp " + index + " ACK 47 : " + buffer[5]);
log.Info("set wp " + index + " ACK 47 : " + buffer[5]);
break;
}
else if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_REQUEST)
@ -1751,13 +1791,13 @@ namespace ArdupilotMega
if (ans.seq == (index + 1))
{
Console.WriteLine("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
MainV2.givecomport = false;
break;
}
else
{
Console.WriteLine("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
log.InfoFormat("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
//break;
}
}
@ -1878,7 +1918,7 @@ namespace ArdupilotMega
{
if (readcount > 300)
{
Console.WriteLine("MAVLink readpacket No valid mavlink packets");
log.Info("MAVLink readpacket No valid mavlink packets");
break;
}
readcount++;
@ -1913,27 +1953,22 @@ namespace ArdupilotMega
{
MainV2.cs.datetime = DateTime.Now;
int to = 0;
DateTime to = DateTime.Now.AddMilliseconds(BaseStream.ReadTimeout);
while (BaseStream.BytesToRead <= 0)
{
if (to > BaseStream.ReadTimeout)
if (DateTime.Now > to)
{
Console.WriteLine("MAVLINK: wait time out btr {0} len {1}", BaseStream.BytesToRead, length);
log.InfoFormat("MAVLINK: S wait time out btr {0} len {1}", BaseStream.BytesToRead, length);
throw new Exception("Timeout");
}
System.Threading.Thread.Sleep(1);
if (!MainV2.instance.InvokeRequired)
{
System.Windows.Forms.Application.DoEvents(); // when connecting this is in the main thread
}
to++;
}
if (BaseStream.IsOpen)
temp[count] = (byte)BaseStream.ReadByte();
}
}
catch (Exception e) { Console.WriteLine("MAVLink readpacket read error: " + e.Message); break; }
catch (Exception e) { log.Info("MAVLink readpacket read error: " + e.Message); break; }
if (temp[0] != 254 && temp[0] != 'U' || lastbad[0] == 'I' && lastbad[1] == 'M' || lastbad[1] == 'G' || lastbad[1] == 'A') // out of sync "AUTO" "GUIDED" "IMU"
{
@ -1960,7 +1995,7 @@ namespace ArdupilotMega
{
if (sysid != temp[3] || compid != temp[4])
{
Console.WriteLine("Mavlink Bad Packet (not addressed to this MAV) got {0} {1} vs {2} {3}", temp[3], temp[4], sysid, compid);
log.InfoFormat("Mavlink Bad Packet (not addressed to this MAV) got {0} {1} vs {2} {3}", temp[3], temp[4], sysid, compid);
return new byte[0];
}
}
@ -1973,21 +2008,15 @@ namespace ArdupilotMega
}
else
{
int to = 0;
DateTime to = DateTime.Now.AddMilliseconds(BaseStream.ReadTimeout);
while (BaseStream.BytesToRead < (length - 4))
{
if (to > 1000)
if (DateTime.Now > to)
{
Console.WriteLine("MAVLINK: wait time out btr {0} len {1}", BaseStream.BytesToRead, length);
log.InfoFormat("MAVLINK: L wait time out btr {0} len {1}", BaseStream.BytesToRead, length);
break;
}
System.Threading.Thread.Sleep(1);
if (!MainV2.instance.InvokeRequired)
{
System.Windows.Forms.Application.DoEvents(); // when connecting this is in the main thread
}
to++;
//Console.WriteLine("data " + 0 + " " + length + " aval " + BaseStream.BytesToRead);
}
if (BaseStream.IsOpen)
@ -2047,12 +2076,19 @@ namespace ArdupilotMega
if (temp.Length > 5 && temp[1] != MAVLINK_MESSAGE_LENGTHS[temp[5]])
{
Console.WriteLine("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", temp.Length, temp[5]);
if (MAVLINK_MESSAGE_LENGTHS[temp[5]] == 0) // pass for unknown packets
{
}
else
{
log.InfoFormat("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", temp.Length, temp[5]);
#if MAVLINK10
if (temp.Length == 11 && temp[0] == 'U' && temp[5] == 0)
throw new Exception("Mavlink 0.9 Heartbeat, Please upgrade your AP, This planner is for Mavlink 1.0\n\n");
#endif
return new byte[0];
return new byte[0];
}
}
if (temp.Length < 5 || temp[temp.Length - 1] != (crc >> 8) || temp[temp.Length - 2] != (crc & 0xff))
@ -2062,7 +2098,7 @@ namespace ArdupilotMega
{
packetno = temp[5];
}
Console.WriteLine("Mavlink Bad Packet (crc fail) len {0} crc {1} pkno {2}", temp.Length, crc, packetno);
log.InfoFormat("Mavlink Bad Packet (crc fail) len {0} crc {1} pkno {2}", temp.Length, crc, packetno);
return new byte[0];
}
@ -2084,7 +2120,7 @@ namespace ArdupilotMega
packetslost += temp[2] - recvpacketcount;
}
Console.WriteLine("lost {0} pkts {1}", temp[2], (int)packetslost);
log.InfoFormat("lost {0} pkts {1}", temp[2], (int)packetslost);
}
packetsnotlost++;
@ -2119,7 +2155,7 @@ namespace ArdupilotMega
int ind = logdata.IndexOf('\0');
if (ind != -1)
logdata = logdata.Substring(0, ind);
Console.WriteLine(DateTime.Now + " " + logdata);
log.Info(DateTime.Now + " " + logdata);
if (MainV2.talk != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True")
{
@ -2214,7 +2250,7 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
Console.WriteLine("getFencePoint Retry " + retrys + " - giv com " + MainV2.givecomport);
log.Info("getFencePoint Retry " + retrys + " - giv com " + MainV2.givecomport);
generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req);
start = DateTime.Now;
retrys--;
@ -2350,7 +2386,7 @@ namespace ArdupilotMega
temp[a] = (byte)logplaybackfile.ReadByte();
if (temp[0] != 'U' && temp[0] != 254)
{
Console.WriteLine("lost sync byte {0} pos {1}", temp[0], logplaybackfile.BaseStream.Position);
log.InfoFormat("lost sync byte {0} pos {1}", temp[0], logplaybackfile.BaseStream.Position);
a = 0;
continue;
}

138
Tools/ArdupilotMegaPlanner/MagCalib.cs Normal file
View File

@ -0,0 +1,138 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.IO;
namespace ArdupilotMega
{
public class MagCalib
{
//alglib.lsfit.
public static void doWork()
{
/*
double[,] x = new double[,] { { -1 }, { -0.8 }, { -0.6 }, { -0.4 }, { -0.2 }, { 0 }, { 0.2 }, { 0.4 }, { 0.6 }, { 0.8 }, { 1.0 } };
double[] y = new double[] { 0.223130, 0.382893, 0.582748, 0.786628, 0.941765, 1.000000, 0.941765, 0.786628, 0.582748, 0.382893, 0.223130 };
double[] c = new double[] { 0.3 };
double epsf = 0;
double epsx = 0.000001;
int maxits = 0;
int info;
alglib.lsfitstate state;
alglib.lsfitreport rep;
double diffstep = 0.0001;
//
// Fitting without weights
//
alglib.lsfitcreatef(x, y, c, diffstep, out state);
alglib.lsfitsetcond(state, epsf, epsx, maxits);
alglib.lsfitfit(state, function_cx_1_func, null, null);
alglib.lsfitresults(state, out info, out c, out rep);
System.Console.WriteLine("{0}", info); // EXPECTED: 2
System.Console.WriteLine("{0}", alglib.ap.format(c, 1)); // EXPECTED: [1.5]
*/
// based of tridge's work
Tuple<float, float, float> offset = new Tuple<float, float, float>(0, 0, 0);
List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "*.tlog|*.tlog";
openFileDialog1.FilterIndex = 2;
openFileDialog1.RestoreDirectory = true;
openFileDialog1.Multiselect = true;
try
{
openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
}
catch { } // incase dir doesnt exist
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
foreach (string logfile in openFileDialog1.FileNames)
{
MAVLink mine = new MAVLink();
mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
mine.logreadmode = true;
mine.packets.Initialize(); // clear
// gather data
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
// bar moves to 100 % in this step
//progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 1.0f);
//progressBar1.Refresh();
//Application.DoEvents();
byte[] packet = mine.readPacket();
var pack = mine.DebugPacket(packet);
if (pack.GetType() == typeof(MAVLink.__mavlink_sensor_offsets_t))
{
offset = new Tuple<float,float,float>(
((MAVLink.__mavlink_sensor_offsets_t)pack).mag_ofs_x,
((MAVLink.__mavlink_sensor_offsets_t)pack).mag_ofs_y,
((MAVLink.__mavlink_sensor_offsets_t)pack).mag_ofs_z);
}
else if (pack.GetType() == typeof(MAVLink.__mavlink_raw_imu_t))
{
data.Add(new Tuple<float, float, float>(
((MAVLink.__mavlink_raw_imu_t)pack).xmag - offset.Item1,
((MAVLink.__mavlink_raw_imu_t)pack).ymag - offset.Item2,
((MAVLink.__mavlink_raw_imu_t)pack).zmag - offset.Item3));
}
}
//progressBar1.Value = 100;
mine.logreadmode = false;
mine.logplaybackfile.Close();
mine.logplaybackfile = null;
}
}
}
public static List<double> sphere_error(double[,] p, double[] data)
{
double xofs = p[0, 0];
double yofs = p[0, 1];
double zofs = p[0, 2];
double r = p[0, 3];
List<double> ret = new List<double>();
foreach (var d in data)
{
//double x, y, z = d;
//double err = r - Math.Sqrt(Math.Pow((x + xofs), 2) + Math.Pow((y + yofs), 2) + Math.Pow((z + zofs), 2));
//ret.Add(err);
}
return ret;
}
public static void function_cx_1_func(double[] c, double[] x, ref double func, object obj)
{
// this callback calculates f(c,x)=exp(-c0*sqr(x0))
// where x is a position on X-axis and c is adjustable parameter
func = System.Math.Exp(-c[0] * x[0] * x[0]);
}
}
}

1
Tools/ArdupilotMegaPlanner/MainV2.Designer.cs generated
View File

@ -134,6 +134,7 @@
this.CMB_serialport.Name = "CMB_serialport";
this.CMB_serialport.Size = new System.Drawing.Size(150, 76);
this.CMB_serialport.SelectedIndexChanged += new System.EventHandler(this.CMB_serialport_SelectedIndexChanged);
this.CMB_serialport.Enter += new System.EventHandler(this.CMB_serialport_Enter);
this.CMB_serialport.Click += new System.EventHandler(this.CMB_serialport_Click);
//
// MainMenu

347
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -1,6 +1,7 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Configuration;
using System.Data;
using System.Drawing;
using System.Linq;
@ -20,11 +21,14 @@ using System.Globalization;
using System.Threading;
using System.Net.Sockets;
using IronPython.Hosting;
using log4net;
namespace ArdupilotMega
{
public partial class MainV2 : Form
{
private static readonly ILog log =
LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
[DllImport("user32.dll")]
public static extern int FindWindow(string szClass, string szTitle);
[DllImport("user32.dll")]
@ -41,7 +45,7 @@ namespace ArdupilotMega
public static bool MONO = false;
public static bool speechenable = false;
public static SpeechSynthesizer talk = new SpeechSynthesizer();
public static Speech talk = null;
public static Joystick joystick = null;
DateTime lastjoystick = DateTime.Now;
@ -101,6 +105,9 @@ namespace ArdupilotMega
var t = Type.GetType("Mono.Runtime");
MONO = (t != null);
if (!MONO)
talk = new Speech();
//talk.SpeakAsync("Welcome to APM Planner");
MyRenderer.currentpressed = MenuFlightData;
@ -125,8 +132,8 @@ namespace ArdupilotMega
CMB_serialport.Items.Add("UDP");
if (CMB_serialport.Items.Count > 0)
{
CMB_serialport.SelectedIndex = 0;
CMB_baudrate.SelectedIndex = 7;
CMB_serialport.SelectedIndex = 0;
}
splash.Refresh();
@ -138,7 +145,7 @@ namespace ArdupilotMega
xmlconfig(false);
if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
changelanguage(getcultureinfo((string)config["language"]));
changelanguage(CultureInfoEx.GetCultureInfo((string)config["language"]));
if (!MONO) // windows only
{
@ -249,10 +256,18 @@ namespace ArdupilotMega
{
string[] devs = new string[0];
log.Debug("Geting Comports");
if (MONO)
{
if (Directory.Exists("/dev/"))
{
if (Directory.Exists("/dev/serial/by-id/"))
devs = Directory.GetFiles("/dev/serial/by-id/", "*");
devs = Directory.GetFiles("/dev/", "*ACM*");
devs = Directory.GetFiles("/dev/", "ttyUSB*");
}
}
string[] ports = SerialPort.GetPortNames();
@ -655,8 +670,12 @@ namespace ArdupilotMega
{
try
{
if (talk != null) // cancel all pending speech
talk.SpeakAsyncCancelAll();
try
{
if (talk != null) // cancel all pending speech
talk.SpeakAsyncCancelAll();
}
catch { }
if (comPort.logfile != null)
comPort.logfile.Close();
@ -664,7 +683,7 @@ namespace ArdupilotMega
comPort.BaseStream.DtrEnable = false;
comPort.Close();
}
catch { }
catch (Exception ex) { log.Debug(ex.ToString()); }
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
}
@ -767,7 +786,7 @@ namespace ArdupilotMega
if ((buffer[0] == 'A' || buffer[0] == 'P') && (buffer[1] == 'A' || buffer[1] == 'P')) // this is the apvar header
{
Console.WriteLine("Valid eeprom contents");
log.Info("Valid eeprom contents");
}
else
{
@ -777,6 +796,7 @@ namespace ArdupilotMega
}
}
catch { }
log.Debug(ex.ToString());
//MessageBox.Show("Can not establish a connection\n\n" + ex.ToString());
return;
}
@ -953,11 +973,11 @@ namespace ArdupilotMega
break;
}
}
catch (Exception ee) { Console.WriteLine(ee.Message); } // silent fail on bad entry
catch (Exception ee) { log.Info(ee.Message); } // silent fail on bad entry
}
}
}
catch (Exception ex) { Console.WriteLine("Bad Config File: " + ex.ToString()); } // bad config file
catch (Exception ex) { log.Info("Bad Config File: " + ex.ToString()); } // bad config file
}
}
@ -1171,7 +1191,7 @@ namespace ArdupilotMega
}
catch (Exception e)
{
Console.WriteLine("Serial Reader fail :" + e.Message);
log.Info("Serial Reader fail :" + e.Message);
try
{
comPort.Close();
@ -1239,7 +1259,7 @@ namespace ArdupilotMega
try
{
listener = new TcpListener(IPAddress.Any, 56781);
System.Threading.Thread t13 = new System.Threading.Thread(new System.Threading.ThreadStart(listernforclients))
var t13 = new Thread(listernforclients)
{
Name = "motion jpg stream",
IsBackground = true
@ -1249,10 +1269,11 @@ namespace ArdupilotMega
}
catch (Exception ex)
{
log.Error("Error starting TCP listener thread: ", ex);
MessageBox.Show(ex.ToString());
}
System.Threading.Thread t12 = new System.Threading.Thread(new ThreadStart(joysticksend))
var t12 = new Thread(new ThreadStart(joysticksend))
{
IsBackground = true,
Priority = ThreadPriority.AboveNormal,
@ -1260,18 +1281,28 @@ namespace ArdupilotMega
};
t12.Start();
System.Threading.Thread t11 = new System.Threading.Thread(new ThreadStart(SerialReader))
var t11 = new Thread(SerialReader)
{
IsBackground = true,
Name = "Main Serial reader"
};
t11.Start();
try
if (Debugger.IsAttached)
{
checkForUpdate();
log.Info("Skipping update test as it appears we are debugging");
}
else
{
try
{
CheckForUpdate();
}
catch (Exception ex)
{
log.Error("Update check failed", ex);
}
}
catch { Console.WriteLine("update check failed"); }
}
public static String ComputeWebSocketHandshakeSecurityHash09(String secWebSocketKey)
@ -1302,7 +1333,7 @@ namespace ArdupilotMega
{
listener.Start();
}
catch { Console.WriteLine("do you have the planner open already"); return; } // in use
catch { log.Info("do you have the planner open already"); return; } // in use
// Enter the listening loop.
while (true)
{
@ -1310,10 +1341,10 @@ namespace ArdupilotMega
// You could also user server.AcceptSocket() here.
try
{
Console.WriteLine("Listening for client - 1 client at a time");
log.Info("Listening for client - 1 client at a time");
TcpClient client = listener.AcceptTcpClient();
// Get a stream object for reading and writing
Console.WriteLine("Accepted Client " + client.Client.RemoteEndPoint.ToString());
log.Info("Accepted Client " + client.Client.RemoteEndPoint.ToString());
//client.SendBufferSize = 100 * 1024; // 100kb
//client.LingerState.Enabled = true;
//client.NoDelay = true;
@ -1336,7 +1367,7 @@ namespace ArdupilotMega
int len = stream.Read(request, 0, request.Length);
string head = System.Text.ASCIIEncoding.ASCII.GetString(request, 0, len);
Console.WriteLine(head);
log.Info(head);
int index = head.IndexOf('\n');
@ -1372,7 +1403,7 @@ namespace ArdupilotMega
while (client.Connected)
{
System.Threading.Thread.Sleep(200);
Console.WriteLine(stream.DataAvailable + " " + client.Available);
log.Info(stream.DataAvailable + " " + client.Available);
while (client.Available > 0)
{
@ -1443,12 +1474,19 @@ namespace ArdupilotMega
pmplane.Geometry = model;
SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt()
{ Altitude = loc.Altitude.Value, Latitude = loc.Latitude.Value, Longitude = loc.Longitude.Value, Tilt = 80,
Heading = cs.yaw, AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute, Range = 50};
SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt()
{
Altitude = loc.Altitude.Value,
Latitude = loc.Latitude.Value,
Longitude = loc.Longitude.Value,
Tilt = 80,
Heading = cs.yaw,
AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute,
Range = 50
};
kml.Viewpoint = la;
kml.AddFeature(pmplane);
SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
@ -1555,7 +1593,7 @@ namespace ArdupilotMega
}
stream.Close();
}
catch (Exception ee) { Console.WriteLine("Failed mjpg " + ee.Message); }
catch (Exception ee) { log.Info("Failed mjpg " + ee.Message); }
}
}
@ -1567,8 +1605,8 @@ namespace ArdupilotMega
private void MainV2_Resize(object sender, EventArgs e)
{
Console.WriteLine("myview width " + MyView.Width + " height " + MyView.Height);
Console.WriteLine("this width " + this.Width + " height " + this.Height);
log.Info("myview width " + MyView.Width + " height " + MyView.Height);
log.Info("this width " + this.Width + " height " + this.Height);
}
private void MenuHelp_Click(object sender, EventArgs e)
@ -1590,49 +1628,58 @@ namespace ArdupilotMega
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
}
static string baseurl = "http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/";
public static void updatecheck(Label loadinglabel)
{
var baseurl = ConfigurationManager.AppSettings["UpdateLocation"];
try
{
bool update = updatecheck(loadinglabel, baseurl, "");
System.Diagnostics.Process P = new System.Diagnostics.Process();
var process = new Process();
string exePath = Path.GetDirectoryName(Application.ExecutablePath);
if (MONO)
{
P.StartInfo.FileName = "mono";
P.StartInfo.Arguments = " \"" + Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "Updater.exe\"";
process.StartInfo.FileName = "mono";
process.StartInfo.Arguments = " \"" + exePath + Path.DirectorySeparatorChar + "Updater.exe\"";
}
else
{
P.StartInfo.FileName = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "Updater.exe";
P.StartInfo.Arguments = "";
process.StartInfo.FileName = exePath + Path.DirectorySeparatorChar + "Updater.exe";
process.StartInfo.Arguments = "";
try
{
foreach (string newupdater in Directory.GetFiles(Path.GetDirectoryName(Application.ExecutablePath), "Updater.exe*.new"))
foreach (string newupdater in Directory.GetFiles(exePath, "Updater.exe*.new"))
{
File.Copy(newupdater, newupdater.Remove(newupdater.Length - 4), true);
File.Delete(newupdater);
}
}
catch (Exception)
catch (Exception ex)
{
log.Error("Exception during update", ex);
}
}
if (loadinglabel != null)
updatelabel(loadinglabel,"Starting Updater");
Console.WriteLine("Start " + P.StartInfo.FileName + " with " + P.StartInfo.Arguments);
P.Start();
UpdateLabel(loadinglabel, "Starting Updater");
log.Info("Starting new process: " + process.StartInfo.FileName + " with " + process.StartInfo.Arguments);
process.Start();
log.Info("Quitting existing process");
try
{
Application.Exit();
}
catch { }
catch
{
}
}
catch (Exception ex)
{
log.Error("Update Failed", ex);
MessageBox.Show("Update Failed " + ex.Message);
}
catch (Exception ex) { MessageBox.Show("Update Failed " + ex.Message); }
}
private static void updatelabel(Label loadinglabel, string text)
private static void UpdateLabel(Label loadinglabel, string text)
{
MainV2.instance.Invoke((MethodInvoker)delegate
{
@ -1642,92 +1689,106 @@ namespace ArdupilotMega
});
}
private static void checkForUpdate()
private static void CheckForUpdate()
{
string path = Path.GetFileNameWithoutExtension(Application.ExecutablePath) + ".exe";
var baseurl = ConfigurationManager.AppSettings["UpdateLocation"];
string path = Path.GetFileName(Application.ExecutablePath);
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl + path);
request.Timeout = 5000;
Console.Write(baseurl + path + " ");
// Set the Method property of the request to POST.
request.Method = "HEAD";
// Create a request using a URL that can receive a post.
string requestUriString = baseurl + path;
log.Debug("Checking for update at: " + requestUriString);
var webRequest = WebRequest.Create(requestUriString);
webRequest.Timeout = 5000;
((HttpWebRequest)request).IfModifiedSince = File.GetLastWriteTimeUtc(path);
// Set the Method property of the request to POST.
webRequest.Method = "HEAD";
// Get the response.
WebResponse response = request.GetResponse();
// Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
//dataStream = response.GetResponseStream();
// Open the stream using a StreamReader for easy access.
((HttpWebRequest)webRequest).IfModifiedSince = File.GetLastWriteTimeUtc(path);
bool getfile = false;
// Get the response.
var response = webRequest.GetResponse();
// Display the status.
log.Debug("Response status: " + ((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
//dataStream = response.GetResponseStream();
// Open the stream using a StreamReader for easy access.
if (File.Exists(path))
bool shouldGetFile = false;
if (File.Exists(path))
{
var fi = new FileInfo(path);
log.Info(response.Headers[HttpResponseHeader.ETag]);
if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0")
{
FileInfo fi = new FileInfo(path);
Console.WriteLine(response.Headers[HttpResponseHeader.ETag]);
if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0")
using (var sw = new StreamWriter(path + ".etag"))
{
StreamWriter sw = new StreamWriter(path + ".etag");
sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
sw.Close();
getfile = true;
Console.WriteLine("NEW FILE " + path);
}
shouldGetFile = true;
log.Info("Newer file found: " + path + " " + fi.Length + " vs " + response.ContentLength);
}
}
else
{
shouldGetFile = true;
log.Info("File does not exist: Getting " + path);
// get it
}
response.Close();
if (shouldGetFile)
{
var dr = MessageBox.Show("Update Found\n\nDo you wish to update now?", "Update Now", MessageBoxButtons.YesNo);
if (dr == DialogResult.Yes)
{
DoUpdate();
}
else
{
getfile = true;
Console.WriteLine("NEW FILE " + path);
// get it
}
response.Close();
if (getfile)
{
DialogResult dr = MessageBox.Show("Update Found\n\nDo you wish to update now?", "Update Now", MessageBoxButtons.YesNo);
if (dr == DialogResult.Yes)
{
doupdate();
}
else
{
return;
}
return;
}
}
}
public static void doupdate()
public static void DoUpdate()
{
//System.Threading.Thread t12 = new System.Threading.Thread(delegate()
{
var loading = new Form
{
Form loading = new Form();
loading.Width = 400;
loading.Height = 150;
loading.StartPosition = FormStartPosition.CenterScreen;
loading.TopMost = true;
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
loading.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
Width = 400,
Height = 150,
StartPosition = FormStartPosition.CenterScreen,
TopMost = true,
MinimizeBox = false,
MaximizeBox = false
};
var resources = new ComponentResourceManager(typeof(MainV2));
loading.Icon = ((Icon)(resources.GetObject("$this.Icon")));
Label loadinglabel = new Label();
loadinglabel.Location = new System.Drawing.Point(50, 40);
loadinglabel.Name = "load";
loadinglabel.AutoSize = true;
loadinglabel.Text = "Checking...";
loadinglabel.Size = new System.Drawing.Size(100, 20);
var loadinglabel = new Label
{
Location = new System.Drawing.Point(50, 40),
Name = "load",
AutoSize = true,
Text = "Checking...",
Size = new System.Drawing.Size(100, 20)
};
loading.Controls.Add(loadinglabel);
loading.Show();
try { MainV2.updatecheck(loadinglabel); } catch (Exception ex) { Console.WriteLine(ex.ToString()); }
try
{
MainV2.updatecheck(loadinglabel);
}
catch (Exception ex)
{
log.Error("Error in updatecheck", ex);
}
//);
//t12.Name = "Update check thread";
@ -1741,7 +1802,7 @@ namespace ArdupilotMega
List<string> files = new List<string>();
// Create a request using a URL that can receive a post.
Console.WriteLine(baseurl);
log.Info(baseurl);
WebRequest request = WebRequest.Create(baseurl);
request.Timeout = 10000;
// Set the Method property of the request to POST.
@ -1751,7 +1812,7 @@ namespace ArdupilotMega
// Get the response.
WebResponse response = request.GetResponse();
// Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription);
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
dataStream = response.GetResponseStream();
// Open the stream using a StreamReader for easy access.
@ -1790,11 +1851,11 @@ namespace ArdupilotMega
}
if (file.EndsWith("/"))
{
update = updatecheck(loadinglabel, baseurl + file, subdir.Replace("/", "\\") + file) && update;
update = updatecheck(loadinglabel, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update;
continue;
}
if (loadinglabel != null)
updatelabel(loadinglabel, "Checking " + file);
UpdateLabel(loadinglabel, "Checking " + file);
string path = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + subdir + file;
@ -1810,7 +1871,7 @@ namespace ArdupilotMega
// Get the response.
response = request.GetResponse();
// Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription);
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
//dataStream = response.GetResponseStream();
// Open the stream using a StreamReader for easy access.
@ -1821,7 +1882,7 @@ namespace ArdupilotMega
{
FileInfo fi = new FileInfo(path);
Console.WriteLine(response.Headers[HttpResponseHeader.ETag]);
log.Info(response.Headers[HttpResponseHeader.ETag]);
if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0")
{
@ -1829,13 +1890,13 @@ namespace ArdupilotMega
sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
sw.Close();
getfile = true;
Console.WriteLine("NEW FILE " + file);
log.Info("NEW FILE " + file);
}
}
else
{
getfile = true;
Console.WriteLine("NEW FILE " + file);
log.Info("NEW FILE " + file);
// get it
}
@ -1858,7 +1919,7 @@ namespace ArdupilotMega
}
}
if (loadinglabel != null)
updatelabel(loadinglabel, "Getting " + file);
UpdateLabel(loadinglabel, "Getting " + file);
// from head
long bytes = response.ContentLength;
@ -1870,10 +1931,10 @@ namespace ArdupilotMega
// Get the response.
response = request.GetResponse();
// Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription);
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
dataStream = response.GetResponseStream();
long contlen = bytes;
byte[] buf1 = new byte[1024];
@ -1891,12 +1952,12 @@ namespace ArdupilotMega
if (dt.Second != DateTime.Now.Second)
{
if (loadinglabel != null)
updatelabel(loadinglabel, "Getting " + file + ": " + (((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"); //+ Math.Abs(bytes) + " bytes");
UpdateLabel(loadinglabel, "Getting " + file + ": " + (((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"); //+ Math.Abs(bytes) + " bytes");
dt = DateTime.Now;
}
}
catch { }
Console.WriteLine(file + " " + bytes);
log.Info(file + " " + bytes);
int len = dataStream.Read(buf1, 0, 1024);
if (len == 0)
break;
@ -1945,6 +2006,13 @@ namespace ArdupilotMega
frm.Show();
return true;
}
if (keyData == (Keys.Control | Keys.A)) // test
{
Form frm = new _3DRradio();
fixtheme(frm);
frm.Show();
return true;
}
if (keyData == (Keys.Control | Keys.T)) // for override connect
{
try
@ -1996,51 +2064,13 @@ namespace ArdupilotMega
{
ComponentResourceManager rm = new ComponentResourceManager(view.GetType());
foreach (Control ctrl in view.Controls)
applyresource(rm, ctrl);
rm.ApplyResource(ctrl);
rm.ApplyResources(view, "$this");
}
}
}
}
private void applyresource(ComponentResourceManager rm, Control ctrl)
{
rm.ApplyResources(ctrl, ctrl.Name);
foreach (Control subctrl in ctrl.Controls)
applyresource(rm, subctrl);
if (ctrl.ContextMenu != null)
applyresource(rm, ctrl.ContextMenu);
if (ctrl is DataGridView)
{
foreach (DataGridViewColumn col in (ctrl as DataGridView).Columns)
rm.ApplyResources(col, col.Name);
}
}
private void applyresource(ComponentResourceManager rm, Menu menu)
{
rm.ApplyResources(menu, menu.Name);
foreach (MenuItem submenu in menu.MenuItems)
applyresource(rm, submenu);
}
public static CultureInfo getcultureinfo(string name)
{
try
{
return new CultureInfo(name);
}
catch (Exception)
{
return null;
}
}
private void MainV2_FormClosing(object sender, FormClosingEventArgs e)
{
config["MainHeight"] = this.Height;
@ -2130,5 +2160,10 @@ namespace ArdupilotMega
}
catch (Exception) { }
}
private void CMB_serialport_Enter(object sender, EventArgs e)
{
CMB_serialport_Click(sender, e);
}
}
}

10
Tools/ArdupilotMegaPlanner/Mavlink/MavlinkUtil.cs
View File

@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using log4net;
namespace ArdupilotMega.Mavlink
{
@ -11,6 +12,8 @@ namespace ArdupilotMega.Mavlink
/// </summary>
public static class MavlinkUtil
{
private static readonly ILog log =
LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
/// <summary>
/// Create a new mavlink packet object from a byte array as recieved over mavlink
/// Endianess will be detetected using packet inspection
@ -55,7 +58,7 @@ namespace ArdupilotMega.Mavlink
}
catch (Exception ex)
{
Console.WriteLine("ByteArrayToStructure FAIL: error " + ex);
log.Error("ByteArrayToStructure FAIL", ex);
}
obj = Marshal.PtrToStructure(i, obj.GetType());
@ -105,7 +108,10 @@ namespace ArdupilotMega.Mavlink
// copy byte array to ptr
Marshal.Copy(temparray, startoffset, i, len);
}
catch (Exception ex) { Console.WriteLine("ByteArrayToStructure FAIL: error " + ex.ToString()); }
catch (Exception ex)
{
log.Error("ByteArrayToStructure FAIL", ex);
}
obj = Marshal.PtrToStructure(i, obj.GetType());

206
Tools/ArdupilotMegaPlanner/MavlinkLog.zh-Hans.resx Normal file
View File

@ -0,0 +1,206 @@
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<data name="BUT_redokml.Text" xml:space="preserve">
<value>创建 KML</value>
</data>
<data name="BUT_humanreadable.Text" xml:space="preserve">
<value>转换为文本</value>
</data>
<assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
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AAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADOxkjAtnoOAKpJ4vyiK
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d/8hlXj/G6F9/xeqg/8XqYL/GKqD/xuhfv8ilnn/KZB3/y2fhP8yspPfN8ajYAAAAAAAAAAAAAAAAAAA
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qkAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAA4y6ZgMbWV/yin
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<data name="$this.Text" xml:space="preserve">
<value>记录</value>
</data>
</root>

31
Tools/ArdupilotMegaPlanner/Program.cs
View File

@ -5,12 +5,15 @@ using System.Net;
using System.IO;
using System.Text;
using System.Threading;
using log4net;
using log4net.Config;
namespace ArdupilotMega
{
static class Program
{
private static readonly ILog log = LogManager.GetLogger("Program");
/// <summary>
/// The main entry point for the application.
@ -21,23 +24,33 @@ namespace ArdupilotMega
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
Application.ThreadException += new System.Threading.ThreadExceptionEventHandler(Application_ThreadException);
Application.ThreadException += Application_ThreadException;
Application.Idle += new EventHandler(Application_Idle);
Application.Idle += Application_Idle;
//MagCalib.doWork();
//return;
//MessageBox.Show("NOTE: This version may break advanced mission scripting");
//Common.linearRegression();
Application.EnableVisualStyles();
XmlConfigurator.Configure();
log.Info("******************* Logging Configured *******************");
Application.SetCompatibleTextRenderingDefault(false);
try
{
System.Threading.Thread.CurrentThread.Name = "Base Thread";
Thread.CurrentThread.Name = "Base Thread";
Application.Run(new MainV2());
}
catch (Exception ex) { Console.WriteLine(ex.ToString()); }
catch (Exception ex)
{
log.Fatal("Fatal app exception",ex);
Console.WriteLine(ex.ToString());
}
}
static void Application_Idle(object sender, EventArgs e)
@ -48,6 +61,9 @@ namespace ArdupilotMega
static void Application_ThreadException(object sender, System.Threading.ThreadExceptionEventArgs e)
{
Exception ex = e.Exception;
log.Debug(ex.ToString());
if (ex.Message == "The port is closed.") {
MessageBox.Show("Serial connection has been lost");
return;
@ -71,7 +87,7 @@ namespace ArdupilotMega
MessageBox.Show("You are missing some DLL's. Please extract the zip file somewhere. OR Use the update feature from the menu");
return;
}
DialogResult dr = MessageBox.Show("An error has occurred\nReport this Error??? "+ex.ToString(), "Send Error", MessageBoxButtons.YesNo);
DialogResult dr = MessageBox.Show("An error has occurred\n"+ex.ToString() + "\n\nReport this Error???", "Send Error", MessageBoxButtons.YesNo);
if (DialogResult.Yes == dr)
{
try
@ -111,7 +127,10 @@ namespace ArdupilotMega
dataStream.Close();
response.Close();
}
catch { MessageBox.Show("Error sending Error report!! Youre most likerly are not on the internet"); }
catch
{
MessageBox.Show("Error sending Error report!! Youre most likerly are not on the internet");
}
}
}
}

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

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.1.40")]
[assembly: AssemblyFileVersion("1.1.46")]
[assembly: NeutralResourcesLanguageAttribute("")]

29
Tools/ArdupilotMegaPlanner/Properties/Resources.Designer.cs generated
View File

@ -214,6 +214,35 @@ namespace ArdupilotMega.Properties {
}
}
public static System.Drawing.Bitmap iconWarning32 {
get {
object obj = ResourceManager.GetObject("iconWarning32", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
public static System.Drawing.Bitmap iconWarning48 {
get {
object obj = ResourceManager.GetObject("iconWarning48", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
/// <summary>
/// Looks up a localized string similar to == MAVLink Parameters == (this is a copy fo the wiki page FYI)
///
///This is a list of all the user-modifiable MAVLink parameters and what they do. You can modify them via the MAVLink parameters window in any compatible GCS, such as the Mission Planner, HK GCS or !QGroundControl.
///
///It includes both fixed wing (APM) and rotary wing (!ArduCopter) parameters. Some may only be relevant for one platform or another.
///
///|| *EEPROM variable name* || *Min* || *Max* || *Default* || *Multiplier* || *Enabled (0 = no, 1 = yes)* [rest of string was truncated]&quot;;.
/// </summary>
public static string MAVParam {
get {
return ResourceManager.GetString("MAVParam", resourceCulture);
}
}
public static System.Drawing.Bitmap octo {
get {
object obj = ResourceManager.GetObject("octo", resourceCulture);

17
Tools/ArdupilotMegaPlanner/Properties/Resources.resx
View File

@ -181,9 +181,6 @@
<data name="hexa" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\frames-07.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="y6" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\frames-08.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="planeicon" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\planetracker.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
@ -1201,7 +1198,6 @@
<data name="opticalflow" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\BR-0016-01-3T.jpg;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="hil" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\new frames-10.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
@ -1220,4 +1216,17 @@
<data name="octov" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\new frames-06.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="iconWarning32" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\iconWarning32.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="iconWarning48" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\iconWarning48.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="y6" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\y6.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</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.txt;System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089;Windows-1252</value>
</data>
</root>

65
Tools/ArdupilotMegaPlanner/Protocol.cs Normal file
View File

@ -0,0 +1,65 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Collections;
using System.IO;
namespace ArdupilotMega
{
partial interface Protocol
{
byte[][] packets { get; set; }
PointLatLngAlt[] wps { get; set; }
ICommsSerial BaseStream { get; set; }
int bps { get; set; }
bool debugmavlink { get; set; }
DateTime lastvalidpacket {get;set;}
bool logreadmode { get; set; }
DateTime lastlogread { get; set; }
BinaryReader logplaybackfile { get; set; }
BinaryWriter logfile { get; set; }
byte sysid { get; set; }
byte compid { get; set; }
Hashtable param { get; set; }
void UpdateCurrentSettings(ref CurrentState cs);
void Close();
void Open();
void Open(bool getparams);
void sendPacket(object indata);
bool Write(string line);
bool setParam(string paramname, float value);
Hashtable getParamList();
void modifyParamForDisplay(bool fromapm, string paramname, ref float value);
void stopall(bool forget);
void setWPACK();
bool setWPCurrent(ushort index);
bool doAction(byte actionid); // MAV_ACTION
void requestDatastream(byte id, byte hzrate);
byte getWPCount();
Locationwp getWP(ushort index);
object DebugPacket(byte[] datin);
object DebugPacket(byte[] datin, ref string text);
void setWPTotal(ushort wp_total);
void setWP(Locationwp loc, ushort index, byte frame, byte current); //MAV_FRAME
void setMountConfigure(byte mountmode, bool stabroll, bool stabpitch, bool stabyaw); //MAV_MOUNT_MODE
void setMountControl(double pa, double pb, double pc, bool islatlng);
void setMode(string modein);
byte[] readPacket();
bool translateMode(string modein, ref object navmode, ref object mode);
}
}

661
Tools/ArdupilotMegaPlanner/Radio/3DRradio.Designer.cs generated Normal file
View File

@ -0,0 +1,661 @@
namespace ArdupilotMega
{
partial class _3DRradio
{
/// <summary>
/// Required designer variable.
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// Clean up any resources being used.
/// </summary>
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
private void InitializeComponent()
{
this.components = new System.ComponentModel.Container();
this.Progressbar = new System.Windows.Forms.ProgressBar();
this.S1 = new System.Windows.Forms.ComboBox();
this.label1 = new System.Windows.Forms.Label();
this.S0 = new System.Windows.Forms.TextBox();
this.label2 = new System.Windows.Forms.Label();
this.label3 = new System.Windows.Forms.Label();
this.S2 = new System.Windows.Forms.ComboBox();
this.label4 = new System.Windows.Forms.Label();
this.S3 = new System.Windows.Forms.ComboBox();
this.label5 = new System.Windows.Forms.Label();
this.S4 = new System.Windows.Forms.ComboBox();
this.label6 = new System.Windows.Forms.Label();
this.S5 = new System.Windows.Forms.CheckBox();
this.label7 = new System.Windows.Forms.Label();
this.S6 = new System.Windows.Forms.CheckBox();
this.label8 = new System.Windows.Forms.Label();
this.S7 = new System.Windows.Forms.CheckBox();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.RS7 = new System.Windows.Forms.CheckBox();
this.RS6 = new System.Windows.Forms.CheckBox();
this.RS5 = new System.Windows.Forms.CheckBox();
this.RS4 = new System.Windows.Forms.ComboBox();
this.RS3 = new System.Windows.Forms.ComboBox();
this.RS2 = new System.Windows.Forms.ComboBox();
this.RS1 = new System.Windows.Forms.ComboBox();
this.RS0 = new System.Windows.Forms.TextBox();
this.label9 = new System.Windows.Forms.Label();
this.label10 = new System.Windows.Forms.Label();
this.RTI = new System.Windows.Forms.TextBox();
this.ATI = new System.Windows.Forms.TextBox();
this.RSSI = new System.Windows.Forms.TextBox();
this.label11 = new System.Windows.Forms.Label();
this.label12 = new System.Windows.Forms.Label();
this.BUT_savesettings = new ArdupilotMega.MyButton();
this.BUT_getcurrent = new ArdupilotMega.MyButton();
this.lbl_status = new System.Windows.Forms.Label();
this.BUT_upload = new ArdupilotMega.MyButton();
this.BUT_syncS2 = new ArdupilotMega.MyButton();
this.BUT_syncS3 = new ArdupilotMega.MyButton();
this.BUT_syncS5 = new ArdupilotMega.MyButton();
this.SuspendLayout();
//
// Progressbar
//
this.Progressbar.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.Progressbar.Location = new System.Drawing.Point(12, 402);
this.Progressbar.Name = "Progressbar";
this.Progressbar.Size = new System.Drawing.Size(294, 36);
this.Progressbar.TabIndex = 2;
//
// S1
//
this.S1.FormattingEnabled = true;
this.S1.Items.AddRange(new object[] {
"115",
"111",
"57",
"38",
"19",
"9",
"4",
"2",
"1"});
this.S1.Location = new System.Drawing.Point(87, 141);
this.S1.Name = "S1";
this.S1.Size = new System.Drawing.Size(80, 21);
this.S1.TabIndex = 4;
this.toolTip1.SetToolTip(this.S1, "Serial Baud Rate 57 = 57600");
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(15, 149);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(32, 13);
this.label1.TabIndex = 5;
this.label1.Text = "Baud";
//
// S0
//
this.S0.Location = new System.Drawing.Point(87, 115);
this.S0.Name = "S0";
this.S0.ReadOnly = true;
this.S0.Size = new System.Drawing.Size(80, 20);
this.S0.TabIndex = 7;
//
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(15, 122);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(39, 13);
this.label2.TabIndex = 8;
this.label2.Text = "Format";
//
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(15, 176);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(53, 13);
this.label3.TabIndex = 10;
this.label3.Text = "Air Speed";
//
// S2
//
this.S2.FormattingEnabled = true;
this.S2.Items.AddRange(new object[] {
"192",
"160",
"128",
"96",
"64",
"32",
"16"});
this.S2.Location = new System.Drawing.Point(87, 168);
this.S2.Name = "S2";
this.S2.Size = new System.Drawing.Size(80, 21);
this.S2.TabIndex = 9;
this.toolTip1.SetToolTip(this.S2, "the inter-radio data rate in rounded kbps. So 128 means");
//
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(15, 203);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(38, 13);
this.label4.TabIndex = 12;
this.label4.Text = "Net ID";
//
// S3
//
this.S3.FormattingEnabled = true;
this.S3.Items.AddRange(new object[] {
"1",
"2",
"3",
"4",
"5",
"6",
"7",
"8",
"9",
"10",
"11",
"12",
"13",
"14",
"15",
"16",
"17",
"18",
"19",
"20",
"21",
"22",
"23",
"24",
"25",
"26",
"27",
"28",
"29",
"30"});
this.S3.Location = new System.Drawing.Point(87, 195);
this.S3.Name = "S3";
this.S3.Size = new System.Drawing.Size(80, 21);
this.S3.TabIndex = 11;
this.toolTip1.SetToolTip(this.S3, "a 16 bit \'network ID\'. This is used to seed the frequency");
//
// label5
//
this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(15, 230);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(52, 13);
this.label5.TabIndex = 14;
this.label5.Text = "Tx Power";
//
// S4
//
this.S4.FormattingEnabled = true;
this.S4.Items.AddRange(new object[] {
"0",
"1",
"2",
"3",
"4",
"5",
"6",
"7",
"8",
"9",
"10",
"11",
"12",
"13",
"14",
"15",
"16",
"17",
"18",
"19",
"20"});
this.S4.Location = new System.Drawing.Point(87, 222);
this.S4.Name = "S4";
this.S4.Size = new System.Drawing.Size(80, 21);
this.S4.TabIndex = 13;
this.toolTip1.SetToolTip(this.S4, "the transmit power in dBm. 20dBm is 100mW. It is useful to");
//
// label6
//
this.label6.AutoSize = true;
this.label6.Location = new System.Drawing.Point(15, 257);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(28, 13);
this.label6.TabIndex = 16;
this.label6.Text = "ECC";
//
// S5
//
this.S5.Location = new System.Drawing.Point(87, 249);
this.S5.Name = "S5";
this.S5.Size = new System.Drawing.Size(80, 21);
this.S5.TabIndex = 15;
this.toolTip1.SetToolTip(this.S5, "to enable/disable the golay error correcting code. It defaults");
//
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(15, 284);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(44, 13);
this.label7.TabIndex = 18;
this.label7.Text = "Mavlink";
//
// S6
//
this.S6.Location = new System.Drawing.Point(87, 276);
this.S6.Name = "S6";
this.S6.Size = new System.Drawing.Size(80, 21);
this.S6.TabIndex = 17;
this.toolTip1.SetToolTip(this.S6, "enables/disables MAVLink packet framing. This tries to align");
//
// label8
//
this.label8.AutoSize = true;
this.label8.Location = new System.Drawing.Point(15, 311);
this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(68, 13);
this.label8.TabIndex = 20;
this.label8.Text = "Op Pre Send";
//
// S7
//
this.S7.Location = new System.Drawing.Point(87, 303);
this.S7.Name = "S7";
this.S7.Size = new System.Drawing.Size(80, 21);
this.S7.TabIndex = 19;
this.toolTip1.SetToolTip(this.S7, "enables/disables \"opportunistic resend\". When enabled the");
//
// RS7
//
this.RS7.Location = new System.Drawing.Point(201, 303);
this.RS7.Name = "RS7";
this.RS7.Size = new System.Drawing.Size(80, 21);
this.RS7.TabIndex = 29;
this.toolTip1.SetToolTip(this.RS7, "enables/disables \"opportunistic resend\". When enabled the");
//
// RS6
//
this.RS6.Location = new System.Drawing.Point(201, 276);
this.RS6.Name = "RS6";
this.RS6.Size = new System.Drawing.Size(80, 21);
this.RS6.TabIndex = 28;
this.toolTip1.SetToolTip(this.RS6, "enables/disables MAVLink packet framing. This tries to align");
//
// RS5
//
this.RS5.Location = new System.Drawing.Point(201, 249);
this.RS5.Name = "RS5";
this.RS5.Size = new System.Drawing.Size(80, 21);
this.RS5.TabIndex = 27;
this.toolTip1.SetToolTip(this.RS5, "to enable/disable the golay error correcting code. It defaults");
//
// RS4
//
this.RS4.FormattingEnabled = true;
this.RS4.Items.AddRange(new object[] {
"0",
"1",
"2",
"3",
"4",
"5",
"6",
"7",
"8",
"9",
"10",
"11",
"12",
"13",
"14",
"15",
"16",
"17",
"18",
"19",
"20"});
this.RS4.Location = new System.Drawing.Point(201, 222);
this.RS4.Name = "RS4";
this.RS4.Size = new System.Drawing.Size(80, 21);
this.RS4.TabIndex = 26;
this.toolTip1.SetToolTip(this.RS4, "the transmit power in dBm. 20dBm is 100mW. It is useful to");
//
// RS3
//
this.RS3.FormattingEnabled = true;
this.RS3.Items.AddRange(new object[] {
"1",
"2",
"3",
"4",
"5",
"6",
"7",
"8",
"9",
"10",
"11",
"12",
"13",
"14",
"15",
"16",
"17",
"18",
"19",
"20",
"21",
"22",
"23",
"24",
"25",
"26",
"27",
"28",
"29",
"30"});
this.RS3.Location = new System.Drawing.Point(201, 195);
this.RS3.Name = "RS3";
this.RS3.Size = new System.Drawing.Size(80, 21);
this.RS3.TabIndex = 25;
this.toolTip1.SetToolTip(this.RS3, "a 16 bit \'network ID\'. This is used to seed the frequency");
//
// RS2
//
this.RS2.FormattingEnabled = true;
this.RS2.Items.AddRange(new object[] {
"192",
"160",
"128",
"96",
"64",
"32",
"16"});
this.RS2.Location = new System.Drawing.Point(201, 168);
this.RS2.Name = "RS2";
this.RS2.Size = new System.Drawing.Size(80, 21);
this.RS2.TabIndex = 24;
this.toolTip1.SetToolTip(this.RS2, "the inter-radio data rate in rounded kbps. So 128 means");
//
// RS1
//
this.RS1.FormattingEnabled = true;
this.RS1.Items.AddRange(new object[] {
"115",
"111",
"57",
"38",
"19",
"9",
"4",
"2",
"1"});
this.RS1.Location = new System.Drawing.Point(201, 141);
this.RS1.Name = "RS1";
this.RS1.Size = new System.Drawing.Size(80, 21);
this.RS1.TabIndex = 22;
this.toolTip1.SetToolTip(this.RS1, "Serial Baud Rate 57 = 57600");
//
// RS0
//
this.RS0.Location = new System.Drawing.Point(201, 115);
this.RS0.Name = "RS0";
this.RS0.ReadOnly = true;
this.RS0.Size = new System.Drawing.Size(80, 20);
this.RS0.TabIndex = 23;
//
// label9
//
this.label9.AutoSize = true;
this.label9.Location = new System.Drawing.Point(108, 9);
this.label9.Name = "label9";
this.label9.Size = new System.Drawing.Size(33, 13);
this.label9.TabIndex = 30;
this.label9.Text = "Local";
//
// label10
//
this.label10.AutoSize = true;
this.label10.Location = new System.Drawing.Point(225, 9);
this.label10.Name = "label10";
this.label10.Size = new System.Drawing.Size(44, 13);
this.label10.TabIndex = 31;
this.label10.Text = "Remote";
//
// RTI
//
this.RTI.Location = new System.Drawing.Point(201, 25);
this.RTI.Name = "RTI";
this.RTI.ReadOnly = true;
this.RTI.Size = new System.Drawing.Size(80, 20);
this.RTI.TabIndex = 33;
//
// ATI
//
this.ATI.Location = new System.Drawing.Point(87, 25);
this.ATI.Name = "ATI";
this.ATI.ReadOnly = true;
this.ATI.Size = new System.Drawing.Size(80, 20);
this.ATI.TabIndex = 32;
//
// RSSI
//
this.RSSI.Location = new System.Drawing.Point(87, 51);
this.RSSI.Multiline = true;
this.RSSI.Name = "RSSI";
this.RSSI.ReadOnly = true;
this.RSSI.Size = new System.Drawing.Size(194, 58);
this.RSSI.TabIndex = 34;
//
// label11
//
this.label11.AutoSize = true;
this.label11.Location = new System.Drawing.Point(15, 32);
this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(42, 13);
this.label11.TabIndex = 36;
this.label11.Text = "Version";
//
// label12
//
this.label12.AutoSize = true;
this.label12.Location = new System.Drawing.Point(15, 58);
this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(32, 13);
this.label12.TabIndex = 37;
this.label12.Text = "RSSI";
//
// BUT_savesettings
//
this.BUT_savesettings.Location = new System.Drawing.Point(99, 330);
this.BUT_savesettings.Name = "BUT_savesettings";
this.BUT_savesettings.Size = new System.Drawing.Size(75, 39);
this.BUT_savesettings.TabIndex = 21;
this.BUT_savesettings.Text = "Save Settings";
this.BUT_savesettings.UseVisualStyleBackColor = true;
this.BUT_savesettings.Click += new System.EventHandler(this.BUT_savesettings_Click);
//
// BUT_getcurrent
//
this.BUT_getcurrent.Location = new System.Drawing.Point(18, 330);
this.BUT_getcurrent.Name = "BUT_getcurrent";
this.BUT_getcurrent.Size = new System.Drawing.Size(75, 39);
this.BUT_getcurrent.TabIndex = 6;
this.BUT_getcurrent.Text = "Load Settings";
this.BUT_getcurrent.UseVisualStyleBackColor = true;
this.BUT_getcurrent.Click += new System.EventHandler(this.BUT_getcurrent_Click);
//
// lbl_status
//
this.lbl_status.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.lbl_status.BackColor = System.Drawing.Color.Transparent;
this.lbl_status.Location = new System.Drawing.Point(12, 374);
this.lbl_status.Name = "lbl_status";
this.lbl_status.Size = new System.Drawing.Size(294, 22);
this.lbl_status.TabIndex = 3;
//
// BUT_upload
//
this.BUT_upload.Location = new System.Drawing.Point(180, 330);
this.BUT_upload.Name = "BUT_upload";
this.BUT_upload.Size = new System.Drawing.Size(127, 39);
this.BUT_upload.TabIndex = 0;
this.BUT_upload.Text = "Upload Firmware (Local)";
this.BUT_upload.UseVisualStyleBackColor = true;
this.BUT_upload.Click += new System.EventHandler(this.BUT_upload_Click);
//
// BUT_syncS2
//
this.BUT_syncS2.Location = new System.Drawing.Point(173, 168);
this.BUT_syncS2.Name = "BUT_syncS2";
this.BUT_syncS2.Size = new System.Drawing.Size(22, 23);
this.BUT_syncS2.TabIndex = 38;
this.BUT_syncS2.Text = ">";
this.BUT_syncS2.UseVisualStyleBackColor = true;
this.BUT_syncS2.Click += new System.EventHandler(this.BUT_syncS2_Click);
//
// BUT_syncS3
//
this.BUT_syncS3.Location = new System.Drawing.Point(173, 195);
this.BUT_syncS3.Name = "BUT_syncS3";
this.BUT_syncS3.Size = new System.Drawing.Size(22, 23);
this.BUT_syncS3.TabIndex = 39;
this.BUT_syncS3.Text = ">";
this.BUT_syncS3.UseVisualStyleBackColor = true;
this.BUT_syncS3.Click += new System.EventHandler(this.BUT_syncS3_Click);
//
// BUT_syncS5
//
this.BUT_syncS5.Location = new System.Drawing.Point(173, 247);
this.BUT_syncS5.Name = "BUT_syncS5";
this.BUT_syncS5.Size = new System.Drawing.Size(22, 23);
this.BUT_syncS5.TabIndex = 40;
this.BUT_syncS5.Text = ">";
this.BUT_syncS5.UseVisualStyleBackColor = true;
this.BUT_syncS5.Click += new System.EventHandler(this.BUT_syncS5_Click);
//
// _3DRradio
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(318, 444);
this.Controls.Add(this.BUT_syncS5);
this.Controls.Add(this.BUT_syncS3);
this.Controls.Add(this.BUT_syncS2);
this.Controls.Add(this.label12);
this.Controls.Add(this.label11);
this.Controls.Add(this.RSSI);
this.Controls.Add(this.RTI);
this.Controls.Add(this.ATI);
this.Controls.Add(this.label10);
this.Controls.Add(this.label9);
this.Controls.Add(this.RS7);
this.Controls.Add(this.RS6);
this.Controls.Add(this.RS5);
this.Controls.Add(this.RS4);
this.Controls.Add(this.RS3);
this.Controls.Add(this.RS2);
this.Controls.Add(this.RS0);
this.Controls.Add(this.RS1);
this.Controls.Add(this.BUT_savesettings);
this.Controls.Add(this.label8);
this.Controls.Add(this.S7);
this.Controls.Add(this.label7);
this.Controls.Add(this.S6);
this.Controls.Add(this.label6);
this.Controls.Add(this.S5);
this.Controls.Add(this.label5);
this.Controls.Add(this.S4);
this.Controls.Add(this.label4);
this.Controls.Add(this.S3);
this.Controls.Add(this.label3);
this.Controls.Add(this.S2);
this.Controls.Add(this.label2);
this.Controls.Add(this.S0);
this.Controls.Add(this.BUT_getcurrent);
this.Controls.Add(this.label1);
this.Controls.Add(this.S1);
this.Controls.Add(this.lbl_status);
this.Controls.Add(this.Progressbar);
this.Controls.Add(this.BUT_upload);
this.MaximizeBox = false;
this.MinimizeBox = false;
this.MinimumSize = new System.Drawing.Size(334, 482);
this.Name = "_3DRradio";
this.Text = "3DRradio";
this.ResumeLayout(false);
this.PerformLayout();
}
#endregion
private MyButton BUT_upload;
private System.Windows.Forms.ProgressBar Progressbar;
private System.Windows.Forms.Label lbl_status;
private System.Windows.Forms.ComboBox S1;
private System.Windows.Forms.Label label1;
private MyButton BUT_getcurrent;
private System.Windows.Forms.TextBox S0;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.Label label3;
private System.Windows.Forms.ComboBox S2;
private System.Windows.Forms.Label label4;
private System.Windows.Forms.ComboBox S3;
private System.Windows.Forms.Label label5;
private System.Windows.Forms.ComboBox S4;
private System.Windows.Forms.Label label6;
private System.Windows.Forms.CheckBox S5;
private System.Windows.Forms.Label label7;
private System.Windows.Forms.CheckBox S6;
private System.Windows.Forms.Label label8;
private System.Windows.Forms.CheckBox S7;
private MyButton BUT_savesettings;
private System.Windows.Forms.ToolTip toolTip1;
private System.Windows.Forms.CheckBox RS7;
private System.Windows.Forms.CheckBox RS6;
private System.Windows.Forms.CheckBox RS5;
private System.Windows.Forms.ComboBox RS4;
private System.Windows.Forms.ComboBox RS3;
private System.Windows.Forms.ComboBox RS2;
private System.Windows.Forms.TextBox RS0;
private System.Windows.Forms.ComboBox RS1;
private System.Windows.Forms.Label label9;
private System.Windows.Forms.Label label10;
private System.Windows.Forms.TextBox RTI;
private System.Windows.Forms.TextBox ATI;
private System.Windows.Forms.TextBox RSSI;
private System.Windows.Forms.Label label11;
private System.Windows.Forms.Label label12;
private MyButton BUT_syncS2;
private MyButton BUT_syncS3;
private MyButton BUT_syncS5;
}
}

612
Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs Normal file
View File

@ -0,0 +1,612 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Net;
using System.IO;
namespace ArdupilotMega
{
public partial class _3DRradio : Form
{
public delegate void LogEventHandler(string message, int level = 0);
public delegate void ProgressEventHandler(double completed);
string firmwarefile = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "radio.hm_trp.hex";
public _3DRradio()
{
InitializeComponent();
S3.DataSource = Enumerable.Range(0, 500).ToArray();
RS3.DataSource = S3.DataSource;
}
bool getFirmware()
{
//https://raw.github.com/tridge/SiK/master/Firmware/dst/radio.hm_trp.hex
return Common.getFilefromNet("https://raw.github.com/tridge/SiK/master/Firmware/dst/radio.hm_trp.hex", firmwarefile);
}
void Sleep(int mstimeout)
{
DateTime endtime = DateTime.Now.AddMilliseconds(mstimeout);
while (DateTime.Now < endtime)
{
System.Threading.Thread.Sleep(1);
Application.DoEvents();
}
}
private void BUT_upload_Click(object sender, EventArgs e)
{
ArduinoSTK comPort = new ArduinoSTK();
uploader.Uploader uploader = new uploader.Uploader();
try
{
comPort.PortName = MainV2.comPort.BaseStream.PortName;
comPort.BaudRate = 115200;
comPort.Open();
}
catch { MessageBox.Show("Invalid ComPort or in use"); return; }
bool bootloadermode = false;
uploader.ProgressEvent += new ProgressEventHandler(uploader_ProgressEvent);
uploader.LogEvent += new LogEventHandler(uploader_LogEvent);
try
{
uploader_ProgressEvent(0);
uploader_LogEvent("Trying Bootloader Mode");
uploader.port = comPort;
uploader.connect_and_sync();
uploader_LogEvent("In Bootloader Mode");
bootloadermode = true;
}
catch {
comPort.Close();
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
comPort.Open();
uploader_LogEvent("Trying Firmware Mode");
bootloadermode = false;
}
if (bootloadermode || doConnect(comPort))
{
if (getFirmware())
{
uploader.IHex iHex = new uploader.IHex();
iHex.LogEvent += new LogEventHandler(iHex_LogEvent);
iHex.ProgressEvent += new ProgressEventHandler(iHex_ProgressEvent);
try
{
iHex.load(firmwarefile);
}
catch { MessageBox.Show("Bad Firmware File"); goto exit; }
if (!bootloadermode)
{
try
{
comPort.Write("AT&UPDATE\r\n");
string left = comPort.ReadExisting();
Console.WriteLine(left);
Sleep(700);
comPort.BaudRate = 115200;
}
catch { }
}
try
{
uploader.upload(comPort, iHex);
}
catch (Exception ex) { MessageBox.Show("Upload Failed " + ex.Message); }
}
else
{
MessageBox.Show("Failed to download new firmware");
}
}
else
{
MessageBox.Show("Failed to identify Radio");
}
exit:
if (comPort.IsOpen)
comPort.Close();
}
void iHex_ProgressEvent(double completed)
{
try
{
Progressbar.Value = (int)(completed * 100);
Application.DoEvents();
}
catch { }
}
void uploader_LogEvent(string message, int level = 0)
{
try
{
if (level == 0)
{
Console.Write(message);
lbl_status.Text = message;
Application.DoEvents();
}
}
catch { }
}
void iHex_LogEvent(string message, int level = 0)
{
try
{
if (level == 0)
{
lbl_status.Text = message;
Console.WriteLine(message);
Application.DoEvents();
}
}
catch { }
}
void uploader_ProgressEvent(double completed)
{
try
{
Progressbar.Value = (int)(completed * 100);
Application.DoEvents();
}
catch { }
}
private void BUT_savesettings_Click(object sender, EventArgs e)
{
ArdupilotMega.ICommsSerial comPort = new SerialPort();
try {
comPort.PortName = MainV2.comPort.BaseStream.PortName;
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
comPort.ReadTimeout = 4000;
comPort.Open();
}
catch { MessageBox.Show("Invalid ComPort or in use"); return; }
lbl_status.Text = "Connecting";
if (doConnect(comPort))
{
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command";
if (RTI.Text != "")
{
// remote
string answer = doCommand(comPort, "RTI5");
string[] items = answer.Split('\n');
foreach (string item in items)
{
if (item.StartsWith("S"))
{
string[] values = item.Split(':', '=');
if (values.Length == 3)
{
Control[] controls = this.Controls.Find("R" + values[0].Trim(), false);
if (controls.Length > 0)
{
if (controls[0].GetType() == typeof(CheckBox))
{
string value = ((CheckBox)controls[0]).Checked ? "1" : "0";
if (value != values[2].Trim())
{
string cmdanswer = doCommand(comPort, "RT" + values[0].Trim() + "=" + value + "\r");
if (cmdanswer.Contains("OK"))
{
}
else
{
MessageBox.Show("Set Command error");
}
}
}
else
{
if (controls[0].Text != values[2].Trim() && controls[0].Text != "")
{
string cmdanswer = doCommand(comPort, "RT" + values[0].Trim() + "=" + controls[0].Text + "\r");
if (cmdanswer.Contains("OK"))
{
}
else
{
MessageBox.Show("Set Command error");
}
}
}
}
}
}
}
// write it
doCommand(comPort, "RT&W");
// return to normal mode
doCommand(comPort, "RTZ");
Sleep(100);
}
comPort.DiscardInBuffer();
{
//local
string answer = doCommand(comPort, "ATI5");
string[] items = answer.Split('\n');
foreach (string item in items)
{
if (item.StartsWith("S"))
{
string[] values = item.Split(':', '=');
if (values.Length == 3)
{
Control[] controls = this.Controls.Find(values[0].Trim(), false);
if (controls.Length > 0)
{
if (controls[0].GetType() == typeof(CheckBox))
{
string value = ((CheckBox)controls[0]).Checked ? "1" : "0";
if (value != values[2].Trim())
{
string cmdanswer = doCommand(comPort, "AT" + values[0].Trim() + "=" + value + "\r");
if (cmdanswer.Contains("OK"))
{
}
else
{
MessageBox.Show("Set Command error");
}
}
}
else
{
if (controls[0].Text != values[2].Trim())
{
string cmdanswer = doCommand(comPort, "AT" + values[0].Trim() + "=" + controls[0].Text + "\r");
if (cmdanswer.Contains("OK"))
{
}
else
{
MessageBox.Show("Set Command error");
}
}
}
}
}
}
}
// write it
doCommand(comPort, "AT&W");
// return to normal mode
doCommand(comPort, "ATZ");
}
lbl_status.Text = "Done";
}
else
{
// return to normal mode
doCommand(comPort, "ATZ");
lbl_status.Text = "Fail";
MessageBox.Show("Failed to enter command mode");
}
comPort.Close();
}
private void BUT_getcurrent_Click(object sender, EventArgs e)
{
ArdupilotMega.ICommsSerial comPort = new SerialPort();
try
{
comPort.PortName = MainV2.comPort.BaseStream.PortName;
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
comPort.ReadTimeout = 4000;
comPort.Open();
}
catch { MessageBox.Show("Invalid ComPort or in use"); return; }
lbl_status.Text = "Connecting";
if (doConnect(comPort))
{
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command ATI & RTI";
ATI.Text = doCommand(comPort, "ATI1").Trim();
RTI.Text = doCommand(comPort, "RTI1").Trim();
RSSI.Text = doCommand(comPort, "ATI7").Trim();
lbl_status.Text = "Doing Command ATI5";
string answer = doCommand(comPort, "ATI5");
string[] items = answer.Split('\n');
foreach (string item in items)
{
if (item.StartsWith("S"))
{
string[] values = item.Split(':', '=');
if (values.Length == 3)
{
Control[] controls = this.Controls.Find(values[0].Trim(), false);
if (controls.Length > 0)
{
if (controls[0].GetType() == typeof(CheckBox))
{
((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
}
else
{
controls[0].Text = values[2].Trim();
}
}
}
}
}
// remote
foreach (Control ctl in this.Controls)
{
if (ctl.Name.StartsWith("RS") && ctl.Name != "RSSI")
ctl.ResetText();
}
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command RTI5";
answer = doCommand(comPort, "RTI5");
items = answer.Split('\n');
foreach (string item in items)
{
if (item.StartsWith("S"))
{
string[] values = item.Split(':', '=');
if (values.Length == 3)
{
Control[] controls = this.Controls.Find("R" + values[0].Trim(), false);
if (controls[0].GetType() == typeof(CheckBox))
{
((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
}
else if (controls[0].GetType() == typeof(TextBox))
{
((TextBox)controls[0]).Text = values[2].Trim();
}
else if (controls[0].GetType() == typeof(ComboBox))
{
((ComboBox)controls[0]).SelectedText = values[2].Trim();
}
}
else
{
Console.WriteLine("Odd config line :" + item);
}
}
}
// off hook
doCommand(comPort, "ATO");
lbl_status.Text = "Done";
}
else
{
// off hook
doCommand(comPort, "ATO");
lbl_status.Text = "Fail";
MessageBox.Show("Failed to enter command mode");
}
comPort.Close();
}
string Serial_ReadLine(ArdupilotMega.ICommsSerial comPort)
{
StringBuilder sb = new StringBuilder();
DateTime Deadline = DateTime.Now.AddMilliseconds(comPort.ReadTimeout);
while (DateTime.Now < Deadline)
{
if (comPort.BytesToRead > 0)
{
byte data = (byte)comPort.ReadByte();
sb.Append((char)data);
if (data == '\n')
break;
}
}
return sb.ToString();
}
string doCommand(ArdupilotMega.ICommsSerial comPort, string cmd, int level = 0)
{
if (!comPort.IsOpen)
return "";
comPort.ReadTimeout = 1000;
// setup to known state
comPort.Write("\r\n");
// alow some time to gather thoughts
Sleep(100);
// ignore all existing data
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command " + cmd;
Console.WriteLine("Doing Command " + cmd);
// write command
comPort.Write(cmd + "\r\n");
// read echoed line or existing data
string temp;
try
{
temp = Serial_ReadLine(comPort);
}
catch { temp = comPort.ReadExisting(); }
Console.WriteLine("cmd " + cmd + " echo " + temp);
// delay for command
Sleep(500);
// get responce
string ans = "";
while (comPort.BytesToRead > 0)
{
try
{
ans = ans + Serial_ReadLine(comPort) + "\n";
}
catch { ans = ans + comPort.ReadExisting() + "\n"; }
Sleep(50);
if (ans.Length > 500)
{
break;
}
}
Console.WriteLine("responce " + level + " " + ans.Replace('\0',' '));
// try again
if (ans == "" && level == 0)
return doCommand(comPort, cmd, 1);
return ans;
}
bool doConnect(ArdupilotMega.ICommsSerial comPort)
{
// clear buffer
comPort.DiscardInBuffer();
// setup a known enviroment
comPort.Write("\r\n");
// wait
Sleep(1100);
// send config string
comPort.Write("+++");
// wait
Sleep(1100);
// check for config responce "OK"
Console.WriteLine("Connect btr " + comPort.BytesToRead + " baud " + comPort.BaudRate);
string conn = comPort.ReadExisting();
Console.WriteLine("Connect first responce " + conn.Replace('\0',' ') + " " + conn.Length);
if (conn.Contains("OK"))
{
//return true;
}
else
{
// cleanup incase we are already in cmd mode
comPort.Write("\r\n");
}
string version = doCommand(comPort, "ATI");
Console.Write("Connect Version: " + version.Trim() + "\n");
if (version.Contains("on HM-TRP"))
{
return true;
}
return false;
}
private void BUT_syncS2_Click(object sender, EventArgs e)
{
RS2.Text = S2.Text;
}
private void BUT_syncS3_Click(object sender, EventArgs e)
{
RS3.Text = S3.Text;
}
private void BUT_syncS5_Click(object sender, EventArgs e)
{
RS5.Checked = S5.Checked;
}
}
}

123
Tools/ArdupilotMegaPlanner/Radio/3DRradio.resx Normal file
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@ -0,0 +1,123 @@
<?xml version="1.0" encoding="utf-8"?>
<root>
<!--
Microsoft ResX Schema
Version 2.0
The primary goals of this format is to allow a simple XML format
that is mostly human readable. The generation and parsing of the
various data types are done through the TypeConverter classes
associated with the data types.
Example:
... ado.net/XML headers & schema ...
<resheader name="resmimetype">text/microsoft-resx</resheader>
<resheader name="version">2.0</resheader>
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
<value>[base64 mime encoded serialized .NET Framework object]</value>
</data>
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
<comment>This is a comment</comment>
</data>
There are any number of "resheader" rows that contain simple
name/value pairs.
Each data row contains a name, and value. The row also contains a
type or mimetype. Type corresponds to a .NET class that support
text/value conversion through the TypeConverter architecture.
Classes that don't support this are serialized and stored with the
mimetype set.
The mimetype is used for serialized objects, and tells the
ResXResourceReader how to depersist the object. This is currently not
extensible. For a given mimetype the value must be set accordingly:
Note - application/x-microsoft.net.object.binary.base64 is the format
that the ResXResourceWriter will generate, however the reader can
read any of the formats listed below.
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
value : The object must be serialized with
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.bytearray.base64
value : The object must be serialized into a byte array
: using a System.ComponentModel.TypeConverter
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
<xsd:element name="metadata">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
<xsd:complexType>
<xsd:attribute name="alias" type="xsd:string" />
<xsd:attribute name="name" type="xsd:string" />
</xsd:complexType>
</xsd:element>
<xsd:element name="data">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" use="required" />
</xsd:complexType>
</xsd:element>
</xsd:choice>
</xsd:complexType>
</xsd:element>
</xsd:schema>
<resheader name="resmimetype">
<value>text/microsoft-resx</value>
</resheader>
<resheader name="version">
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
</root>

147
Tools/ArdupilotMegaPlanner/Radio/IHex.cs Normal file
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@ -0,0 +1,147 @@
using System;
using System.Collections.Generic;
using System.IO;
namespace uploader
{
public class IHex : SortedList<UInt32, byte[]>
{
public event ArdupilotMega._3DRradio.LogEventHandler LogEvent;
public event ArdupilotMega._3DRradio.ProgressEventHandler ProgressEvent;
private SortedList<UInt32, UInt32> merge_index;
public IHex ()
{
merge_index = new SortedList<UInt32, UInt32> ();
}
public void load (string fromPath)
{
StreamReader sr = new StreamReader (fromPath);
UInt32 loadedSize = 0;
// discard anything we might previous have loaded
Clear ();
merge_index.Clear ();
log (string.Format ("reading from {0}\n", Path.GetFileName(fromPath)));
while (!sr.EndOfStream) {
string line = sr.ReadLine ();
// every line must start with a :
if (!line.StartsWith (":"))
throw new Exception ("invalid IntelHex file");
if (ProgressEvent != null)
ProgressEvent(sr.BaseStream.Position / (double)sr.BaseStream.Length);
// parse the record type and data length, assume ihex8
// ignore the checksum
byte length = Convert.ToByte (line.Substring (1, 2), 16);
UInt32 address = Convert.ToUInt32 (line.Substring (3, 4), 16);
byte rtype = Convert.ToByte (line.Substring (7, 2), 16);
// handle type zero (data) records
if (rtype == 0) {
byte[] b = new byte[length];
string hexbytes = line.Substring (9, length * 2);
// convert hex bytes
for (int i = 0; i < length; i++) {
b [i] = Convert.ToByte (hexbytes.Substring (i * 2, 2), 16);
}
log (string.Format ("ihex: 0x{0:X}: {1}\n", address, length), 1);
loadedSize += length;
// and add to the list of ranges
insert (address, b);
}
}
if (Count < 1)
throw new Exception ("no data in IntelHex file");
log (string.Format ("read {0} bytes from {1}\n", loadedSize, fromPath));
}
private void log (string message, int level = 0)
{
if (LogEvent != null)
LogEvent (message, level);
}
private void idx_record (UInt32 start, byte[] data)
{
UInt32 len = (UInt32)data.GetLength (0);
merge_index.Add (start + len, start);
}
private void idx_remove (UInt32 start, byte[] data)
{
UInt32 len = (UInt32)data.GetLength (0);
merge_index.Remove (start + len);
}
private bool idx_find (UInt32 start, out UInt32 other)
{
return merge_index.TryGetValue (start, out other);
}
public void insert (UInt32 key, byte[] data)
{
UInt32 other;
byte[] mergedata;
// value of the key that would come after this one
other = key;
other += (UInt32)data.GetLength (0);
// can we merge with the next block
if (TryGetValue (other, out mergedata)) {
int oldlen = data.GetLength (0);
// remove the next entry, we are going to merge with it
Remove (other);
// remove its index entry as well
idx_remove (other, mergedata);
log (string.Format ("ihex: merging {0:X}/{1} with next {2:X}/{3}\n",
key, data.GetLength (0),
other, mergedata.GetLength (0)), 1);
// resize the data array and append data from the next block
Array.Resize (ref data, data.GetLength (0) + mergedata.GetLength (0));
Array.Copy (mergedata, 0, data, oldlen, mergedata.GetLength (0));
}
// look up a possible adjacent preceding block in the merge index
if (idx_find (key, out other)) {
mergedata = this [other];
int oldlen = mergedata.GetLength (0);
Remove (other);
idx_remove (other, mergedata);
log (string.Format ("ihex: merging {0:X}/{1} with prev {2:X}/{3}\n",
key, data.GetLength (0),
other, mergedata.GetLength (0)), 1);
Array.Resize (ref mergedata, data.GetLength (0) + mergedata.GetLength (0));
Array.Copy (data, 0, mergedata, oldlen, data.GetLength (0));
key = other;
data = mergedata;
}
// add the merged block
Add (key, data);
idx_record (key, data);
log (string.Format ("ihex: adding {0:X}/{1}\n", key, data.GetLength (0)), 1);
}
}
}

449
Tools/ArdupilotMegaPlanner/Radio/Uploader.cs Normal file
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using System;
using System.IO.Ports;
using System.Collections.Generic;
namespace uploader
{
public class Uploader
{
public event ArdupilotMega._3DRradio.LogEventHandler LogEvent;
public event ArdupilotMega._3DRradio.ProgressEventHandler ProgressEvent;
private int bytes_to_process;
private int bytes_processed;
public SerialPort port;
private enum Code : byte
{
// response codes
OK = 0x10,
FAILED = 0x11,
INSYNC = 0x12,
// protocol commands
EOC = 0x20,
GET_SYNC = 0x21,
GET_DEVICE = 0x22, // returns DEVICE_ID and FREQ bytes
CHIP_ERASE = 0x23,
LOAD_ADDRESS = 0x24,
PROG_FLASH = 0x25,
READ_FLASH = 0x26,
PROG_MULTI = 0x27,
READ_MULTI = 0x28,
REBOOT = 0x30,
// protocol constants
PROG_MULTI_MAX = 64, // maximum number of bytes in a PROG_MULTI command
READ_MULTI_MAX = 255, // largest read that can be requested
// device IDs XXX should come with the firmware image...
DEVICE_ID_RF50 = 0x4d,
DEVICE_ID_HM_TRP= 0x4e,
// frequency code bytes XXX should come with the firmware image...
FREQ_NONE = 0xf0,
FREQ_433 = 0x43,
FREQ_470 = 0x47,
FREQ_868 = 0x86,
FREQ_915 = 0x91,
};
public Uploader ()
{
}
/// <summary>
/// Upload the specified image_data.
/// </summary>
/// <param name='image_data'>
/// Image_data to be uploaded.
/// </param>
public void upload (SerialPort on_port, IHex image_data)
{
progress (0);
port = on_port;
try {
connect_and_sync ();
upload_and_verify (image_data);
cmdReboot ();
} catch (Exception e) {
if (port.IsOpen)
port.Close ();
throw e;
}
}
public void connect_and_sync ()
{
// configure the port
port.ReadTimeout = 2000; // must be longer than full flash erase time (~1s)
// synchronise with the bootloader
//
// The second sync attempt here is mostly laziness, though it does verify that we
// can send more than one packet.
//
for (int i = 0; i < 3; i++) {
if (cmdSync ())
break;
log (string.Format ("sync({0}) failed\n", i), 1);
}
if (!cmdSync ()) {
log ("FAIL: could not synchronise with the bootloader");
throw new Exception ("SYNC FAIL");
}
checkDevice ();
log ("connected to bootloader\n");
}
private void upload_and_verify (IHex image_data)
{
// erase the program area first
log ("erasing program flash\n");
cmdErase ();
// progress fractions
bytes_to_process = 0;
foreach (byte[] bytes in image_data.Values) {
bytes_to_process += bytes.Length;
}
bytes_to_process *= 2; // once to program, once to verify
bytes_processed = 0;
// program the flash blocks
log ("programming\n");
foreach (KeyValuePair<UInt32, byte[]> kvp in image_data) {
// move the program pointer to the base of this block
cmdSetAddress (kvp.Key);
log (string.Format ("prog 0x{0:X}/{1}\n", kvp.Key, kvp.Value.Length), 1);
upload_block_multi (kvp.Value);
}
// and read them back to verify that they were programmed
log ("verifying\n");
foreach (KeyValuePair<UInt32, byte[]> kvp in image_data) {
// move the program pointer to the base of this block
cmdSetAddress (kvp.Key);
log (string.Format ("verf 0x{0:X}/{1}\n", kvp.Key, kvp.Value.Length), 1);
verify_block_multi (kvp.Value);
bytes_processed += kvp.Value.GetLength (0);
progress ((double)bytes_processed / bytes_to_process);
}
log ("Success\n");
}
private void upload_block (byte[] data)
{
foreach (byte b in data) {
cmdProgram (b);
progress ((double)(++bytes_processed) / bytes_to_process);
}
}
private void upload_block_multi (byte[] data)
{
int offset = 0;
int to_send;
int length = data.GetLength (0);
// Chunk the block in units of no more than what the bootloader
// will program.
while (offset < length) {
to_send = length - offset;
if (to_send > (int)Code.PROG_MULTI_MAX)
to_send = (int)Code.PROG_MULTI_MAX;
log (string.Format ("multi {0}/{1}\n", offset, to_send), 1);
cmdProgramMulti (data, offset, to_send);
offset += to_send;
bytes_processed += to_send;
progress ((double)bytes_processed / bytes_to_process);
}
}
private void verify_block_multi (byte[] data)
{
int offset = 0;
int to_verf;
int length = data.GetLength (0);
// Chunk the block in units of no more than what the bootloader
// will read.
while (offset < length) {
to_verf = length - offset;
if (to_verf > (int)Code.READ_MULTI_MAX)
to_verf = (int)Code.READ_MULTI_MAX;
log (string.Format ("multi {0}/{1}\n", offset, to_verf), 1);
cmdVerifyMulti (data, offset, to_verf);
offset += to_verf;
bytes_processed += to_verf;
progress ((double)bytes_processed / bytes_to_process);
}
}
/// <summary>
/// Requests a sync reply.
/// </summary>
/// <returns>
/// True if in sync, false otherwise.
/// </returns>
private bool cmdSync ()
{
port.DiscardInBuffer ();
send (Code.GET_SYNC);
send (Code.EOC);
try {
getSync ();
} catch {
return false;
}
return true;
}
/// <summary>
/// Erases the device.
/// </summary>
private void cmdErase ()
{
send (Code.CHIP_ERASE);
send (Code.EOC);
getSync ();
}
/// <summary>
/// Set the address for the next program or read operation.
/// </summary>
/// <param name='address'>
/// Address to be set.
/// </param>
private void cmdSetAddress (UInt32 address)
{
send (Code.LOAD_ADDRESS);
send ((UInt16)address);
send (Code.EOC);
getSync ();
}
/// <summary>
/// Programs a byte and advances the program address by one.
/// </summary>
/// <param name='data'>
/// Data to program.
/// </param>
private void cmdProgram (byte data)
{
send (Code.PROG_FLASH);
send (data);
send (Code.EOC);
getSync ();
}
private void cmdProgramMulti (byte[] data, int offset, int length)
{
send (Code.PROG_MULTI);
send ((byte)length);
for (int i = 0; i < length; i++)
send (data [offset + i]);
send (Code.EOC);
getSync ();
}
/// <summary>
/// Verifies the byte at the current program address.
/// </summary>
/// <param name='data'>
/// Data expected to be found.
/// </param>
/// <exception cref='VerifyFail'>
/// Is thrown when the verify fail.
/// </exception>
private void cmdVerify (byte data)
{
send (Code.READ_FLASH);
send (Code.EOC);
if (recv () != data)
throw new Exception ("flash verification failed");
getSync ();
}
private void cmdVerifyMulti (byte[] data, int offset, int length)
{
send (Code.READ_MULTI);
send ((byte)length);
send (Code.EOC);
for (int i = 0; i < length; i++) {
if (recv () != data [offset + i]) {
log ("flash verification failed\n");
throw new Exception ("VERIFY FAIL");
}
}
getSync ();
}
private void cmdReboot ()
{
send (Code.REBOOT);
}
private void checkDevice ()
{
Code id, freq;
send (Code.GET_DEVICE);
send (Code.EOC);
id = (Code)recv ();
freq = (Code)recv ();
// XXX should be getting valid board/frequency data from firmware file
if ((id != Code.DEVICE_ID_HM_TRP) && (id != Code.DEVICE_ID_RF50))
throw new Exception ("bootloader device ID mismatch");
getSync ();
}
/// <summary>
/// Expect the two-byte synchronisation codes within the read timeout.
/// </summary>
/// <exception cref='NoSync'>
/// Is thrown if the wrong bytes are read.
/// <exception cref='TimeoutException'>
/// Is thrown if the read timeout expires.
/// </exception>
private void getSync ()
{
try {
Code c;
c = (Code)recv ();
if (c != Code.INSYNC) {
log (string.Format ("got {0:X} when expecting {1:X}\n", (int)c, (int)Code.INSYNC), 2);
throw new Exception ("BAD SYNC");
}
c = (Code)recv ();
if (c != Code.OK) {
log (string.Format ("got {0:X} when expecting {1:X}\n", (int)c, (int)Code.EOC), 2);
throw new Exception ("BAD STATUS");
}
} catch {
log ("FAIL: lost synchronisation with the bootloader\n");
throw new Exception ("SYNC LOST");
}
log ("in sync\n", 5);
}
/// <summary>
/// Send the specified code to the bootloader.
/// </summary>
/// <param name='code'>
/// Code to send.
/// </param>
private void send (Code code)
{
byte[] b = new byte[] { (byte)code };
log ("send ", 5);
foreach (byte x in b) {
log (string.Format (" {0:X}", x), 5);
}
log ("\n", 5);
port.Write (b, 0, 1);
}
/// <summary>
/// Send the specified byte to the bootloader.
/// </summary>
/// <param name='data'>
/// Data byte to send.
/// </param>
private void send (byte data)
{
byte[] b = new byte[] { data };
log ("send ", 5);
foreach (byte x in b) {
log (string.Format (" {0:X}", x), 5);
}
log ("\n", 5);
port.Write (b, 0, 1);
}
/// <summary>
/// Send the specified 16-bit value, LSB first.
/// </summary>
/// <param name='data'>
/// Data value to send.
/// </param>
private void send (UInt16 data)
{
byte[] b = new byte[2] { (byte)(data & 0xff), (byte)(data >> 8) };
log ("send ", 5);
foreach (byte x in b) {
log (string.Format (" {0:X}", x), 5);
}
log ("\n", 5);
port.Write (b, 0, 2);
}
/// <summary>
/// Receive a byte.
/// </summary>
private byte recv ()
{
byte b;
DateTime Deadline = DateTime.Now.AddMilliseconds(port.ReadTimeout);
while (DateTime.Now < Deadline && port.BytesToRead == 0)
{
}
if (port.BytesToRead == 0)
throw new Exception("Timeout");
b = (byte)port.ReadByte ();
log (string.Format ("recv {0:X}\n", b), 5);
return b;
}
private void log (string message, int level = 0)
{
if (LogEvent != null)
LogEvent (message, level);
}
private void progress (double completed)
{
if (ProgressEvent != null)
ProgressEvent (completed);
}
}
}

3
Tools/ArdupilotMegaPlanner/Script.cs
View File

@ -30,11 +30,8 @@ namespace ArdupilotMega
scope.SetVariable("cs", MainV2.cs);
scope.SetVariable("Script", this);
Console.WriteLine(DateTime.Now.Millisecond);
engine.CreateScriptSourceFromString("print 'hello world from python'").Execute(scope);
Console.WriteLine(DateTime.Now.Millisecond);
engine.CreateScriptSourceFromString("print cs.roll").Execute(scope);
Console.WriteLine(DateTime.Now.Millisecond);
object thisBoxed = MainV2.cs;

5
Tools/ArdupilotMegaPlanner/SerialInput.Designer.cs generated
View File

@ -85,11 +85,10 @@
//
// LBL_location
//
this.LBL_location.AutoSize = true;
this.LBL_location.Font = new System.Drawing.Font("Microsoft Sans Serif", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
this.LBL_location.Location = new System.Drawing.Point(9, 78);
this.LBL_location.Location = new System.Drawing.Point(3, 64);
this.LBL_location.Name = "LBL_location";
this.LBL_location.Size = new System.Drawing.Size(50, 24);
this.LBL_location.Size = new System.Drawing.Size(365, 59);
this.LBL_location.TabIndex = 4;
this.LBL_location.Text = "0,0,0";
//

53
Tools/ArdupilotMegaPlanner/SerialInput.cs
View File

@ -64,7 +64,7 @@ namespace ArdupilotMega
{
alt = (100 * MainV2.cs.multiplierdist).ToString("0");
}
if (DialogResult.Cancel == Common.InputBox("Enter Alt", "Enter Alt", ref alt))
if (DialogResult.Cancel == Common.InputBox("Enter Alt", "Enter Alt (relative to home alt)", ref alt))
return;
intalt = (int)(100 * MainV2.cs.multiplierdist);
@ -87,54 +87,56 @@ namespace ArdupilotMega
void mainloop()
{
DateTime nextsend = DateTime.Now;
threadrun = true;
int counter = 0;
while (threadrun)
{
try
{
string line = comPort.ReadLine();
//string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.cs.lng < 0 ? "W" : "E", MainV2.cs.gpsstatus, MainV2.cs.satcount, MainV2.cs.gpshdop, MainV2.cs.alt, "M", 0, "M", "");
if (line.StartsWith("$GPGGA")) //
{
int c1 = line.IndexOf(',',0)+ 1;
int c2 = line.IndexOf(',', c1) + 1;
int c3 = line.IndexOf(',', c2) + 1;
int c4 = line.IndexOf(',', c3 ) + 1;
int c5 = line.IndexOf(',', c4 ) + 1;
int c6 = line.IndexOf(',', c5 ) + 1;
int c7 = line.IndexOf(',', c6 ) + 1;
int c8 = line.IndexOf(',', c7 ) + 1;
int c9 = line.IndexOf(',', c8 ) + 1;
int c10 = line.IndexOf(',', c9 ) + 1;
int c11 = line.IndexOf(',', c10 ) + 1;
int c12 = line.IndexOf(',', c11) + 1;
string[] items = line.Trim().Split(',','*');
gotolocation.Lat = double.Parse(line.Substring(c2, c3 - c2 - 1)) / 100.0;
if (items[15] != GetChecksum(line.Trim()))
{
Console.WriteLine("Bad Nmea line " + items[15] + " vs " + GetChecksum(line.Trim()));
continue;
}
if (items[6] == "0")
{
Console.WriteLine("No Fix");
continue;
}
gotolocation.Lat = double.Parse(items[2]) / 100.0;
gotolocation.Lat = (int)gotolocation.Lat + ((gotolocation.Lat - (int)gotolocation.Lat) / 0.60);
if (line.Substring(c3, c4 - c3 - 1) == "S")
if (items[3] == "S")
gotolocation.Lat *= -1;
gotolocation.Lng = double.Parse(line.Substring(c4, c5 - c4 - 1)) / 100.0;
gotolocation.Lng = double.Parse(items[4]) / 100.0;
gotolocation.Lng = (int)gotolocation.Lng + ((gotolocation.Lng - (int)gotolocation.Lng) / 0.60);
if (line.Substring(c5, c6 - c5 - 1) == "W")
if (items[5] == "W")
gotolocation.Lng *= -1;
gotolocation.Alt = intalt; // double.Parse(line.Substring(c9, c10 - c9 - 1)) +
gotolocation.Tag = "Sats "+ items[7] + " hdop " + items[8] ;
}
if (counter % 10 == 0 && gotolocation.Lat != 0 && gotolocation.Lng != 0 && gotolocation.Alt != 0) // 200 * 10 = 2 sec /// lastgotolocation != gotolocation &&
if (DateTime.Now > nextsend && gotolocation.Lat != 0 && gotolocation.Lng != 0 && gotolocation.Alt != 0) // 200 * 10 = 2 sec /// lastgotolocation != gotolocation &&
{
nextsend = DateTime.Now.AddSeconds(2);
Console.WriteLine("Sending follow wp " +DateTime.Now.ToString("h:MM:ss")+" "+ gotolocation.Lat + " " + gotolocation.Lng + " " +gotolocation.Alt);
lastgotolocation = new PointLatLngAlt(gotolocation);
@ -159,14 +161,13 @@ namespace ArdupilotMega
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
GCSViews.FlightData.GuidedModeWP = new PointLatLngAlt(gotohere);
MainV2.givecomport = false;
}
catch { MainV2.givecomport = false; }
}
}
System.Threading.Thread.Sleep(200);
counter++;
}
catch { System.Threading.Thread.Sleep(2000); }
}
@ -176,7 +177,7 @@ namespace ArdupilotMega
{
this.BeginInvoke((MethodInvoker)delegate
{
LBL_location.Text = gotolocation.Lat + " " + gotolocation.Lng + " " + gotolocation.Alt;
LBL_location.Text = gotolocation.Lat + " " + gotolocation.Lng + " " + gotolocation.Alt +" "+ gotolocation.Tag;
}
);
@ -200,7 +201,7 @@ namespace ArdupilotMega
break;
case '*':
// Stop processing before the asterisk
continue;
return Checksum.ToString("X2");
default:
// Is this the first value for the checksum?
if (Checksum == 0)

83
Tools/ArdupilotMegaPlanner/Speech.cs Normal file
View File

@ -0,0 +1,83 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Speech.Synthesis;
namespace ArdupilotMega
{
public class Speech
{
SpeechSynthesizer _speechwindows;
System.Diagnostics.Process _speechlinux;
System.Speech.Synthesis.SynthesizerState _state = SynthesizerState.Ready;
bool MONO = false;
public SynthesizerState State {
get {
if (MONO)
{
return _state;
}
else
{
return _speechwindows.State;
}
}
}
public Speech()
{
var t = Type.GetType("Mono.Runtime");
MONO = (t != null);
if (MONO)
{
_state = SynthesizerState.Ready;
}
else
{
_speechwindows = new SpeechSynthesizer();
}
}
public void SpeakAsync(string text)
{
if (MONO)
{
if (_speechlinux == null || _speechlinux.HasExited)
{
_state = SynthesizerState.Speaking;
_speechlinux = new System.Diagnostics.Process();
_speechlinux.StartInfo.FileName = "echo " + text + " | festival --tts";
_speechlinux.Start();
_speechlinux.Exited += new EventHandler(_speechlinux_Exited);
}
}
else
{
_speechwindows.SpeakAsync(text);
}
}
void _speechlinux_Exited(object sender, EventArgs e)
{
_state = SynthesizerState.Ready;
}
public void SpeakAsyncCancelAll()
{
if (MONO)
{
_speechlinux.Close();
_state = SynthesizerState.Ready;
}
else
{
_speechwindows.SpeakAsyncCancelAll();
}
}
}
}

64
Tools/ArdupilotMegaPlanner/Utility.cs Normal file
View File

@ -0,0 +1,64 @@
//this file contains some simple extension methods
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Globalization;
using System.ComponentModel;
using System.Windows.Forms;
namespace ArdupilotMega
{
static class CultureInfoEx
{
public static CultureInfo GetCultureInfo(string name)
{
try { return new CultureInfo(name); }
catch (Exception) { return null; }
}
public static bool IsChildOf(this CultureInfo cX, CultureInfo cY)
{
if (cX == null || cY == null)
return false;
CultureInfo c = cX;
while (!c.Equals(CultureInfo.InvariantCulture))
{
if (c.Equals(cY))
return true;
c = c.Parent;
}
return false;
}
}
static class ComponentResourceManagerEx
{
public static void ApplyResource(this ComponentResourceManager rm, Control ctrl)
{
rm.ApplyResources(ctrl, ctrl.Name);
foreach (Control subctrl in ctrl.Controls)
ApplyResource(rm, subctrl);
if (ctrl.ContextMenu != null)
ApplyResource(rm, ctrl.ContextMenu);
if (ctrl is DataGridView)
{
foreach (DataGridViewColumn col in (ctrl as DataGridView).Columns)
rm.ApplyResources(col, col.Name);
}
}
public static void ApplyResource(this ComponentResourceManager rm, Menu menu)
{
rm.ApplyResources(menu, menu.Name);
foreach (MenuItem submenu in menu.MenuItems)
ApplyResource(rm, submenu);
}
}
}

27
Tools/ArdupilotMegaPlanner/app.config
View File

@ -1,7 +1,34 @@
<?xml version="1.0"?>
<configuration>
<configSections>
<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler, log4net" />
</configSections>
<startup useLegacyV2RuntimeActivationPolicy="true">
<supportedRuntime version="v2.0.50727"/></startup>
<appSettings>
<add key="UpdateLocation"
value="http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/"/>
</appSettings>
<log4net>
<appender name="Console" type="log4net.Appender.ConsoleAppender">
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%level %logger - %message%newline" />
</layout>
<threshold value="INFO"/>
</appender>
<appender name="RollingFile" type="log4net.Appender.RollingFileAppender">
<file value="ArdupilotPlanner.log" />
<appendToFile value="true" />
<maximumFileSize value="100KB" />
<maxSizeRollBackups value="2" />
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%date %5level %logger - %message (%file:%line) [%thread]%newline" />
</layout>
</appender>
<root>
<level value="DEBUG" />
<appender-ref ref="RollingFile" />
<appender-ref ref="Console" />
</root>
</log4net>
</configuration>

29
Tools/ArdupilotMegaPlanner/bin/Release/.gdbinit Normal file
View File

@ -0,0 +1,29 @@
handle SIGXCPU SIG33 SIG35 SIGPWR nostop noprint
define mono_backtrace
select-frame 0
set $i = 0
while ($i < $arg0)
set $foo = (char*) mono_pmip ($pc)
if ($foo)
printf "#%d %p in %s\n", $i, $pc, $foo
else
frame
end
up-silently
set $i = $i + 1
end
end
define mono_stack
set $mono_thread = mono_thread_current ()
if ($mono_thread == 0x00)
printf "No mono thread associated with this thread\n"
else
set $ucp = malloc (sizeof (ucontext_t))
call (void) getcontext ($ucp)
call (void) mono_print_thread_dump ($ucp)
call (void) free ($ucp)
end
end

27
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.exe.config
View File

@ -1,7 +1,34 @@
<?xml version="1.0"?>
<configuration>
<configSections>
<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler, log4net" />
</configSections>
<startup useLegacyV2RuntimeActivationPolicy="true">
<supportedRuntime version="v2.0.50727"/></startup>
<appSettings>
<add key="UpdateLocation"
value="http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/"/>
</appSettings>
<log4net>
<appender name="Console" type="log4net.Appender.ConsoleAppender">
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%level %logger - %message%newline" />
</layout>
<threshold value="INFO"/>
</appender>
<appender name="RollingFile" type="log4net.Appender.RollingFileAppender">
<file value="ArdupilotPlanner.log" />
<appendToFile value="true" />
<maximumFileSize value="100KB" />
<maxSizeRollBackups value="2" />
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%date %5level %logger - %message (%file:%line) [%thread]%newline" />
</layout>
</appender>
<root>
<level value="DEBUG" />
<appender-ref ref="RollingFile" />
<appender-ref ref="Console" />
</root>
</log4net>
</configuration>

BIN
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb
View File

Binary file not shown.

1
Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml
View File

@ -19,6 +19,7 @@
<F4>Pitch</F4>
<F5>Yaw IN</F5>
<F6>Yaw</F6>
<F7>Mag Heading</F7>
</ATT>
<NTUN>
<F1>WP Dist</F1>

4
Tools/ArdupilotMegaPlanner/bin/Release/mavcmd.xml
View File

@ -377,8 +377,8 @@
</DO_JUMP>
<DO_CHANGE_SPEED>
<P1>Type (0=as 1=gs)</P1>
<P2>Throttle(%)</P2>
<P3>Speed (m/s)</P3>
<P2>Speed (m/s)</P2>
<P3>Throttle(%)</P3>
<P4></P4>
<X></X>
<Y></Y>

3
Tools/ArdupilotMegaPlanner/bin/Release/runme Normal file
View File

@ -0,0 +1,3 @@
#!/bin/bash
gdb --args mono ArdupilotMegaPlanner.exe

1
Tools/ArdupilotMegaPlanner/dataflashlog.xml
View File

@ -19,6 +19,7 @@
<F4>Pitch</F4>
<F5>Yaw IN</F5>
<F6>Yaw</F6>
<F7>Mag Heading</F7>
</ATT>
<NTUN>
<F1>WP Dist</F1>

70
Tools/ArdupilotMegaPlanner/georefimage.cs
View File

@ -1,22 +1,19 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Drawing;
using System.Drawing.Imaging;
using System.Reflection;
using System.IO;
using System.Windows.Forms;
using com.drew.imaging.jpg;
using com.drew.metadata;
using log4net;
using SharpKml.Base;
using SharpKml.Dom;
using SharpKml.Dom.GX;
namespace ArdupilotMega
{
class georefimage : Form
public class Georefimage : Form
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private OpenFileDialog openFileDialog1;
private MyButton BUT_browselog;
private MyButton BUT_browsedir;
@ -31,7 +28,7 @@ namespace ArdupilotMega
int latpos = 5, lngpos = 4, altpos = 7;
internal georefimage() {
internal Georefimage() {
InitializeComponent();
}
@ -51,7 +48,7 @@ namespace ArdupilotMega
}
catch (JpegProcessingException e)
{
Console.WriteLine(e.Message);
log.InfoFormat(e.Message);
return dtaken;
}
@ -61,7 +58,7 @@ namespace ArdupilotMega
if (lcDirectory.ContainsTag(0x9003))
{
dtaken = lcDirectory.GetDate(0x9003);
Console.WriteLine("does " + lcDirectory.GetTagName(0x9003) + " " + dtaken);
log.InfoFormat("does " + lcDirectory.GetTagName(0x9003) + " " + dtaken);
break;
}
@ -96,6 +93,51 @@ namespace ArdupilotMega
{
List<string[]> list = new List<string[]>();
if (fn.ToLower().EndsWith("tlog"))
{
MAVLink mine = new MAVLink();
mine.logplaybackfile = new BinaryReader(File.Open(fn, FileMode.Open, FileAccess.Read, FileShare.Read));
mine.logreadmode = true;
mine.packets.Initialize(); // clear
CurrentState cs = new CurrentState();
string[] oldvalues = {""};
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packet = mine.readPacket();
cs.datetime = mine.lastlogread;
cs.UpdateCurrentSettings(null, true, mine);
// line "GPS: 82686250, 1, 8, -34.1406480, 118.5441900, 0.0000, 309.1900, 315.9500, 0.0000, 279.1200" string
string[] vals = new string[] { "GPS", (new DateTime(cs.datetime.Year,cs.datetime.Month,cs.datetime.Day,0,0,0) - cs.datetime).TotalMilliseconds.ToString(), "1",
"8",cs.lat.ToString(),cs.lng.ToString(),"0.0",cs.alt.ToString(),cs.alt.ToString(),"0.0",cs.groundcourse.ToString()};
if (oldvalues.Length > 2 && oldvalues[latpos] == vals[latpos]
&& oldvalues[lngpos] == vals[lngpos]
&& oldvalues[altpos] == vals[altpos])
continue;
oldvalues = vals;
list.Add(vals);
// 4 5 7
Console.Write((mine.logplaybackfile.BaseStream.Position * 100 / mine.logplaybackfile.BaseStream.Length) + " \r");
}
mine.logplaybackfile.Close();
return list;
}
StreamReader sr = new StreamReader(fn);
string lasttime = "0";
@ -172,7 +214,7 @@ namespace ArdupilotMega
localmax = crap;
}
Console.WriteLine("min " + localmin + " max " + localmax);
log.InfoFormat("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
}
@ -220,7 +262,7 @@ namespace ArdupilotMega
sw.WriteLine(Path.GetFileNameWithoutExtension(file) + "\t" + crap.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
sw.Flush();
sw2.Flush();
Console.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
log.InfoFormat(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break;
}
//Console.WriteLine(crap);
@ -359,7 +401,7 @@ namespace ArdupilotMega
this.Controls.Add(this.TXT_logfile);
this.Controls.Add(this.BUT_browsedir);
this.Controls.Add(this.BUT_browselog);
this.Name = "georefimage";
this.Name = "Georefimage";
this.ResumeLayout(false);
this.PerformLayout();
@ -367,7 +409,7 @@ namespace ArdupilotMega
private void BUT_browselog_Click(object sender, EventArgs e)
{
openFileDialog1.Filter = "Logs|*.log";
openFileDialog1.Filter = "Logs|*.log;*.tlog";
openFileDialog1.ShowDialog();
if (File.Exists(openFileDialog1.FileName))

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