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

ArduCopter/ArduCopter.pde

@@ -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 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 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 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 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
+	if(new_radio_frame){
-	new_radio_frame = false;
+		// 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 = constrain(cos_pitch_x, 0, 1.0);
-	cos_pitch_x 	= sqrt(1 - (temp.c.x * temp.c.x));	// level = 1
+    // this relies on constrain() of infinity doing the right thing,
-
+    // which it does do in avr-libc
-	sin_roll_y 		= temp.c.y / cos_pitch_x;			// level = 0
+    cos_roll_x  = constrain(cos_roll_x, -1.0, 1.0);
-	cos_roll_x 		= temp.c.z / cos_pitch_x;			// level = 1
 
 	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);

ArduCopter/Attitude.pde

@@ -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 int32_t last_rate = 0;					// previous iterations rate
-	static int16_t rate_d2 		= 0;
+	int32_t current_rate;							// this iteration's rate
-	static int16_t rate_d3 		= 0;
+	int32_t rate_d;  								// roll's acceleration
-	static int32_t last_rate 	= 0;
+	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
+	// calculate and filter the acceleration
-	rate_d3			= rate_d2;
+	rate_d 			= roll_rate_d_filter.apply(current_rate - last_rate);
-	rate_d2			= rate_d1;
+
-	rate_d1 		= current_rate - last_rate;
+	// store rate for next iteration
 	last_rate 		= current_rate;
 
-	// rate control
+	// call pid controller
-	target_rate		= target_rate - current_rate;
+	output 			= g.pid_rate_roll.get_pid(target_rate - current_rate, G_Dt);
-	target_rate 	= g.pid_rate_roll.get_pid(target_rate, G_Dt);
 
-	// Dampening
+	// Dampening output with D term
-	//int16_t d_temp	= (float)(current_rate - last_rate) * g.stabilize_d;
+	rate_d_dampener = rate_d * roll_scale_d;
-	//target_rate 		-= constrain(d_temp, -500, 500);
+	rate_d_dampener = constrain(rate_d_dampener, -400, 400);
-	//last_rate 		= current_rate;
+	output -= rate_d_dampener;
 
-	// D term
+	// output control
-	// I had tried this before with little result. Recently, someone mentioned to me that
+	return constrain(output, -2500, 2500);
-	// 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);
 }
 
-static int
+static int16_t
 get_rate_pitch(int32_t target_rate)
 {
-		   int16_t rate_d1 		= 0;
+	static int32_t last_rate = 0;					// previous iterations rate
-	static int16_t rate_d2 		= 0;
+	int32_t current_rate;							// this iteration's rate
-	static int16_t rate_d3 		= 0;
+	int32_t rate_d;  								// roll's acceleration
-	static int32_t last_rate 	= 0;
+	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
+	// calculate and filter the acceleration
-	rate_d3			= rate_d2;
+	rate_d 			= pitch_rate_d_filter.apply(current_rate - last_rate);
-	rate_d2			= rate_d1;
+
-	rate_d1 		= current_rate - last_rate;
+	// store rate for next iteration
 	last_rate 		= current_rate;
 
-	// rate control
+	// call pid controller
-	target_rate	 	= target_rate - current_rate;
+	output 			= g.pid_rate_pitch.get_pid(target_rate - current_rate, G_Dt);
-	target_rate 	= g.pid_rate_pitch.get_pid(target_rate, G_Dt);
 
-	// Dampening
+	// Dampening output with D term
-	//int16_t d_temp	= (float)(current_rate - last_rate) * g.stabilize_d;
+	rate_d_dampener = rate_d * pitch_scale_d;
-	//target_rate 		-= constrain(d_temp, -500, 500);
+	rate_d_dampener = constrain(rate_d_dampener, -400, 400);
-	//last_rate 		= current_rate;
+	output -= rate_d_dampener;
 
-	// D term
+	// output control
-	int16_t d_temp =  (rate_d1 + rate_d2 + rate_d3) * g.stabilize_d;
+	return constrain(output, -2500, 2500);
-	target_rate -= d_temp;
-
-	// output control:
-	return constrain(target_rate, -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

ArduCopter/GCS_Mavlink.pde

@@ -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(
+    mavlink_msg_param_value_send(
-            chan,
+        chan,
-            (int8_t*)param_name,
+        (int8_t*)param_name,
-            value,
+        value,
-            _queued_parameter_count,
+        _queued_parameter_count,
-            _queued_parameter_index);
+        _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

ArduCopter/Log.pde

@@ -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
+							// 1   2   3    4   5   6  7
-	Serial.printf_P(PSTR("ATT, %d, %d, %d, %d, %d, %u\n"),
+	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

ArduCopter/Parameters.h

@@ -17,7 +17,7 @@ public:
 	// The increment will prevent old parameters from being used incorrectly
 	// by newer code.
 	//
-	static const uint16_t k_format_version = 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),
 

ArduCopter/Parameters.pde

@@ -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"),

ArduCopter/config.h

@@ -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

ArduCopter/defines.h

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

ArduCopter/heli.pde

@@ -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
 }
 

ArduCopter/motors_hexa.pde

@@ -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)
+		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
 }
 
 static void motors_output_enable()
 {
-  APM_RC.enable_out(MOT_1);
+	APM_RC.enable_out(MOT_1);
-  APM_RC.enable_out(MOT_2);
+	APM_RC.enable_out(MOT_2);
-  APM_RC.enable_out(MOT_3);
+	APM_RC.enable_out(MOT_3);
-  APM_RC.enable_out(MOT_4);
+	APM_RC.enable_out(MOT_4);
-  APM_RC.enable_out(MOT_5);
+	APM_RC.enable_out(MOT_5);
-  APM_RC.enable_out(MOT_6);
+	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++) {
+		for (int m = 0; m <= 6; m++){
-        int c = ch_of_mot(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.
+			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) {
+			if(motor_out[c] > out_max){
-            motor_out[c_opp] -= motor_out[c] - out_max;
+				motor_out[c_opp] -= motor_out[c] - out_max;
-            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_1] = max(motor_out[MOT_1],	out_min);
-	motor_out[MOT_2] = max(motor_out[MOT_2],  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_3] = max(motor_out[MOT_3],	out_min);
-	motor_out[MOT_4] = max(motor_out[MOT_4],  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_5] = max(motor_out[MOT_5],	out_min);
-	motor_out[MOT_6] = max(motor_out[MOT_6],  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++ ) {
+	for(int8_t m = 0; m <= 6; m++){
-      int c = ch_of_mot(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))
+		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
-			motor_out[MOT_1] += 150; // Right
+		 delay(2000);
+		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
+		 delay(300);
 
-		if(left && !(front || back))
+		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-			motor_out[MOT_2] += 150; // Left
+		 delay(2000);
+		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
+		 delay(300);
 
-		if(back){
+		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-			if(left)
+		 delay(2000);
-				motor_out[MOT_6] += 150;
+		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
-			if(right)
+		 delay(300);
-				motor_out[MOT_4] += 150;
-		}
 
-		if(front){
+		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
-			if(left)
+		 delay(2000);
-				motor_out[MOT_3] += 150;
+		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
-			if(right)
+		 delay(300);
-				motor_out[MOT_5] += 150;
+
-		}
+		 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))
+		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
-			motor_out[MOT_1] += 150;
+		 delay(2000);
+		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
+		 delay(300);
 
-		if(back && !(left || right))
+		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
-			motor_out[MOT_2] += 150;
+		 delay(2000);
+		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
+		 delay(300);
 
-		if(left){
+		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
-			if(front)
+		 delay(2000);
-				motor_out[MOT_5] += 150;
+		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
-			if(back)
+		 delay(300);
-				motor_out[MOT_3] += 150;
+
+		 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]);

ArduCopter/motors_octa.pde

@@ -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
 }
 

ArduCopter/motors_octa_quad.pde

@@ -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
 }
 

ArduCopter/motors_quad.pde

@@ -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
 }
 

ArduCopter/motors_tri.pde

@@ -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
 }
 

ArduCopter/motors_y6.pde

@@ -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
 }
 

ArduCopter/navigation.pde

@@ -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
+	#if LOITER_RATE == 1
-	int16_t x_target_speed 	= g.pi_loiter_lon.get_p(x_error);
+	int16_t x_target_speed, y_target_speed;
-	x_target_speed			= constrain(x_error, -250, 250);
+	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_error 		= constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
-	x_rate_error 			= x_target_speed - x_actual_speed;
+	y_error 		= constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
-
+	x_iterm 		= g.pi_loiter_lon.get_i(x_error, dTnav);
-	// North/South
+	y_iterm 		= g.pi_loiter_lat.get_i(y_error, dTnav);
-	int16_t y_target_speed 	= g.pi_loiter_lat.get_p(y_error);
+	nav_lat			= nav_lat + y_iterm;
-	y_target_speed			= constrain(y_error, -250, 250);
+	nav_lon			= nav_lon + x_iterm;
-	// 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;
-
-
 
 	/*
 	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
+	// East / West
-	x_rate_error 		= constrain(x_rate_error, -1000, 1000);
+	x_rate_error 	= (cos(temp) * max_speed) - x_actual_speed; // 413
-	int16_t x_iterm 	= g.pi_loiter_lon.get_i(x_rate_error, dTnav);
+	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
+	// North / South
-	y_rate_error 		= constrain(y_rate_error, -1000, 1000);	// added a rate error limit to keep pitching down to a minimum
+	y_rate_error 	= (sin(temp) * max_speed) - y_actual_speed; // 413
-	int16_t y_iterm 	= g.pi_loiter_lat.get_i(y_rate_error, dTnav);
+	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);
+	// copy over I term to Loiter_Rate
-	nav_lat				= g.pid_nav_lat.get_pid(y_rate_error, dTnav);
+	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",

ArduCopter/sensors.pde

@@ -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);
+	if (!compass.init() || !compass.read()) {
-	compass.init();
+        // make sure we don't pass a broken compass to DCM
-	compass.get_offsets();					// load offsets to account for airframe magnetic interference
+        Serial.println_P(PSTR("COMPASS INIT ERROR"));
-	compass.null_offsets_enable();
+        return;
+    }
+    dcm.set_compass(&compass);
+    compass.get_offsets();					// load offsets to account for airframe magnetic interference
+    compass.null_offsets_enable();
 }
 
 static void init_optflow()

ArduCopter/system.pde

@@ -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;
+	old_control_mode 	= control_mode;
-
+	control_mode 		= mode;
-	control_mode = mode;
+	control_mode 		= constrain(control_mode, 0, NUM_MODES - 1);
-	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

ArduCopter/test.pde

@@ -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)

ArduPlane/ArduPlane.pde

@@ -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
 /*{

ArduPlane/GCS_Mavlink.pde

@@ -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,

ArduPlane/Log.pde

@@ -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));

ArduPlane/system.pde

@@ -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

Tools/ArdupilotMegaPlanner/Antenna/ITrackerOutput.cs

@@ -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();
+    }
+}

Tools/ArdupilotMegaPlanner/Antenna/Maestro.cs

@@ -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;
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Antenna/Tracker.Designer.cs

@@ -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;
+    }
+}

Tools/ArdupilotMegaPlanner/Antenna/Tracker.cs

@@ -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;
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Antenna/Tracker.resx

@@ -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
+            : 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>
+  <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>
+        AAABAAEAICAAAAEAIACoEAAAFgAAACgAAAAgAAAAQAAAAAEAIAAAAAAAABAAABILAAASCwAAAAAAAAAA
+        AAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADOxkjAtnoOAKpJ4vyiK
+        c+8nh3D/J4Zv/yeHcP8oi3PvKpJ4vy6fg4AzsZIwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAP///wAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADjGo2AyspPfLZ+D/yiQ
+        d/8hlXj/G6F9/xeqg/8XqYL/GKqD/xuhfv8ilnn/KZB3/y2fhP8yspPfN8ajYAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAA////AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADvRrDA1vpzfL6uN/yel
+        hP8XvJD/DMyY/wfQl/8FzJP/A8qS/wPJkf8EypL/BsyU/wnRmP8PzZn/Gb2R/yemhP8tqoz/Mb2a3zbQ
+        qkAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAA4y6ZgMbWV/yin
+        iP8WwZP/Btqf/wDPlf8AyI7/A8aP/yfNnv9T2LP/UNax/03XsP8506b/G8ya/wHKkf8F0Zf/CNuf/xLB
+        kv8fpYT/J7KQ/y7IomAAAAAAAAAAAAAAAAAAAAAAAAAAAP///wAAAAAAAAAAAAAAAAAAAAAANcajny+w
+        kf8hqoj/CNSd/wDRlf8Axor/Hcyd/3Lhwf+p7Nj/o+vV/57m0/+X5dD/k+TN/4/jzf+K5Mz/fuHH/0PW
+        rf8HzJT/ANCT/wDRlv8OpX//HayI/yrFn58AAAAAAAAAAAAAAAAAAAAA////AAAAAAAAAAAAAAAAADDC
+        nmAtro7/H62J/wPWmv8Ay47/AMaO/3XhxP+e6tT/mObP/5Pjy/+Q4sr/jODJ/4ffx/+C3MT/f9vC/3nb
+        wf9y2r7/adq7/2DauP8ZzZv/Fdae/8T/9/9WxKj/HKuI/y7IomAAAAAAAAAAAAAAAAD///8AAAAAAAAA
+        AAAiuZMwKKyM/x6ohf8C1Zr/AMmL/wHGjv+49OL///////////9+3ML/f9zD/4Dcwv9+28L/e9rA/3bZ
+        vv9w1rr/Z9S4/17Rs/9Qz63/Qcyn/3LewP////////////n///8MpH7/JbKP/zXQqUAAAAAAAAAAAP//
+        /wAAAAAAAAAAABymhN8dnn//BNGa/wDKjP8AxY3/sfHf/////////////////2nXt/9w1rv/c9e8/3TX
+        vP9x17z/a9W5/2TTtf9Y0K//SMyp/zXFoP9i07X/////////////////f/LR/wDQlf8epYT/Mb2a3wAA
+        AAAAAAAA////AAAAAAADlnJgFZR1/wq4iv8AzpH/AMCD/4rmzf//////////////////////WdGv/2PU
+        tf9p1rf/atS4/2nUtv9i0rT/Vc+u/0fKpv8zxZz/Ws+w//////////////////////8GyJL/ANCS/xLB
+        kv8tq4z/OMajYAAAAAD///8AAAAAAACHZt8NkW//ANKV/wDChP9i27r//////////////////////9Dx
+        6P9MzKn/Vc+v/17Rsv9g0rP/XNCx/1XNrv9Fyaf/McSd/1fPr///////////////////////QM2m/ynK
+        oP8JzJX/C9yh/ymmhf80spPfAAAAAP///wAAcUwwAHtc/wCrfP8AyIv/AMKK////////////////////
+        /////////////5Dgyv9Gyqb/TMyq/07Nq/9MzKn/Qcmj/y/Fnf9Wzq3//////////////////////57k
+        0v8av5T/Lceg/yzOo/8M05v/Hr6T/zCghf80spIw////AABoRYAAclT/AL2H/wDBhf9R1rL/////////
+        ////////4vfw//////////////////H8+P9KzKn/Ocah/zTFnv8qwpj/Us2t////////////////////
+        ////////DLqM/yDBlv8wxp//OM6m/xPPm/8Xz53/LZF5/y+fg4////8AAGNAvwB7Wf8Aw4j/ALyC/4bj
+        yP+g5tL/g93E/2HSsv9Pzqz/Us6s//////////////////////9Yzq//Gr2S/0jLp///////////////
+        /////////////yrDm/8SvI//JMGY/zDHn/81zKT/Is2e/xTUnf8nl3v/LJJ5v////wAAXz3vAIlg/wDA
+        hf8AuoD/quzZ/5Hjyv9628D/ada2/1jRsP9Jy6f/a9a4//////////////////////+Y4s7/////////
+        //////////////////+c4tD/AbaH/xW8kf8jwZj/LcWd/y/Jn/8kzJ3/E9Ca/yGjgf8ri3Tv////AABd
+        PP8Ak2b/AL6D/w/Ekv+m6tf/j+HJ/3vawP9p1rf/W9Gx/0rNqf85yJ//Nsaf////////////////////
+        /////////////////////////////wCwe/8AtoT/ELqP/xu+k/8jwZj/KMeb/yHKm/8QzZf/HqyG/ymI
+        cf////8AAF07/wCSZP8AvYL/GMWU/6Dn1P+K38f/ddi+/27Wuf+E3MX/leHN/6fm1f+l5tX/neLQ////
+        ////////////////////////////////////////j9/J/27Vuv9Tzq7/JsKY/xa/kv8aw5T/FcaW/wvL
+        lf8aqoT/J4dw/////wAAXTv/AJFk/wC9gP8GwY3/mObQ/5rkz/+26dv/y/Hl/8Dt3/+06tz/pebV/5bg
+        zP+g5NL//////////////v///f7+//7+/v//////7fn2////////////tOnb/6Ll0v+v6Nj/jeDI/zXK
+        o/8IxJD/BMqS/xaqgv8lh2//////AABeO+8AgVf/AL1//wDBif/R9uv/1PPq/8Tv5P+36t3/rujY/6Lk
+        0v+U4cv/jt7J//j8+///////+/38//f8+//2+/r/+Pz7//3+/v/m9/P/9Pv6//D6+P9/28L/jd7J/5jj
+        z/+h5dL/qOvX/4Hmyf8f1J//E596/yOJcO////8AAGA8vwB3U/8p06P/hufM/8Ty5f/D7+T/s+vb/6bm
+        1P+c4c//j9/K/4vcyP/t+fb///7///j8/P/0+/r/8vr5//P7+f/1+/r/+/39///////i9fL/ZNO1/3HW
+        vP992sH/htzG/4vhyv+S5dD/mO7W/6X74v80noT/Io90v////wAAZkCAAHla/33ny/945cb/nunV/7Xr
+        3v+l5tT/luDN/4ndxv992cL/1vLq//v9/P/1+/n/8vv4//L69//z+/j/9Pv5/7Xo2//x+vn/////////
+        //+y59n/aNS3/3LWvP932r//fNzD/4Ljyf+J7ND/l/bd/yORdf8knH6A////AABuRzAAdlT/Xc6x/23o
+        xv9s4MH/qurZ/5jiz/+I3cb/edjA/8ju5f/3/Pv/8vv4//H6+P/y+/j/6/f0/7np3v/7/fz//v7+/6fk
+        1f+56tz///////////9h0bT/aNW4/23Wu/9v3L//dOLG/37w0f9m1rn/Hpt8/ymujTD///8AAAAAAACD
+        X98po4X/Z+7K/1vgvP+A4sf/jOHK/3rZwv+r59f/9Pv6/+/69//v+vf/8vr4/9fy6/9n0rf/VM6t/6Di
+        0v/N7+f/adO4/1PMrf9t1Lr/i9zI/1/Rs/9h0rX/ZNe4/2bbvf9s5sb/ePfV/z2ylf8lrozfAAAAAP//
+        /wAAAAAAAJNsYAWQbf9U1rP/Vee//0rYsf993sb/pebV//P7+v/s+Pb/6/f1/+749v+s5tj/Vc2u/1jP
+        r/9ZzrD/btW5/1bOr/9Wza//Vs6v/1fOr/9Z0LD/WdCy/1vTtP9d1rX/Xt+8/2btyP9k4L//IaaF/y7D
+        nmAAAAAA////AAAAAAAAAAAAD6J9zyCjgv9S68L/P9+0/2Pevv/5////7/v6/+v59//j9/L/gtvF/1PN
+        r/9Wz7D/Wc+x/1nQsf9Zz7H/WM6w/1fPsP9UzrD/VM+w/1TPrv9U0a//U9Oy/1Tatv9Z5sD/Y/LL/zSx
+        lP8qupbPAAAAAAAAAAD///8AAAAAAAAAAAAYto4wGaeE/y23lP8+5rn/6/////j////w//3/ve/i/2bV
+        uP9Tzq7/Vc+v/1jPsP9Z0LL/WM+w/1fOsf9Wz7D/Us2w/1HOrf9Qzq3/T9Cu/0zSr/9M2LP/TeC5/1bt
+        xP9HxaX/KLKQ/zTPqDAAAAAAAAAAAP///wAAAAAAAAAAAAAAAAAkvpdgG6iF/y++m//e/////P///3rl
+        yf9G0K3/VdKy/1bPsf9Wz7H/Vs6w/1bPsP9Sza//Ucyu/0/Nrf9NzKz/S82s/0fOrP9G0a7/QdWv/0Le
+        tP9I6L7/Q8Ok/yitjP8yyKJgAAAAAAAAAAAAAAAA////AAAAAAAAAAAAAAAAAAAAAAAmwJlgG6iF/yK3
+        kP8k3q7/H9el/x7Pn/8tzKT/Q9Cs/1HQsP9Q0K7/TM6u/0nMrf9Hzaz/RMyp/0LNqf8+zqn/ONGo/zTV
+        qf833rD/O+S4/zvCof8orIv/MMSfYAAAAAAAAAAAAAAAAAAAAAD///8AAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAkvpdgG6iE/xukgv8gy53/HNql/xzRn/8czJz/HcmZ/yXJnP8qyp7/Lcqg/yzLn/8nypz/JMqc/yTO
+        n/8l1KT/KN2r/y3Tpv8nq4n/JaqJ/yzAm2AAAAAAAAAAAAAAAAAAAAAAAAAAAP///wAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAato8wFKN/zxCScv8RnHn/DbqM/wjIlP8GyZT/BsaS/wbFkf8GxZH/B8WR/wfH
+        k/8IypX/DMmV/xG3jP8WoX3/Fph2/xqkgs8ft5EwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA////AAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAJVvYACGZM8Aelr/AHlZ/wCFX/8AiWL/AJlr/wCb
+        bP8AlGf/AI5k/wB/W/8AeFj/AHtb/wCHZd8ClXBgAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAABwSzAAaESAAGI/vwBf
+        Pd8AXTz/AF08/wBdPP8AXz3fAGJAvwBoRIAAcUswAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAP///wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP//
+        /wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP//
+        /wD///8A////AP///wD///8A/+AD//+AAP/+AAA//AAAH/gAAA/wAAAH4AAAA+AAAAPAAAABwAAAAYAA
+        AACAAAAAgAAAAIAAAACAAAAAgAAAAIAAAACAAAAAgAAAAIAAAACAAAAAwAAAAcAAAAHgAAAD4AAAA/AA
+        AAf4AAAP/AAAH/4AAD//gAD//+AD//////8=
+</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/ArduinoDetect.cs

@@ -1,15 +1,15 @@
 using System;
-using System.Collections.Generic;
+using System.Reflection;
-using System.Linq;
-using System.Text;
 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();
                     }
                 }
             }

Tools/ArdupilotMegaPlanner/ArduinoSTK.cs

@@ -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;
                 }
             }

Tools/ArdupilotMegaPlanner/ArduinoSTKv2.cs

@@ -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;
                 }
             }

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -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" />

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj.user

@@ -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>

Tools/ArdupilotMegaPlanner/ArdupilotMega.sln

@@ -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

Tools/ArdupilotMegaPlanner/Camera.Designer.cs

@@ -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;
+            resources.ApplyResources(this.label2, "label2");
-            this.label2.Location = new System.Drawing.Point(82, 40);
             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;
+            resources.ApplyResources(this.label1, "label1");
-            this.label1.Location = new System.Drawing.Point(82, 71);
             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;
+            resources.ApplyResources(this.label6, "label6");
-            this.label6.Location = new System.Drawing.Point(298, 19);
             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;
+            resources.ApplyResources(this.label7, "label7");
-            this.label7.Location = new System.Drawing.Point(299, 72);
             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;
+            resources.ApplyResources(this.label8, "label8");
-            this.label8.Location = new System.Drawing.Point(300, 99);
             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;
+            resources.ApplyResources(this.label10, "label10");
-            this.label10.Location = new System.Drawing.Point(299, 46);
             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;
+            resources.ApplyResources(this.label12, "label12");
-            this.label12.Location = new System.Drawing.Point(299, 125);
             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;
+            resources.ApplyResources(this.label13, "label13");
-            this.label13.Location = new System.Drawing.Point(82, 93);
             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;
+            resources.ApplyResources(this.label14, "label14");
-            this.label14.Location = new System.Drawing.Point(82, 119);
             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;
+            resources.ApplyResources(this.label3, "label3");
-            this.label3.Location = new System.Drawing.Point(82, 171);
             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;
+            resources.ApplyResources(this.label4, "label4");
-            this.label4.Location = new System.Drawing.Point(82, 145);
             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;
+            resources.ApplyResources(this.label5, "label5");
-            this.label5.Location = new System.Drawing.Point(82, 201);
             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;
+            resources.ApplyResources(this.label15, "label15");
-            this.label15.Location = new System.Drawing.Point(82, 227);
             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;
+            resources.ApplyResources(this.label9, "label9");
-            this.label9.Location = new System.Drawing.Point(261, 198);
             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;
+            resources.ApplyResources(this.label11, "label11");
-            this.label11.Location = new System.Drawing.Point(261, 171);
             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();

Tools/ArdupilotMegaPlanner/Camera.resx

@@ -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>

Tools/ArdupilotMegaPlanner/Common.cs

@@ -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;
-
+// anti NaN
-            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);
+            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;
-
+// anti NaN
-            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);
+            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);
+            {
+                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");
+            log.Debug("y = ax + b");
-            Console.WriteLine("a = {0}, the slope of the trend line.", Math.Round(a, 2));
+            log.DebugFormat("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.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);
+                log.Info(((HttpWebResponse)response).StatusDescription);
-                if (((HttpWebResponse)response).StatusDescription != "200")
+                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;
         }
 

Tools/ArdupilotMegaPlanner/CommsSerialPort.cs

@@ -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()
         {

Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs

@@ -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);
         }
 

Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs

@@ -1,16 +1,15 @@
-using System;
+using System.Reflection;
-using System.Collections.Generic;
-using System.ComponentModel;
 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 (true)
-            while (timeout > 0) 
+            {
-            { 
+                ((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Waiting for UDP");
-                if (BytesToRead > 0)  
+                System.Threading.Thread.Sleep(500);
-                    break;  
+
-                System.Threading.Thread.Sleep(1000);  
+                if (((ProgressReporterDialogue)sender).doWorkArgs.CancelRequested)
-                timeout--;  
+                {
-            }  
+                    ((ProgressReporterDialogue)sender).doWorkArgs.CancelAcknowledged = true;
-            if (BytesToRead == 0)  
+                    try
-                return; 
+                    {
+                        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) { 
+            catch (Exception ex)
-                if (client != null && client.Client.Connected) { client.Close(); }
+            {
-                Console.WriteLine(e.ToString());
+                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();

Tools/ArdupilotMegaPlanner/Controls/ProgressReporterDialogue.cs

@@ -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;
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/ProgressReporterDialogue.designer.cs

@@ -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;
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/ProgressReporterDialogue.resx

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

Tools/ArdupilotMegaPlanner/CurrentState.cs

@@ -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)
+                        while (messages.Count > 5)
-                    {
+                        {
-                        messages.RemoveAt(0);
+                            messages.RemoveAt(0);
-                    }
+                        }
-                    messages.Add(logdata + "\n");
+                        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!
         }
     }
-}
+}

Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml

@@ -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

Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs

@@ -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 dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = 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;
+            dataGridViewCellStyle3.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle1.BackColor = System.Drawing.Color.Maroon;
+            dataGridViewCellStyle3.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)));
+            dataGridViewCellStyle3.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;
+            dataGridViewCellStyle3.ForeColor = System.Drawing.Color.White;
-            dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle3.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle3.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
+            dataGridViewCellStyle3.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
-            this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle1;
+            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;
+            dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle2.BackColor = System.Drawing.SystemColors.ActiveCaption;
+            dataGridViewCellStyle4.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)));
+            dataGridViewCellStyle4.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;
+            dataGridViewCellStyle4.ForeColor = System.Drawing.SystemColors.WindowText;
-            dataGridViewCellStyle2.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle4.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle2.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle4.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            dataGridViewCellStyle2.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
+            dataGridViewCellStyle4.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
-            this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle2;
+            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;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs

@@ -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;
+            ci = Thread.CurrentThread.CurrentUICulture;
-            for (int i = 0; i < languages.Count && !match; i++)
+            for (int i = 0; i < languages.Count; i++)
             {
-                ci = Thread.CurrentThread.CurrentUICulture;
+                if (ci.IsChildOf(languages[i]))
-                while (!ci.Equals(CultureInfo.InvariantCulture))
                 {
-                    if (ci.Equals(languages[i]))
+                    CMB_language.SelectedIndex = i;
-                    {
+                    break;
-                        CMB_language.SelectedIndex = i;
-                        match = true;
-                        break;
-                    }
-                    ci = ci.Parent;
                 }
             }
             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()));
+                        decimal option = (decimal)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
-                            ((NumericUpDown)text[0]).Value = option;
+                        ((NumericUpDown)text[0]).Value = option;
-                            ((NumericUpDown)text[0]).BackColor = Color.Green;
+                        ((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()));
+                        int option = (int)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
-                            ((ComboBox)text[0]).SelectedIndex = option;
+                        ((ComboBox)text[0]).SelectedIndex = option;
-                            ((ComboBox)text[0]).BackColor = Color.Green;
+                        ((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) {
+            catch (Exception ex)
-                MessageBox.Show("Can not add video source\n" + ex.ToString()); 
+            {
-                return; 
+                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);
+        }
     }
 }

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

@@ -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">
+  <data name="XTRK_GAIN_SC1.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">
     <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>

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -1,28 +1,24 @@
 using System;
 using System.Collections.Generic;
-using System.ComponentModel;
+using System.Reflection;
-using System.Data;
-using System.Drawing;
-using System.Text;
 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();
+                var fd = new OpenFileDialog {Filter = "Firmware (*.hex)|*.hex"};
-                fd.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); }
+            catch (Exception ex)
-            Console.WriteLine("FW load done");
+            {
+                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 = new ArduinoSTKv2
-                port.BaudRate = 115200;
+                           {
+                               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)
                     {

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs

@@ -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();

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -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();
             }
         }
 

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.resx

@@ -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>

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -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;
+                    throw new Exception("Please Connect First!");
-
-                    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");
                 }
-                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);
-                            {
-                                processToScreen(cmds);
-                            }
-                            catch (Exception exx) { Console.WriteLine(exx.ToString()); }
                         }
+                        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()); }
+            catch (Exception exx) { log.Info(exx.ToString()); }
-            });
-            t12.IsBackground = true;
-            t12.Name = "Read wps";
-            t12.Start();
-            MainV2.threads.Add(t12);
-
-            BUT_read.Enabled = false;
         }
 
         /// <summary>
@@ -1290,111 +1305,118 @@ namespace ArdupilotMega.GCSViews
                 }
             }
 
-            System.Threading.Thread t12 = new System.Threading.Thread(delegate()
+            Controls.ProgressReporterDialogue frmProgressReporter = new Controls.ProgressReporterDialogue
             {
-                try
+                StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
-                {
+                Text = "Sending WP's"
-                    MAVLink port = MainV2.comPort;
+            };
 
-                    if (!port.BaseStream.IsOpen)
+            frmProgressReporter.DoWork += saveWPs;
-                    {
+            frmProgressReporter.UpdateProgressAndStatus(-1, "Sending WP's");
-                        throw new Exception("Please Connect First!");
-                    }
 
-                    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)))
                 {

Tools/ArdupilotMegaPlanner/GCSViews/Help.cs

@@ -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)

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -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); }
             }
         }
 

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

@@ -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>

Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs

@@ -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"); }
                 }

Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs

@@ -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;

Tools/ArdupilotMegaPlanner/HUD.cs

@@ -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());
+                    log.Info(test.ToString());
-                    Console.WriteLine("Vendor: " + GL.GetString(StringName.Vendor));
+                    log.Info("Vendor: " + GL.GetString(StringName.Vendor));
-                    Console.WriteLine("Version: " + GL.GetString(StringName.Version));
+                    log.Info("Version: " + GL.GetString(StringName.Version));
-                    Console.WriteLine("Device: " + GL.GetString(StringName.Renderer));
+                    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());
+                log.Info("hud error "+ex.ToString());
-                //MessageBox.Show(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);

Tools/ArdupilotMegaPlanner/Joystick.cs

@@ -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()));
+                    log.InfoFormat("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("{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;
         }
 

Tools/ArdupilotMegaPlanner/LangUtility.cs

@@ -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);
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Log.cs

@@ -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");
+                log.Info("Comport thread close");
-            });
+            }) {Name = "comport reader"};
-            t11.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));
 
 

Tools/ArdupilotMegaPlanner/LogBrowse.cs

@@ -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++;
             }

Tools/ArdupilotMegaPlanner/MAVLink.cs

@@ -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..");
+            frmProgressReporter = new ProgressReporterDialogue
-            //frm.TopMost = true;
+                                      {
+                                          StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
+                                          Text = "Connecting Mavlink"
+                                      };
 
-            frm = new ProgressReporter();
+            if (getparams)
-            MainV2.fixtheme(frm);
+            {
-            this.Progress += new ProgressEventHandler(MAVLink_Progress);
+                frmProgressReporter.DoWork += FrmProgressReporterDoWorkAndParams;
-            //(progress, status) => { frm.updateProgressAndStatus(progress, status); };
+            }
+            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)
+        private void OpenBg(bool getparams,  ProgressWorkerEventArgs progressWorkerEventArgs)
-                Progress(-1, "Mavlink Connecting...");
+        {
+            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
+                    Thread.Sleep(1000);
-                    for (int a = 0; a < 1000; a++ ) {
-                        System.Threading.Thread.Sleep(1);
-                        if (!MainV2.instance.InvokeRequired)
-                        {
-                            System.Windows.Forms.Application.DoEvents();
-                        }
-                    }
-
                 }
 
                 byte[] buffer;
@@ -189,8 +199,9 @@ namespace ArdupilotMega
                 countDown.Elapsed += (sender, e) =>
                 {
                     int secondsRemaining = (deadline - e.SignalTime).Seconds;
-                    if (Progress != null)
+                    //if (Progress != null)
-                        Progress(-1, string.Format("Trying to connect.\nTimeout in {0}", secondsRemaining));
+                    //    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 ");
+                    log.Info(DateTime.Now.Millisecond + " Start connect loop ");
-
-                    /*
-                    if (Progress != null)
-                    {
-                        int secondsRemaining = (start.AddSeconds(CONNECT_TIMEOUT_SECONDS) - DateTime.Now).Seconds;
-                        Progress(-1, string.Format("Trying to connect.\nTimeout in {0}", secondsRemaining));
-                    }
-                    */
 
                     if (lastbad[0] == '!' && lastbad[1] == 'G' || lastbad[0] == 'G' && lastbad[1] == '!') // waiting for gps lock
                     {
-                        if (Progress != null)
+                        //if (Progress != null)
-                            Progress(-1, "Waiting for GPS detection..");
+                        //    Progress(-1, "Waiting for GPS detection..");
-                        start = start.AddSeconds(5); // each round is 1.1 seconds
+                        frmProgressReporter.UpdateProgressAndStatus(-1, "Waiting for GPS detection..");
+                        deadline = deadline.AddSeconds(5); // each round is 1.1 seconds
                     }
 
                     if (DateTime.Now > deadline)
                     {
-                        if (Progress != null)
+                        //if (Progress != null)
-                            Progress(-1, "No Heatbeat Packets");
+                        //    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)
+//                if (Progress != null)
-                    Progress(-1, "Getting Params.. (sysid " + sysid + " compid " + compid + ") ");
+//                    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)
+//                if (Progress != null)
-                    Progress(-1, "Connect Failed\n" + e.Message);
+//                    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
+            // clear old
-            __mavlink_param_request_read_t rereq = new __mavlink_param_request_read_t();
+            param = new Hashtable();
-            rereq.target_system = sysid;
+
-            rereq.target_component = compid;
+            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;
+            while (got.Count < param_total)
-            int nextid = 0;
-            int param_count = 0;
-            int param_total = 5;
-            while (param_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");
+                    throw new Exception("Timeout on read - getParamList " + param_count +" "+ param_total);
-                }
-                if (!(restart.AddMilliseconds(1000) > DateTime.Now))
-                {
-                    rereq.param_id = new byte[] { 0x0, 0x0 };
-                    rereq.param_index = (short)nextid;
-                    sendPacket(rereq);
-                    restart = DateTime.Now;
                 }
 
-                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
+                        // check if we already have it
-                        if (BaseStream.GetType() != typeof(UdpSerial))
+                        if (got.Contains(par.param_index))
                         {
-                            if (nextid == (par.param_index))
+                            //Console.WriteLine("Already got '"+paramID+"'");
-                            {
+                            continue;
-                                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");
-                            }
                         }
 
+                        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;
                 }

Tools/ArdupilotMegaPlanner/MagCalib.cs

@@ -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]);
+        }
+
+
+    }
+}

Tools/ArdupilotMegaPlanner/MainV2.Designer.cs

@@ -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

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -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
+                    try
-                        talk.SpeakAsyncCancelAll();
+                    {
+                        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() 
+                        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};
+                            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);
+            log.Info("myview width " + MyView.Width + " height " + MyView.Height);
-            Console.WriteLine("this   width " + this.Width + " height " + this.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";
+                    process.StartInfo.FileName = "mono";
-                    P.StartInfo.Arguments = " \"" + Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "Updater.exe\"";
+                    process.StartInfo.Arguments = " \"" + exePath + Path.DirectorySeparatorChar + "Updater.exe\"";
                 }
                 else
                 {
-                    P.StartInfo.FileName = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "Updater.exe";
+                    process.StartInfo.FileName = exePath + Path.DirectorySeparatorChar + "Updater.exe";
-                    P.StartInfo.Arguments = "";
+                    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");
+                    UpdateLabel(loadinglabel, "Starting Updater");
-                Console.WriteLine("Start " + P.StartInfo.FileName + " with " + P.StartInfo.Arguments);
+                log.Info("Starting new process: " + process.StartInfo.FileName + " with " + process.StartInfo.Arguments);
-                P.Start();
+                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. 
+            // Create a request using a URL that can receive a post. 
-                WebRequest request = WebRequest.Create(baseurl + path);
+            string requestUriString = baseurl + path;
-                request.Timeout = 5000;
+            log.Debug("Checking for update at: " + requestUriString);
-                Console.Write(baseurl + path + " ");
+            var webRequest = WebRequest.Create(requestUriString);
-                // Set the Method property of the request to POST.
+            webRequest.Timeout = 5000;
-                request.Method = "HEAD";
 
-                ((HttpWebRequest)request).IfModifiedSince = File.GetLastWriteTimeUtc(path);
+            // Set the Method property of the request to POST.
+            webRequest.Method = "HEAD";
 
-                // Get the response.
+            ((HttpWebRequest)webRequest).IfModifiedSince = File.GetLastWriteTimeUtc(path);
-                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.
 
-                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);
+                    using (var sw = new StreamWriter(path + ".etag"))
-
-                    Console.WriteLine(response.Headers[HttpResponseHeader.ETag]);
-
-                    if (fi.Length != response.ContentLength) // && response.Headers[HttpResponseHeader.ETag] != "0")
                     {
-                        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;
+                    return;
-                    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;
-                    }
                 }
+            }
         }
 
-        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();
+                Width = 400,
-            loading.Width = 400;
+                Height = 150,
-            loading.Height = 150;
+                StartPosition = FormStartPosition.CenterScreen,
-            loading.StartPosition = FormStartPosition.CenterScreen;
+                TopMost = true,
-            loading.TopMost = true;
+                MinimizeBox = false,
-            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
+                MaximizeBox = false
-            loading.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
+            };
+            var resources = new ComponentResourceManager(typeof(MainV2));
+            loading.Icon = ((Icon)(resources.GetObject("$this.Icon")));
 
-            Label loadinglabel = new Label();
+            var loadinglabel = new Label
-            loadinglabel.Location = new System.Drawing.Point(50, 40);
+                                     {
-            loadinglabel.Name = "load";
+                                         Location = new System.Drawing.Point(50, 40),
-            loadinglabel.AutoSize = true;
+                                         Name = "load",
-            loadinglabel.Text = "Checking...";
+                                         AutoSize = true,
-            loadinglabel.Size = new System.Drawing.Size(100, 20);
+                                         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);
+        }
     }
 }

Tools/ArdupilotMegaPlanner/Mavlink/MavlinkUtil.cs

@@ -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());
 

Tools/ArdupilotMegaPlanner/MavlinkLog.zh-Hans.resx

@@ -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>
+        AAABAAEAICAAAAEAIACoEAAAFgAAACgAAAAgAAAAQAAAAAEAIAAAAAAAABAAABILAAASCwAAAAAAAAAA
+        AAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADOxkjAtnoOAKpJ4vyiK
+        c+8nh3D/J4Zv/yeHcP8oi3PvKpJ4vy6fg4AzsZIwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAP///wAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADjGo2AyspPfLZ+D/yiQ
+        d/8hlXj/G6F9/xeqg/8XqYL/GKqD/xuhfv8ilnn/KZB3/y2fhP8yspPfN8ajYAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAA////AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADvRrDA1vpzfL6uN/yel
+        hP8XvJD/DMyY/wfQl/8FzJP/A8qS/wPJkf8EypL/BsyU/wnRmP8PzZn/Gb2R/yemhP8tqoz/Mb2a3zbQ
+        qkAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAA4y6ZgMbWV/yin
+        iP8WwZP/Btqf/wDPlf8AyI7/A8aP/yfNnv9T2LP/UNax/03XsP8506b/G8ya/wHKkf8F0Zf/CNuf/xLB
+        kv8fpYT/J7KQ/y7IomAAAAAAAAAAAAAAAAAAAAAAAAAAAP///wAAAAAAAAAAAAAAAAAAAAAANcajny+w
+        kf8hqoj/CNSd/wDRlf8Axor/Hcyd/3Lhwf+p7Nj/o+vV/57m0/+X5dD/k+TN/4/jzf+K5Mz/fuHH/0PW
+        rf8HzJT/ANCT/wDRlv8OpX//HayI/yrFn58AAAAAAAAAAAAAAAAAAAAA////AAAAAAAAAAAAAAAAADDC
+        nmAtro7/H62J/wPWmv8Ay47/AMaO/3XhxP+e6tT/mObP/5Pjy/+Q4sr/jODJ/4ffx/+C3MT/f9vC/3nb
+        wf9y2r7/adq7/2DauP8ZzZv/Fdae/8T/9/9WxKj/HKuI/y7IomAAAAAAAAAAAAAAAAD///8AAAAAAAAA
+        AAAiuZMwKKyM/x6ohf8C1Zr/AMmL/wHGjv+49OL///////////9+3ML/f9zD/4Dcwv9+28L/e9rA/3bZ
+        vv9w1rr/Z9S4/17Rs/9Qz63/Qcyn/3LewP////////////n///8MpH7/JbKP/zXQqUAAAAAAAAAAAP//
+        /wAAAAAAAAAAABymhN8dnn//BNGa/wDKjP8AxY3/sfHf/////////////////2nXt/9w1rv/c9e8/3TX
+        vP9x17z/a9W5/2TTtf9Y0K//SMyp/zXFoP9i07X/////////////////f/LR/wDQlf8epYT/Mb2a3wAA
+        AAAAAAAA////AAAAAAADlnJgFZR1/wq4iv8AzpH/AMCD/4rmzf//////////////////////WdGv/2PU
+        tf9p1rf/atS4/2nUtv9i0rT/Vc+u/0fKpv8zxZz/Ws+w//////////////////////8GyJL/ANCS/xLB
+        kv8tq4z/OMajYAAAAAD///8AAAAAAACHZt8NkW//ANKV/wDChP9i27r//////////////////////9Dx
+        6P9MzKn/Vc+v/17Rsv9g0rP/XNCx/1XNrv9Fyaf/McSd/1fPr///////////////////////QM2m/ynK
+        oP8JzJX/C9yh/ymmhf80spPfAAAAAP///wAAcUwwAHtc/wCrfP8AyIv/AMKK////////////////////
+        /////////////5Dgyv9Gyqb/TMyq/07Nq/9MzKn/Qcmj/y/Fnf9Wzq3//////////////////////57k
+        0v8av5T/Lceg/yzOo/8M05v/Hr6T/zCghf80spIw////AABoRYAAclT/AL2H/wDBhf9R1rL/////////
+        ////////4vfw//////////////////H8+P9KzKn/Ocah/zTFnv8qwpj/Us2t////////////////////
+        ////////DLqM/yDBlv8wxp//OM6m/xPPm/8Xz53/LZF5/y+fg4////8AAGNAvwB7Wf8Aw4j/ALyC/4bj
+        yP+g5tL/g93E/2HSsv9Pzqz/Us6s//////////////////////9Yzq//Gr2S/0jLp///////////////
+        /////////////yrDm/8SvI//JMGY/zDHn/81zKT/Is2e/xTUnf8nl3v/LJJ5v////wAAXz3vAIlg/wDA
+        hf8AuoD/quzZ/5Hjyv9628D/ada2/1jRsP9Jy6f/a9a4//////////////////////+Y4s7/////////
+        //////////////////+c4tD/AbaH/xW8kf8jwZj/LcWd/y/Jn/8kzJ3/E9Ca/yGjgf8ri3Tv////AABd
+        PP8Ak2b/AL6D/w/Ekv+m6tf/j+HJ/3vawP9p1rf/W9Gx/0rNqf85yJ//Nsaf////////////////////
+        /////////////////////////////wCwe/8AtoT/ELqP/xu+k/8jwZj/KMeb/yHKm/8QzZf/HqyG/ymI
+        cf////8AAF07/wCSZP8AvYL/GMWU/6Dn1P+K38f/ddi+/27Wuf+E3MX/leHN/6fm1f+l5tX/neLQ////
+        ////////////////////////////////////////j9/J/27Vuv9Tzq7/JsKY/xa/kv8aw5T/FcaW/wvL
+        lf8aqoT/J4dw/////wAAXTv/AJFk/wC9gP8GwY3/mObQ/5rkz/+26dv/y/Hl/8Dt3/+06tz/pebV/5bg
+        zP+g5NL//////////////v///f7+//7+/v//////7fn2////////////tOnb/6Ll0v+v6Nj/jeDI/zXK
+        o/8IxJD/BMqS/xaqgv8lh2//////AABeO+8AgVf/AL1//wDBif/R9uv/1PPq/8Tv5P+36t3/rujY/6Lk
+        0v+U4cv/jt7J//j8+///////+/38//f8+//2+/r/+Pz7//3+/v/m9/P/9Pv6//D6+P9/28L/jd7J/5jj
+        z/+h5dL/qOvX/4Hmyf8f1J//E596/yOJcO////8AAGA8vwB3U/8p06P/hufM/8Ty5f/D7+T/s+vb/6bm
+        1P+c4c//j9/K/4vcyP/t+fb///7///j8/P/0+/r/8vr5//P7+f/1+/r/+/39///////i9fL/ZNO1/3HW
+        vP992sH/htzG/4vhyv+S5dD/mO7W/6X74v80noT/Io90v////wAAZkCAAHla/33ny/945cb/nunV/7Xr
+        3v+l5tT/luDN/4ndxv992cL/1vLq//v9/P/1+/n/8vv4//L69//z+/j/9Pv5/7Xo2//x+vn/////////
+        //+y59n/aNS3/3LWvP932r//fNzD/4Ljyf+J7ND/l/bd/yORdf8knH6A////AABuRzAAdlT/Xc6x/23o
+        xv9s4MH/qurZ/5jiz/+I3cb/edjA/8ju5f/3/Pv/8vv4//H6+P/y+/j/6/f0/7np3v/7/fz//v7+/6fk
+        1f+56tz///////////9h0bT/aNW4/23Wu/9v3L//dOLG/37w0f9m1rn/Hpt8/ymujTD///8AAAAAAACD
+        X98po4X/Z+7K/1vgvP+A4sf/jOHK/3rZwv+r59f/9Pv6/+/69//v+vf/8vr4/9fy6/9n0rf/VM6t/6Di
+        0v/N7+f/adO4/1PMrf9t1Lr/i9zI/1/Rs/9h0rX/ZNe4/2bbvf9s5sb/ePfV/z2ylf8lrozfAAAAAP//
+        /wAAAAAAAJNsYAWQbf9U1rP/Vee//0rYsf993sb/pebV//P7+v/s+Pb/6/f1/+749v+s5tj/Vc2u/1jP
+        r/9ZzrD/btW5/1bOr/9Wza//Vs6v/1fOr/9Z0LD/WdCy/1vTtP9d1rX/Xt+8/2btyP9k4L//IaaF/y7D
+        nmAAAAAA////AAAAAAAAAAAAD6J9zyCjgv9S68L/P9+0/2Pevv/5////7/v6/+v59//j9/L/gtvF/1PN
+        r/9Wz7D/Wc+x/1nQsf9Zz7H/WM6w/1fPsP9UzrD/VM+w/1TPrv9U0a//U9Oy/1Tatv9Z5sD/Y/LL/zSx
+        lP8qupbPAAAAAAAAAAD///8AAAAAAAAAAAAYto4wGaeE/y23lP8+5rn/6/////j////w//3/ve/i/2bV
+        uP9Tzq7/Vc+v/1jPsP9Z0LL/WM+w/1fOsf9Wz7D/Us2w/1HOrf9Qzq3/T9Cu/0zSr/9M2LP/TeC5/1bt
+        xP9HxaX/KLKQ/zTPqDAAAAAAAAAAAP///wAAAAAAAAAAAAAAAAAkvpdgG6iF/y++m//e/////P///3rl
+        yf9G0K3/VdKy/1bPsf9Wz7H/Vs6w/1bPsP9Sza//Ucyu/0/Nrf9NzKz/S82s/0fOrP9G0a7/QdWv/0Le
+        tP9I6L7/Q8Ok/yitjP8yyKJgAAAAAAAAAAAAAAAA////AAAAAAAAAAAAAAAAAAAAAAAmwJlgG6iF/yK3
+        kP8k3q7/H9el/x7Pn/8tzKT/Q9Cs/1HQsP9Q0K7/TM6u/0nMrf9Hzaz/RMyp/0LNqf8+zqn/ONGo/zTV
+        qf833rD/O+S4/zvCof8orIv/MMSfYAAAAAAAAAAAAAAAAAAAAAD///8AAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAkvpdgG6iE/xukgv8gy53/HNql/xzRn/8czJz/HcmZ/yXJnP8qyp7/Lcqg/yzLn/8nypz/JMqc/yTO
+        n/8l1KT/KN2r/y3Tpv8nq4n/JaqJ/yzAm2AAAAAAAAAAAAAAAAAAAAAAAAAAAP///wAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAato8wFKN/zxCScv8RnHn/DbqM/wjIlP8GyZT/BsaS/wbFkf8GxZH/B8WR/wfH
+        k/8IypX/DMmV/xG3jP8WoX3/Fph2/xqkgs8ft5EwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA////AAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAJVvYACGZM8Aelr/AHlZ/wCFX/8AiWL/AJlr/wCb
+        bP8AlGf/AI5k/wB/W/8AeFj/AHtb/wCHZd8ClXBgAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAABwSzAAaESAAGI/vwBf
+        Pd8AXTz/AF08/wBdPP8AXz3fAGJAvwBoRIAAcUswAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAP///wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP//
+        /wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP//
+        /wD///8A////AP///wD///8A/+AD//+AAP/+AAA//AAAH/gAAA/wAAAH4AAAA+AAAAPAAAABwAAAAYAA
+        AACAAAAAgAAAAIAAAACAAAAAgAAAAIAAAACAAAAAgAAAAIAAAACAAAAAwAAAAcAAAAHgAAAD4AAAA/AA
+        AAf4AAAP/AAAH/4AAD//gAD//+AD//////8=
+</value>
+  </data>
+  <data name="$this.Text" xml:space="preserve">
+    <value>记录</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/Program.cs

@@ -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");
+                }
             }
         }
     }

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

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

Tools/ArdupilotMegaPlanner/Properties/Resources.Designer.cs

@@ -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);

Tools/ArdupilotMegaPlanner/Properties/Resources.resx

@@ -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>

Tools/ArdupilotMegaPlanner/Protocol.cs

@@ -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);
+    }
+}

Tools/ArdupilotMegaPlanner/Radio/3DRradio.Designer.cs

@@ -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;
+    }
+}

Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs

@@ -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;
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Radio/3DRradio.resx

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

Tools/ArdupilotMegaPlanner/Radio/IHex.cs

@@ -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);
+		}
+	}
+}
+

Tools/ArdupilotMegaPlanner/Radio/Uploader.cs

@@ -0,0 +1,449 @@
+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);
+		}
+	}
+}
+

Tools/ArdupilotMegaPlanner/Script.cs

@@ -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;

Tools/ArdupilotMegaPlanner/SerialInput.Designer.cs

@@ -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";
             // 

Tools/ArdupilotMegaPlanner/SerialInput.cs

@@ -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;
+                        string[] items = line.Trim().Split(',','*');
-                        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;
 
-                        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)

Tools/ArdupilotMegaPlanner/Speech.cs

@@ -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();
+            }
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Utility.cs

@@ -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);
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/app.config

@@ -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>

Tools/ArdupilotMegaPlanner/bin/Release/.gdbinit

@@ -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

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

@@ -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>

Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml

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

Tools/ArdupilotMegaPlanner/bin/Release/mavcmd.xml

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

Tools/ArdupilotMegaPlanner/bin/Release/runme

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

Tools/ArdupilotMegaPlanner/dataflashlog.xml

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

Tools/ArdupilotMegaPlanner/georefimage.cs

@@ -1,22 +1,19 @@
 using System;
 using System.Collections.Generic;
-using System.Linq;
+using System.Reflection;
-using System.Text;
-using System.Drawing;
-using System.Drawing.Imaging;
 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))