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APM Planner 1.1.32

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fix gauge updating
add more checks on add wp - default alt and home alt
fix xplane 10 gps heading - should be 100% working now.
fix xplane throttle issue - from rc library change - rc3_trim should be same as rc3_min
This commit is contained in:
Michael Oborne 2012-02-04 17:59:37 +08:00
parent c95a295fd6
commit 2f57edda06
10 changed files with 161 additions and 115 deletions
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8
Tools/ArdupilotMegaPlanner/Controls/AGauge.cs
View File

@ -221,13 +221,13 @@ namespace AGaugeApp
#region properties #region properties
[System.ComponentModel.Browsable(true)] [System.ComponentModel.Browsable(true)]
public Single Value0 { get { return m_value[0]; } set { m_NeedIdx = 0; Value = value; } } public Single Value0 { get { return m_value[0]; } set { m_NeedIdx = 0; Value = value; this.Invalidate(); } }
[System.ComponentModel.Browsable(true)] [System.ComponentModel.Browsable(true)]
public Single Value1 { get { return m_value[1]; } set { m_NeedIdx = 1; Value = value; } } public Single Value1 { get { return m_value[1]; } set { m_NeedIdx = 1; Value = value; this.Invalidate(); } }
[System.ComponentModel.Browsable(true)] [System.ComponentModel.Browsable(true)]
public Single Value2 { get { return m_value[2]; } set { m_NeedIdx = 2; Value = value; } } public Single Value2 { get { return m_value[2]; } set { m_NeedIdx = 2; Value = value; this.Invalidate(); } }
[System.ComponentModel.Browsable(true)] [System.ComponentModel.Browsable(true)]
public Single Value3 { get { return m_value[3]; } set { m_NeedIdx = 3; Value = value; } } public Single Value3 { get { return m_value[3]; } set { m_NeedIdx = 3; Value = value; this.Invalidate(); } }
[System.ComponentModel.Browsable(true), [System.ComponentModel.Browsable(true),
System.ComponentModel.Category("AGauge"), System.ComponentModel.Category("AGauge"),

2
Tools/ArdupilotMegaPlanner/CurrentState.cs
View File

@ -256,7 +256,7 @@ namespace ArdupilotMega
if (ind != -1) if (ind != -1)
logdata = logdata.Substring(0, ind); logdata = logdata.Substring(0, ind);
if (messages.Count > 5) while (messages.Count > 5)
{ {
messages.RemoveAt(0); messages.RemoveAt(0);
} }

30
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs generated
View File

@ -191,6 +191,8 @@
this.STB_YAW_P = new System.Windows.Forms.NumericUpDown(); this.STB_YAW_P = new System.Windows.Forms.NumericUpDown();
this.label35 = new System.Windows.Forms.Label(); this.label35 = new System.Windows.Forms.Label();
this.groupBox21 = new System.Windows.Forms.GroupBox(); this.groupBox21 = new System.Windows.Forms.GroupBox();
this.STAB_D = new System.Windows.Forms.NumericUpDown();
this.lblSTAB_D = new System.Windows.Forms.Label();
this.STB_PIT_IMAX = new System.Windows.Forms.NumericUpDown(); this.STB_PIT_IMAX = new System.Windows.Forms.NumericUpDown();
this.label36 = new System.Windows.Forms.Label(); this.label36 = new System.Windows.Forms.Label();
this.STB_PIT_I = new System.Windows.Forms.NumericUpDown(); this.STB_PIT_I = new System.Windows.Forms.NumericUpDown();
@ -283,8 +285,6 @@
this.BUT_load = new ArdupilotMega.MyButton(); this.BUT_load = new ArdupilotMega.MyButton();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components); this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.BUT_compare = new ArdupilotMega.MyButton(); this.BUT_compare = new ArdupilotMega.MyButton();
this.STAB_D = new System.Windows.Forms.NumericUpDown();
this.lblSTAB_D = new System.Windows.Forms.Label();
((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
this.ConfigTabs.SuspendLayout(); this.ConfigTabs.SuspendLayout();
this.TabAP.SuspendLayout(); this.TabAP.SuspendLayout();
@ -371,6 +371,7 @@
((System.ComponentModel.ISupportInitialize)(this.STB_YAW_I)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.STB_YAW_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.STB_YAW_P)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.STB_YAW_P)).BeginInit();
this.groupBox21.SuspendLayout(); this.groupBox21.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.STAB_D)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.STB_PIT_IMAX)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.STB_PIT_IMAX)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.STB_PIT_I)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.STB_PIT_I)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.STB_PIT_P)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.STB_PIT_P)).BeginInit();
@ -395,7 +396,6 @@
((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_P)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_P)).BeginInit();
this.TabPlanner.SuspendLayout(); this.TabPlanner.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.STAB_D)).BeginInit();
this.SuspendLayout(); this.SuspendLayout();
// //
// Params // Params
@ -1115,6 +1115,7 @@
// TUNE // TUNE
// //
this.TUNE.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; this.TUNE.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.TUNE.DropDownWidth = 150;
this.TUNE.FormattingEnabled = true; this.TUNE.FormattingEnabled = true;
this.TUNE.Items.AddRange(new object[] { this.TUNE.Items.AddRange(new object[] {
resources.GetString("TUNE.Items"), resources.GetString("TUNE.Items"),
@ -1149,6 +1150,7 @@
// CH7_OPT // CH7_OPT
// //
this.CH7_OPT.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; this.CH7_OPT.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CH7_OPT.DropDownWidth = 150;
this.CH7_OPT.FormattingEnabled = true; this.CH7_OPT.FormattingEnabled = true;
this.CH7_OPT.Items.AddRange(new object[] { this.CH7_OPT.Items.AddRange(new object[] {
resources.GetString("CH7_OPT.Items"), resources.GetString("CH7_OPT.Items"),
@ -1449,6 +1451,16 @@
this.groupBox21.Name = "groupBox21"; this.groupBox21.Name = "groupBox21";
this.groupBox21.TabStop = false; this.groupBox21.TabStop = false;
// //
// STAB_D
//
resources.ApplyResources(this.STAB_D, "STAB_D");
this.STAB_D.Name = "STAB_D";
//
// lblSTAB_D
//
resources.ApplyResources(this.lblSTAB_D, "lblSTAB_D");
this.lblSTAB_D.Name = "lblSTAB_D";
//
// STB_PIT_IMAX // STB_PIT_IMAX
// //
resources.ApplyResources(this.STB_PIT_IMAX, "STB_PIT_IMAX"); resources.ApplyResources(this.STB_PIT_IMAX, "STB_PIT_IMAX");
@ -2102,16 +2114,6 @@
this.BUT_compare.UseVisualStyleBackColor = true; this.BUT_compare.UseVisualStyleBackColor = true;
this.BUT_compare.Click += new System.EventHandler(this.BUT_compare_Click); this.BUT_compare.Click += new System.EventHandler(this.BUT_compare_Click);
// //
// STAB_D
//
resources.ApplyResources(this.STAB_D, "STAB_D");
this.STAB_D.Name = "STAB_D";
//
// lblSTAB_D
//
resources.ApplyResources(this.lblSTAB_D, "lblSTAB_D");
this.lblSTAB_D.Name = "lblSTAB_D";
//
// Configuration // Configuration
// //
resources.ApplyResources(this, "$this"); resources.ApplyResources(this, "$this");
@ -2213,6 +2215,7 @@
((System.ComponentModel.ISupportInitialize)(this.STB_YAW_I)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.STB_YAW_I)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.STB_YAW_P)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.STB_YAW_P)).EndInit();
this.groupBox21.ResumeLayout(false); this.groupBox21.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.STAB_D)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.STB_PIT_IMAX)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.STB_PIT_IMAX)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.STB_PIT_I)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.STB_PIT_I)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.STB_PIT_P)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.STB_PIT_P)).EndInit();
@ -2237,7 +2240,6 @@
((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_P)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_P)).EndInit();
this.TabPlanner.ResumeLayout(false); this.TabPlanner.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.STAB_D)).EndInit();
this.ResumeLayout(false); this.ResumeLayout(false);
} }

63
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
View File

@ -281,12 +281,20 @@ namespace ArdupilotMega.GCSViews
cell.Value = TXT_DefaultAlt.Text; cell.Value = TXT_DefaultAlt.Text;
float result;
float.TryParse(TXT_homealt.Text, out result);
if (result == 0)
{ {
MessageBox.Show("You must have a home altitude"); float result;
float.TryParse(TXT_homealt.Text, out result);
if (result == 0)
{
MessageBox.Show("You must have a home altitude");
}
if (!float.TryParse(TXT_DefaultAlt.Text, out result))
{
MessageBox.Show("Your default alt is not valid");
return;
}
} }
float ans; float ans;
@ -784,7 +792,7 @@ namespace ArdupilotMega.GCSViews
cmd = Commands[Command.Index, selectedrow].Value.ToString(); cmd = Commands[Command.Index, selectedrow].Value.ToString();
} }
catch { cmd = option; } catch { cmd = option; }
Console.WriteLine("editformat " + option + " value " + cmd); //Console.WriteLine("editformat " + option + " value " + cmd);
ChangeColumnHeader(cmd); ChangeColumnHeader(cmd);
} }
catch (Exception ex) { MessageBox.Show(ex.ToString()); } catch (Exception ex) { MessageBox.Show(ex.ToString()); }
@ -916,7 +924,7 @@ namespace ArdupilotMega.GCSViews
drawnpolygons.Markers.Add(m); drawnpolygons.Markers.Add(m);
drawnpolygons.Markers.Add(mBorders); drawnpolygons.Markers.Add(mBorders);
} }
catch (Exception) { } catch (Exception ex) { Console.WriteLine(ex.ToString()); }
} }
/// <summary> /// <summary>
@ -1086,11 +1094,16 @@ namespace ArdupilotMega.GCSViews
else if (home.Length > 5 && usable == 0) else if (home.Length > 5 && usable == 0)
{ {
lookat = "<LookAt> <longitude>" + TXT_homelng.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</longitude> <latitude>" + TXT_homelat.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</latitude> <range>4000</range> </LookAt>"; lookat = "<LookAt> <longitude>" + TXT_homelng.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</longitude> <latitude>" + TXT_homelat.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</latitude> <range>4000</range> </LookAt>";
MainMap.HoldInvalidation = true;
MainMap.ZoomAndCenterMarkers("objects"); RectLatLng? rect = MainMap.GetRectOfAllMarkers("objects");
MainMap.Zoom -= 2; if (rect.HasValue)
{
MainMap.Position = rect.Value.LocationMiddle;
}
MainMap.Zoom = 17;
MainMap_OnMapZoomChanged(); MainMap_OnMapZoomChanged();
MainMap.HoldInvalidation = false;
} }
RegeneratePolygon(); RegeneratePolygon();
@ -1933,8 +1946,13 @@ namespace ArdupilotMega.GCSViews
{ {
if (CurentRectMarker.InnerMarker.Tag.ToString().Contains("grid")) if (CurentRectMarker.InnerMarker.Tag.ToString().Contains("grid"))
{ {
drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(end.Lat, end.Lng); try
MainMap.UpdatePolygonLocalPosition(drawnpolygon); {
drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(end.Lat, end.Lng);
MainMap.UpdatePolygonLocalPosition(drawnpolygon);
MainMap.Invalidate();
}
catch { }
} }
else else
{ {
@ -2002,6 +2020,7 @@ namespace ArdupilotMega.GCSViews
{ {
drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(point.Lat, point.Lng); drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(point.Lat, point.Lng);
MainMap.UpdatePolygonLocalPosition(drawnpolygon); MainMap.UpdatePolygonLocalPosition(drawnpolygon);
MainMap.Invalidate();
} }
} }
catch { } catch { }
@ -2446,6 +2465,24 @@ namespace ArdupilotMega.GCSViews
string angle = (90).ToString("0"); string angle = (90).ToString("0");
Common.InputBox("Angle", "Enter the line direction (0-180)", ref angle); Common.InputBox("Angle", "Enter the line direction (0-180)", ref angle);
double tryme = 0;
if (!double.TryParse(angle, out tryme))
{
MessageBox.Show("Invalid Angle");
return;
}
if (!double.TryParse(alt, out tryme))
{
MessageBox.Show("Invalid Alt");
return;
}
if (!double.TryParse(distance, out tryme))
{
MessageBox.Show("Invalid Distance");
return;
}
#if DEBUG #if DEBUG
//Commands.Rows.Clear(); //Commands.Rows.Clear();
#endif #endif

10
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.Designer.cs generated
View File

@ -83,7 +83,7 @@
this.label17 = new ArdupilotMega.MyLabel(); this.label17 = new ArdupilotMega.MyLabel();
this.panel5 = new System.Windows.Forms.Panel(); this.panel5 = new System.Windows.Forms.Panel();
this.zg1 = new ZedGraph.ZedGraphControl(); this.zg1 = new ZedGraph.ZedGraphControl();
this.timer1 = new System.Windows.Forms.Timer(this.components); this.timer_servo_graph = new System.Windows.Forms.Timer(this.components);
this.panel6 = new System.Windows.Forms.Panel(); this.panel6 = new System.Windows.Forms.Panel();
this.label28 = new ArdupilotMega.MyLabel(); this.label28 = new ArdupilotMega.MyLabel();
this.label29 = new ArdupilotMega.MyLabel(); this.label29 = new ArdupilotMega.MyLabel();
@ -501,9 +501,9 @@
this.zg1.ScrollMinY = 0D; this.zg1.ScrollMinY = 0D;
this.zg1.ScrollMinY2 = 0D; this.zg1.ScrollMinY2 = 0D;
// //
// timer1 // timer_servo_graph
// //
this.timer1.Tick += new System.EventHandler(this.timer1_Tick); this.timer_servo_graph.Tick += new System.EventHandler(this.timer1_Tick);
// //
// panel6 // panel6
// //
@ -692,7 +692,6 @@
this.RAD_aerosimrc.Name = "RAD_aerosimrc"; this.RAD_aerosimrc.Name = "RAD_aerosimrc";
this.toolTip1.SetToolTip(this.RAD_aerosimrc, resources.GetString("RAD_aerosimrc.ToolTip")); this.toolTip1.SetToolTip(this.RAD_aerosimrc, resources.GetString("RAD_aerosimrc.ToolTip"));
this.RAD_aerosimrc.UseVisualStyleBackColor = true; this.RAD_aerosimrc.UseVisualStyleBackColor = true;
this.RAD_aerosimrc.CheckedChanged += new System.EventHandler(this.RAD_aerosimrc_CheckedChanged);
// //
// RAD_JSBSim // RAD_JSBSim
// //
@ -700,7 +699,6 @@
this.RAD_JSBSim.Name = "RAD_JSBSim"; this.RAD_JSBSim.Name = "RAD_JSBSim";
this.toolTip1.SetToolTip(this.RAD_JSBSim, resources.GetString("RAD_JSBSim.ToolTip")); this.toolTip1.SetToolTip(this.RAD_JSBSim, resources.GetString("RAD_JSBSim.ToolTip"));
this.RAD_JSBSim.UseVisualStyleBackColor = true; this.RAD_JSBSim.UseVisualStyleBackColor = true;
this.RAD_JSBSim.CheckedChanged += new System.EventHandler(this.RAD_JSBSim_CheckedChanged);
// //
// CHK_xplane10 // CHK_xplane10
// //
@ -811,7 +809,7 @@
private ArdupilotMega.MyLabel label19; private ArdupilotMega.MyLabel label19;
private ArdupilotMega.MyLabel TXT_control_mode; private ArdupilotMega.MyLabel TXT_control_mode;
private ZedGraph.ZedGraphControl zg1; private ZedGraph.ZedGraphControl zg1;
private System.Windows.Forms.Timer timer1; private System.Windows.Forms.Timer timer_servo_graph;
private System.Windows.Forms.Panel panel6; private System.Windows.Forms.Panel panel6;
private System.Windows.Forms.TextBox TXT_ruddergain; private System.Windows.Forms.TextBox TXT_ruddergain;
private System.Windows.Forms.TextBox TXT_pitchgain; private System.Windows.Forms.TextBox TXT_pitchgain;

151
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
View File

@ -280,7 +280,7 @@ namespace ArdupilotMega.GCSViews
_procstartinfo.UseShellExecute = true; _procstartinfo.UseShellExecute = true;
//_procstartinfo.RedirectStandardOutput = true; //_procstartinfo.RedirectStandardOutput = true;
System.Diagnostics.Process.Start(_procstartinfo); System.Diagnostics.Process.Start(_procstartinfo);
@ -307,12 +307,12 @@ namespace ArdupilotMega.GCSViews
}; };
t11.Start(); t11.Start();
MainV2.threads.Add(t11); MainV2.threads.Add(t11);
timer1.Start(); timer_servo_graph.Start();
} }
else else
{ {
timer1.Stop(); timer_servo_graph.Stop();
threadrun = 0; threadrun = 0;
if (SimulatorRECV != null) if (SimulatorRECV != null)
SimulatorRECV.Close(); SimulatorRECV.Close();
@ -569,7 +569,8 @@ namespace ArdupilotMega.GCSViews
RECVprocess(udpdata, recv, comPort); RECVprocess(udpdata, recv, comPort);
} }
} }
catch { //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n"); catch
{ //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
} }
} }
if (MavLink != null && MavLink.Client != null && MavLink.Client.Connected && MavLink.Available > 0) if (MavLink != null && MavLink.Client != null && MavLink.Client.Connected && MavLink.Available > 0)
@ -606,7 +607,7 @@ namespace ArdupilotMega.GCSViews
if (hzcounttime.Second != DateTime.Now.Second) if (hzcounttime.Second != DateTime.Now.Second)
{ {
// Console.WriteLine("SIM hz {0}", hzcount); // Console.WriteLine("SIM hz {0}", hzcount);
hzcount = 0; hzcount = 0;
hzcounttime = DateTime.Now; hzcounttime = DateTime.Now;
} }
@ -675,11 +676,11 @@ namespace ArdupilotMega.GCSViews
MavLink = new UdpClient("127.0.0.1", 14550); MavLink = new UdpClient("127.0.0.1", 14550);
} }
float oldax =0, olday =0, oldaz = 0; float oldax = 0, olday = 0, oldaz = 0;
DateTime oldtime = DateTime.Now; DateTime oldtime = DateTime.Now;
#if MAVLINK10 #if MAVLINK10
ArdupilotMega.MAVLink.__mavlink_gps_raw_int_t oldgps = new MAVLink.__mavlink_gps_raw_int_t(); ArdupilotMega.MAVLink.__mavlink_gps_raw_int_t oldgps = new MAVLink.__mavlink_gps_raw_int_t();
#endif #endif
ArdupilotMega.MAVLink.__mavlink_attitude_t oldatt = new ArdupilotMega.MAVLink.__mavlink_attitude_t(); ArdupilotMega.MAVLink.__mavlink_attitude_t oldatt = new ArdupilotMega.MAVLink.__mavlink_attitude_t();
@ -740,7 +741,9 @@ namespace ArdupilotMega.GCSViews
att.pitchspeed = (DATA[17][0]); att.pitchspeed = (DATA[17][0]);
att.rollspeed = (DATA[17][1]); att.rollspeed = (DATA[17][1]);
att.yawspeed = (DATA[17][2]); att.yawspeed = (DATA[17][2]);
} else { }
else
{
att.pitch = (DATA[17][0] * deg2rad); att.pitch = (DATA[17][0] * deg2rad);
att.roll = (DATA[17][1] * deg2rad); att.roll = (DATA[17][1] * deg2rad);
att.yaw = (DATA[17][2] * deg2rad); att.yaw = (DATA[17][2] * deg2rad);
@ -799,9 +802,9 @@ namespace ArdupilotMega.GCSViews
double head = DATA[18][2] - 90; double head = DATA[18][2] - 90;
#if MAVLINK10 #if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary()); imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else #else
imu.usec = ((ulong)DateTime.Now.ToBinary()); imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif #endif
imu.xgyro = xgyro; // roll - yes imu.xgyro = xgyro; // roll - yes
imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000); imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = ygyro; // pitch - yes imu.ygyro = ygyro; // pitch - yes
@ -817,7 +820,14 @@ namespace ArdupilotMega.GCSViews
#if MAVLINK10 #if MAVLINK10
gps.alt = (int)(DATA[20][2] * ft2m * 1000); gps.alt = (int)(DATA[20][2] * ft2m * 1000);
gps.fix_type = 3; gps.fix_type = 3;
gps.cog = (ushort)(DATA[19][2] * 100); if (xplane9)
{
gps.cog = ((float)DATA[19][2]);
}
else
{
gps.cog = ((float)DATA[18][2]);
}
gps.lat = (int)(DATA[20][0] * 1.0e7); gps.lat = (int)(DATA[20][0] * 1.0e7);
gps.lon = (int)(DATA[20][1] * 1.0e7); gps.lon = (int)(DATA[20][1] * 1.0e7);
gps.time_usec = ((ulong)0); gps.time_usec = ((ulong)0);
@ -825,7 +835,14 @@ namespace ArdupilotMega.GCSViews
#else #else
gps.alt = ((float)(DATA[20][2] * ft2m)); gps.alt = ((float)(DATA[20][2] * ft2m));
gps.fix_type = 3; gps.fix_type = 3;
gps.hdg = ((float)DATA[19][2]); if (xplane9)
{
gps.hdg = ((float)DATA[19][2]);
}
else
{
gps.hdg = ((float)DATA[18][2]);
}
gps.lat = ((float)DATA[20][0]); gps.lat = ((float)DATA[20][0]);
gps.lon = ((float)DATA[20][1]); gps.lon = ((float)DATA[20][1]);
gps.usec = ((ulong)0); gps.usec = ((ulong)0);
@ -860,9 +877,9 @@ namespace ArdupilotMega.GCSViews
#if MAVLINK10 #if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary()); imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else #else
imu.usec = ((ulong)DateTime.Now.ToBinary()); imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif #endif
imu.xacc = ((Int16)(imudata2.accelX * 9808 / 32.2)); imu.xacc = ((Int16)(imudata2.accelX * 9808 / 32.2));
imu.xgyro = ((Int16)(imudata2.rateRoll * 17.453293)); imu.xgyro = ((Int16)(imudata2.rateRoll * 17.453293));
@ -873,7 +890,7 @@ namespace ArdupilotMega.GCSViews
imu.zacc = ((Int16)(imudata2.accelZ * 9808 / 32.2)); // + 1000 imu.zacc = ((Int16)(imudata2.accelZ * 9808 / 32.2)); // + 1000
imu.zgyro = ((Int16)(imudata2.rateYaw * 17.453293)); imu.zgyro = ((Int16)(imudata2.rateYaw * 17.453293));
imu.zmag = 0; imu.zmag = 0;
#if MAVLINK10 #if MAVLINK10
gps.alt = ((int)(imudata2.altitude * ft2m * 1000)); gps.alt = ((int)(imudata2.altitude * ft2m * 1000));
gps.fix_type = 3; gps.fix_type = 3;
@ -927,9 +944,9 @@ namespace ArdupilotMega.GCSViews
#if MAVLINK10 #if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary()); imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else #else
imu.usec = ((ulong)DateTime.Now.ToBinary()); imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif #endif
imu.xgyro = (short)(aeroin.Model_fAngVel_Body_X * 1000); // roll - yes imu.xgyro = (short)(aeroin.Model_fAngVel_Body_X * 1000); // roll - yes
//imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000); //imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = (short)(aeroin.Model_fAngVel_Body_Y * 1000); // pitch - yes imu.ygyro = (short)(aeroin.Model_fAngVel_Body_Y * 1000); // pitch - yes
@ -943,7 +960,7 @@ namespace ArdupilotMega.GCSViews
imu.yacc = (Int16)((accel3D.Y + aeroin.Model_fAccel_Body_Y) * 1000); // roll imu.yacc = (Int16)((accel3D.Y + aeroin.Model_fAccel_Body_Y) * 1000); // roll
imu.zacc = (Int16)((accel3D.Z + aeroin.Model_fAccel_Body_Z) * 1000); imu.zacc = (Int16)((accel3D.Z + aeroin.Model_fAccel_Body_Z) * 1000);
// Console.WriteLine("x {0} y {1} z {2}", imu.xacc, imu.yacc, imu.zacc); // Console.WriteLine("x {0} y {1} z {2}", imu.xacc, imu.yacc, imu.zacc);
#if MAVLINK10 #if MAVLINK10
gps.alt = ((int)(aeroin.Model_fPosZ) * 1000); gps.alt = ((int)(aeroin.Model_fPosZ) * 1000);
@ -953,7 +970,7 @@ namespace ArdupilotMega.GCSViews
gps.lon = (int)(aeroin.Model_fLongitude * 1.0e7); gps.lon = (int)(aeroin.Model_fLongitude * 1.0e7);
gps.time_usec = ((ulong)DateTime.Now.Ticks); gps.time_usec = ((ulong)DateTime.Now.Ticks);
gps.vel = (ushort)(Math.Sqrt((aeroin.Model_fVelY * aeroin.Model_fVelY) + (aeroin.Model_fVelX * aeroin.Model_fVelX)) * 100); gps.vel = (ushort)(Math.Sqrt((aeroin.Model_fVelY * aeroin.Model_fVelY) + (aeroin.Model_fVelX * aeroin.Model_fVelX)) * 100);
#else #else
gps.alt = ((float)(aeroin.Model_fPosZ)); gps.alt = ((float)(aeroin.Model_fPosZ));
gps.fix_type = 3; gps.fix_type = 3;
gps.hdg = ((float)Math.Atan2(aeroin.Model_fVelX, aeroin.Model_fVelY) * rad2deg); gps.hdg = ((float)Math.Atan2(aeroin.Model_fVelX, aeroin.Model_fVelY) * rad2deg);
@ -988,9 +1005,9 @@ namespace ArdupilotMega.GCSViews
#if MAVLINK10 #if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary()); imu.time_usec = ((ulong)DateTime.Now.ToBinary());
#else #else
imu.usec = ((ulong)DateTime.Now.ToBinary()); imu.usec = ((ulong)DateTime.Now.ToBinary());
#endif #endif
imu.xgyro = (short)(fdm.phidot); // roll - yes imu.xgyro = (short)(fdm.phidot); // roll - yes
//imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000); //imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
imu.ygyro = (short)(fdm.thetadot); // pitch - yes imu.ygyro = (short)(fdm.thetadot); // pitch - yes
@ -1134,10 +1151,10 @@ namespace ArdupilotMega.GCSViews
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psi * rad2deg), 0, sitlout, a += 8, 8); Array.Copy(BitConverter.GetBytes((double)lastfdmdata.psi * rad2deg), 0, sitlout, a += 8, 8);
Array.Copy(BitConverter.GetBytes((double)lastfdmdata.vcas * ft2m), 0, sitlout, a += 8, 8); Array.Copy(BitConverter.GetBytes((double)lastfdmdata.vcas * ft2m), 0, sitlout, a += 8, 8);
// Console.WriteLine(lastfdmdata.theta); // Console.WriteLine(lastfdmdata.theta);
Array.Copy(BitConverter.GetBytes((int)0x4c56414e), 0, sitlout, a += 8, 4); Array.Copy(BitConverter.GetBytes((int)0x4c56414e), 0, sitlout, a += 8, 4);
SITLSEND.Send(sitlout, sitlout.Length); SITLSEND.Send(sitlout, sitlout.Length);
return; return;
@ -1176,27 +1193,27 @@ namespace ArdupilotMega.GCSViews
comPort.sendPacket(asp); comPort.sendPacket(asp);
#else #else
if (chkSensor.Checked == false) // attitude if (chkSensor.Checked == false) // attitude
{ {
comPort.sendPacket( att); comPort.sendPacket(att);
comPort.sendPacket( asp); comPort.sendPacket(asp);
} }
else // raw imu else // raw imu
{ {
// imudata // imudata
comPort.sendPacket( imu); comPort.sendPacket(imu);
#endif #endif
MAVLink.__mavlink_raw_pressure_t pres = new MAVLink.__mavlink_raw_pressure_t(); MAVLink.__mavlink_raw_pressure_t pres = new MAVLink.__mavlink_raw_pressure_t();
double calc = (101325 * Math.Pow(1 - 2.25577 * Math.Pow(10, -5) * gps.alt, 5.25588)); // updated from valid gps double calc = (101325 * Math.Pow(1 - 2.25577 * Math.Pow(10, -5) * gps.alt, 5.25588)); // updated from valid gps
pres.press_diff1 = (short)(int)(calc - 101325); // 0 alt is 0 pa pres.press_diff1 = (short)(int)(calc - 101325); // 0 alt is 0 pa
comPort.sendPacket(pres); comPort.sendPacket(pres);
#if !MAVLINK10 #if !MAVLINK10
comPort.sendPacket(asp); comPort.sendPacket(asp);
} }
@ -1210,7 +1227,7 @@ namespace ArdupilotMega.GCSViews
comPort.sendPacket(gps); comPort.sendPacket(gps);
} }
#endif #endif
} }
HIL.QuadCopter quad = new HIL.QuadCopter(); HIL.QuadCopter quad = new HIL.QuadCopter();
@ -1228,7 +1245,7 @@ namespace ArdupilotMega.GCSViews
/// <param name="pitch_out">-1 to 1</param> /// <param name="pitch_out">-1 to 1</param>
/// <param name="rudder_out">-1 to 1</param> /// <param name="rudder_out">-1 to 1</param>
/// <param name="throttle_out">0 to 1</param> /// <param name="throttle_out">0 to 1</param>
private void updateScreenDisplay(double lat,double lng,double alt,double roll,double pitch,double heading, double yaw,double roll_out,double pitch_out, double rudder_out, double throttle_out) private void updateScreenDisplay(double lat, double lng, double alt, double roll, double pitch, double heading, double yaw, double roll_out, double pitch_out, double rudder_out, double throttle_out)
{ {
try try
{ {
@ -1329,7 +1346,7 @@ namespace ArdupilotMega.GCSViews
} }
catch (Exception) { Console.WriteLine("Socket Write failed, FG closed?"); } catch (Exception) { Console.WriteLine("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]); updateScreenDisplay(lastfdmdata.latitude, lastfdmdata.longitude, lastfdmdata.altitude * .3048, lastfdmdata.phi, lastfdmdata.theta, lastfdmdata.psi, lastfdmdata.psi, m[0], m[1], m[2], m[3]);
return; return;
@ -1350,10 +1367,9 @@ namespace ArdupilotMega.GCSViews
} }
else else
{ {
roll_out = (float)MainV2.cs.hilch1 / rollgain; roll_out = (float)MainV2.cs.hilch1 / rollgain;
pitch_out = (float)MainV2.cs.hilch2 / pitchgain; pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
throttle_out = ((float)MainV2.cs.hilch3 / 2 + 5000) / throttlegain; throttle_out = ((float)MainV2.cs.hilch3) / throttlegain;
rudder_out = (float)MainV2.cs.hilch4 / ruddergain; rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
if (RAD_aerosimrc.Checked && CHK_quad.Checked) if (RAD_aerosimrc.Checked && CHK_quad.Checked)
@ -1415,7 +1431,9 @@ namespace ArdupilotMega.GCSViews
if (xplane9) if (xplane9)
{ {
updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[18][1] * deg2rad, DATA[18][0] * deg2rad, DATA[19][2] * deg2rad, DATA[18][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out); updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[18][1] * deg2rad, DATA[18][0] * deg2rad, DATA[19][2] * deg2rad, DATA[18][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out);
} else { }
else
{
updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[17][1] * deg2rad, DATA[17][0] * deg2rad, DATA[18][2] * deg2rad, DATA[17][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out); updateScreenDisplay(DATA[20][0] * deg2rad, DATA[20][1] * deg2rad, DATA[20][2] * .3048, DATA[17][1] * deg2rad, DATA[17][0] * deg2rad, DATA[18][2] * deg2rad, DATA[17][2] * deg2rad, roll_out, pitch_out, rudder_out, throttle_out);
} }
@ -1444,7 +1462,7 @@ namespace ArdupilotMega.GCSViews
Array.Copy(BitConverter.GetBytes((double)(roll_out * REV_roll)), 0, AeroSimRC, 0, 8); Array.Copy(BitConverter.GetBytes((double)(roll_out * REV_roll)), 0, AeroSimRC, 0, 8);
Array.Copy(BitConverter.GetBytes((double)(pitch_out * REV_pitch * -1)), 0, AeroSimRC, 8, 8); Array.Copy(BitConverter.GetBytes((double)(pitch_out * REV_pitch * -1)), 0, AeroSimRC, 8, 8);
Array.Copy(BitConverter.GetBytes((double)(rudder_out * REV_rudder)), 0, AeroSimRC, 16, 8); Array.Copy(BitConverter.GetBytes((double)(rudder_out * REV_rudder)), 0, AeroSimRC, 16, 8);
Array.Copy(BitConverter.GetBytes((double)((throttle_out *2) -1)), 0, AeroSimRC, 24, 8); Array.Copy(BitConverter.GetBytes((double)((throttle_out * 2) - 1)), 0, AeroSimRC, 24, 8);
if (heli) if (heli)
{ {
@ -1487,12 +1505,12 @@ namespace ArdupilotMega.GCSViews
if (RAD_JSBSim.Checked) if (RAD_JSBSim.Checked)
{ {
roll_out = Constrain(roll_out * REV_roll, -1f, 1f); roll_out = Constrain(roll_out * REV_roll, -1f, 1f);
pitch_out = Constrain(-pitch_out * REV_pitch, -1f,1f); pitch_out = Constrain(-pitch_out * REV_pitch, -1f, 1f);
rudder_out = Constrain(rudder_out * REV_rudder, -1f, 1f); rudder_out = Constrain(rudder_out * REV_rudder, -1f, 1f);
throttle_out = Constrain(throttle_out, -0.0f, 1f); throttle_out = Constrain(throttle_out, -0.0f, 1f);
string cmd = string.Format("set fcs/aileron-cmd-norm {0}\r\nset fcs/elevator-cmd-norm {1}\r\nset fcs/rudder-cmd-norm {2}\r\nset fcs/throttle-cmd-norm {3}\r\n",roll_out,pitch_out,rudder_out,throttle_out); string cmd = string.Format("set fcs/aileron-cmd-norm {0}\r\nset fcs/elevator-cmd-norm {1}\r\nset fcs/rudder-cmd-norm {2}\r\nset fcs/throttle-cmd-norm {3}\r\n", roll_out, pitch_out, rudder_out, throttle_out);
//Console.Write(cmd); //Console.Write(cmd);
byte[] data = System.Text.Encoding.ASCII.GetBytes(cmd); byte[] data = System.Text.Encoding.ASCII.GetBytes(cmd);
@ -1529,7 +1547,7 @@ namespace ArdupilotMega.GCSViews
if (RAD_softXplanes.Checked) if (RAD_softXplanes.Checked)
{ {
// sending only 1 packet instead of many. // sending only 1 packet instead of many.
@ -1736,9 +1754,9 @@ namespace ArdupilotMega.GCSViews
//myPane.Chart.Fill = new Fill(Color.White, Color.LightGray, 45.0f); //myPane.Chart.Fill = new Fill(Color.White, Color.LightGray, 45.0f);
// Sample at 50ms intervals // Sample at 50ms intervals
timer1.Interval = 50; timer_servo_graph.Interval = 50;
timer1.Enabled = true; timer_servo_graph.Enabled = true;
timer1.Start(); timer_servo_graph.Start();
// Calculate the Axis Scale Ranges // Calculate the Axis Scale Ranges
@ -1778,14 +1796,14 @@ namespace ArdupilotMega.GCSViews
xScale.Max = time + xScale.MajorStep; xScale.Max = time + xScale.MajorStep;
xScale.Min = xScale.Max - 30.0; xScale.Min = xScale.Max - 30.0;
} }
// Make sure the Y axis is rescaled to accommodate actual data // Make sure the Y axis is rescaled to accommodate actual data
try try
{ {
zg1.AxisChange(); zg1.AxisChange();
} }
catch { } catch { }
// Force a redraw // Force a redraw
zg1.Invalidate(); zg1.Invalidate();
} }
private void SaveSettings_Click(object sender, EventArgs e) private void SaveSettings_Click(object sender, EventArgs e)
@ -1965,9 +1983,9 @@ namespace ArdupilotMega.GCSViews
if (!MainV2.MONO) if (!MainV2.MONO)
{ {
extra = " --fg-root=\"" + Path.GetDirectoryName(ofd.FileName.ToLower().Replace("bin\\win32\\","")) + "\\data\""; extra = " --fg-root=\"" + Path.GetDirectoryName(ofd.FileName.ToLower().Replace("bin\\win32\\", "")) + "\\data\"";
} }
System.Diagnostics.Process P = new System.Diagnostics.Process(); System.Diagnostics.Process P = new System.Diagnostics.Process();
P.StartInfo.FileName = ofd.FileName; P.StartInfo.FileName = ofd.FileName;
P.StartInfo.Arguments = extra + @" --geometry=400x300 --native-fdm=socket,out,50,127.0.0.1,49005,udp --generic=socket,in,50,127.0.0.1,49000,udp,MAVLink --roll=0 --pitch=0 --wind=0@0 --turbulence=0.0 --prop:/sim/frame-rate-throttle-hz=30 --timeofday=noon --shading-flat --fog-disable --disable-specular-highlight --disable-skyblend --disable-random-objects --disable-panel --disable-horizon-effect --disable-clouds --disable-anti-alias-hud "; P.StartInfo.Arguments = extra + @" --geometry=400x300 --native-fdm=socket,out,50,127.0.0.1,49005,udp --generic=socket,in,50,127.0.0.1,49000,udp,MAVLink --roll=0 --pitch=0 --wind=0@0 --turbulence=0.0 --prop:/sim/frame-rate-throttle-hz=30 --timeofday=noon --shading-flat --fog-disable --disable-specular-highlight --disable-skyblend --disable-random-objects --disable-panel --disable-horizon-effect --disable-clouds --disable-anti-alias-hud ";
@ -2044,7 +2062,7 @@ namespace ArdupilotMega.GCSViews
if (displayfull) if (displayfull)
{ {
//this.Width = 651; //this.Width = 651;
timer1.Start(); timer_servo_graph.Start();
zg1.Visible = true; zg1.Visible = true;
@ -2059,7 +2077,7 @@ namespace ArdupilotMega.GCSViews
//this.Width = 651; //this.Width = 651;
//this.Height = 457; //this.Height = 457;
timer1.Stop(); timer_servo_graph.Stop();
zg1.Visible = false; zg1.Visible = false;
CHKgraphpitch.Visible = false; CHKgraphpitch.Visible = false;
@ -2069,14 +2087,5 @@ namespace ArdupilotMega.GCSViews
} }
} }
private void RAD_aerosimrc_CheckedChanged(object sender, EventArgs e)
{
}
private void RAD_JSBSim_CheckedChanged(object sender, EventArgs e)
{
}
} }
} }

8
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.resx
View File

@ -1356,7 +1356,7 @@
<data name="&gt;&gt;zg1.ZOrder" xml:space="preserve"> <data name="&gt;&gt;zg1.ZOrder" xml:space="preserve">
<value>17</value> <value>17</value>
</data> </data>
<metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a"> <metadata name="timer_servo_graph.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value> <value>17, 17</value>
</metadata> </metadata>
<data name="label28.Location" type="System.Drawing.Point, System.Drawing"> <data name="label28.Location" type="System.Drawing.Point, System.Drawing">
@ -2142,10 +2142,10 @@
<data name="&gt;&gt;currentStateBindingSource.Type" xml:space="preserve"> <data name="&gt;&gt;currentStateBindingSource.Type" xml:space="preserve">
<value>System.Windows.Forms.BindingSource, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value> <value>System.Windows.Forms.BindingSource, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data> </data>
<data name="&gt;&gt;timer1.Name" xml:space="preserve"> <data name="&gt;&gt;timer_servo_graph.Name" xml:space="preserve">
<value>timer1</value> <value>timer_servo_graph</value>
</data> </data>
<data name="&gt;&gt;timer1.Type" xml:space="preserve"> <data name="&gt;&gt;timer_servo_graph.Type" xml:space="preserve">
<value>System.Windows.Forms.Timer, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value> <value>System.Windows.Forms.Timer, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data> </data>
<data name="&gt;&gt;toolTip1.Name" xml:space="preserve"> <data name="&gt;&gt;toolTip1.Name" xml:space="preserve">

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

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below: // by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")] // [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")] [assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.1.31")] [assembly: AssemblyFileVersion("1.1.32")]
[assembly: NeutralResourcesLanguageAttribute("")] [assembly: NeutralResourcesLanguageAttribute("")]

2
Tools/ArdupilotMegaPlanner/Setup/Setup.cs
View File

@ -220,7 +220,7 @@ namespace ArdupilotMega.Setup
} }
} }
MessageBox.Show("Ensure all your sticks are centered, and click ok to continue"); MessageBox.Show("Ensure all your sticks are centered and throttle is down, and click ok to continue");
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort); MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);

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

Binary file not shown.