mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-11 10:28:29 -04:00
APM Planner 1.1.32
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
parent
c95a295fd6
commit
2f57edda06
@ -221,13 +221,13 @@ namespace AGaugeApp
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#region properties
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[System.ComponentModel.Browsable(true)]
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public Single Value0 { get { return m_value[0]; } set { m_NeedIdx = 0; Value = value; } }
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public Single Value0 { get { return m_value[0]; } set { m_NeedIdx = 0; Value = value; this.Invalidate(); } }
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[System.ComponentModel.Browsable(true)]
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public Single Value1 { get { return m_value[1]; } set { m_NeedIdx = 1; Value = value; } }
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public Single Value1 { get { return m_value[1]; } set { m_NeedIdx = 1; Value = value; this.Invalidate(); } }
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[System.ComponentModel.Browsable(true)]
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public Single Value2 { get { return m_value[2]; } set { m_NeedIdx = 2; Value = value; } }
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public Single Value2 { get { return m_value[2]; } set { m_NeedIdx = 2; Value = value; this.Invalidate(); } }
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[System.ComponentModel.Browsable(true)]
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public Single Value3 { get { return m_value[3]; } set { m_NeedIdx = 3; Value = value; } }
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public Single Value3 { get { return m_value[3]; } set { m_NeedIdx = 3; Value = value; this.Invalidate(); } }
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[System.ComponentModel.Browsable(true),
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System.ComponentModel.Category("AGauge"),
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@ -256,7 +256,7 @@ namespace ArdupilotMega
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if (ind != -1)
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logdata = logdata.Substring(0, ind);
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if (messages.Count > 5)
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while (messages.Count > 5)
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{
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messages.RemoveAt(0);
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}
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@ -191,6 +191,8 @@
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this.STB_YAW_P = new System.Windows.Forms.NumericUpDown();
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this.label35 = new System.Windows.Forms.Label();
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this.groupBox21 = new System.Windows.Forms.GroupBox();
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this.STAB_D = new System.Windows.Forms.NumericUpDown();
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this.lblSTAB_D = new System.Windows.Forms.Label();
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this.STB_PIT_IMAX = new System.Windows.Forms.NumericUpDown();
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this.label36 = new System.Windows.Forms.Label();
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this.STB_PIT_I = new System.Windows.Forms.NumericUpDown();
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@ -283,8 +285,6 @@
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this.BUT_load = new ArdupilotMega.MyButton();
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this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
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this.BUT_compare = new ArdupilotMega.MyButton();
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this.STAB_D = new System.Windows.Forms.NumericUpDown();
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this.lblSTAB_D = new System.Windows.Forms.Label();
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((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
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this.ConfigTabs.SuspendLayout();
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this.TabAP.SuspendLayout();
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@ -371,6 +371,7 @@
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((System.ComponentModel.ISupportInitialize)(this.STB_YAW_I)).BeginInit();
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((System.ComponentModel.ISupportInitialize)(this.STB_YAW_P)).BeginInit();
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this.groupBox21.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)(this.STAB_D)).BeginInit();
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((System.ComponentModel.ISupportInitialize)(this.STB_PIT_IMAX)).BeginInit();
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((System.ComponentModel.ISupportInitialize)(this.STB_PIT_I)).BeginInit();
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((System.ComponentModel.ISupportInitialize)(this.STB_PIT_P)).BeginInit();
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@ -395,7 +396,6 @@
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((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_P)).BeginInit();
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this.TabPlanner.SuspendLayout();
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((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).BeginInit();
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((System.ComponentModel.ISupportInitialize)(this.STAB_D)).BeginInit();
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this.SuspendLayout();
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//
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// Params
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@ -1115,6 +1115,7 @@
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// TUNE
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//
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this.TUNE.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
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this.TUNE.DropDownWidth = 150;
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this.TUNE.FormattingEnabled = true;
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this.TUNE.Items.AddRange(new object[] {
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resources.GetString("TUNE.Items"),
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@ -1149,6 +1150,7 @@
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// CH7_OPT
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//
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this.CH7_OPT.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
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this.CH7_OPT.DropDownWidth = 150;
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this.CH7_OPT.FormattingEnabled = true;
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this.CH7_OPT.Items.AddRange(new object[] {
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resources.GetString("CH7_OPT.Items"),
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@ -1449,6 +1451,16 @@
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this.groupBox21.Name = "groupBox21";
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this.groupBox21.TabStop = false;
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//
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// STAB_D
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//
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resources.ApplyResources(this.STAB_D, "STAB_D");
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this.STAB_D.Name = "STAB_D";
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//
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// lblSTAB_D
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//
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resources.ApplyResources(this.lblSTAB_D, "lblSTAB_D");
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this.lblSTAB_D.Name = "lblSTAB_D";
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//
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// STB_PIT_IMAX
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//
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resources.ApplyResources(this.STB_PIT_IMAX, "STB_PIT_IMAX");
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@ -2102,16 +2114,6 @@
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this.BUT_compare.UseVisualStyleBackColor = true;
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this.BUT_compare.Click += new System.EventHandler(this.BUT_compare_Click);
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//
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// STAB_D
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//
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resources.ApplyResources(this.STAB_D, "STAB_D");
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this.STAB_D.Name = "STAB_D";
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//
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// lblSTAB_D
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//
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resources.ApplyResources(this.lblSTAB_D, "lblSTAB_D");
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this.lblSTAB_D.Name = "lblSTAB_D";
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//
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// Configuration
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//
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resources.ApplyResources(this, "$this");
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@ -2213,6 +2215,7 @@
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((System.ComponentModel.ISupportInitialize)(this.STB_YAW_I)).EndInit();
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((System.ComponentModel.ISupportInitialize)(this.STB_YAW_P)).EndInit();
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this.groupBox21.ResumeLayout(false);
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((System.ComponentModel.ISupportInitialize)(this.STAB_D)).EndInit();
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((System.ComponentModel.ISupportInitialize)(this.STB_PIT_IMAX)).EndInit();
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((System.ComponentModel.ISupportInitialize)(this.STB_PIT_I)).EndInit();
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((System.ComponentModel.ISupportInitialize)(this.STB_PIT_P)).EndInit();
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@ -2237,7 +2240,6 @@
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((System.ComponentModel.ISupportInitialize)(this.RATE_RLL_P)).EndInit();
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this.TabPlanner.ResumeLayout(false);
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((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).EndInit();
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((System.ComponentModel.ISupportInitialize)(this.STAB_D)).EndInit();
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this.ResumeLayout(false);
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}
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@ -281,12 +281,20 @@ namespace ArdupilotMega.GCSViews
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cell.Value = TXT_DefaultAlt.Text;
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float result;
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float.TryParse(TXT_homealt.Text, out result);
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if (result == 0)
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{
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MessageBox.Show("You must have a home altitude");
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float result;
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float.TryParse(TXT_homealt.Text, out result);
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if (result == 0)
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{
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MessageBox.Show("You must have a home altitude");
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}
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if (!float.TryParse(TXT_DefaultAlt.Text, out result))
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{
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MessageBox.Show("Your default alt is not valid");
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return;
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}
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}
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float ans;
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@ -784,7 +792,7 @@ namespace ArdupilotMega.GCSViews
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cmd = Commands[Command.Index, selectedrow].Value.ToString();
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}
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catch { cmd = option; }
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Console.WriteLine("editformat " + option + " value " + cmd);
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//Console.WriteLine("editformat " + option + " value " + cmd);
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ChangeColumnHeader(cmd);
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}
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catch (Exception ex) { MessageBox.Show(ex.ToString()); }
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@ -916,7 +924,7 @@ namespace ArdupilotMega.GCSViews
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drawnpolygons.Markers.Add(m);
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drawnpolygons.Markers.Add(mBorders);
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}
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catch (Exception) { }
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catch (Exception ex) { Console.WriteLine(ex.ToString()); }
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}
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/// <summary>
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@ -1086,11 +1094,16 @@ namespace ArdupilotMega.GCSViews
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else if (home.Length > 5 && usable == 0)
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{
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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>";
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MainMap.HoldInvalidation = true;
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MainMap.ZoomAndCenterMarkers("objects");
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MainMap.Zoom -= 2;
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RectLatLng? rect = MainMap.GetRectOfAllMarkers("objects");
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if (rect.HasValue)
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{
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MainMap.Position = rect.Value.LocationMiddle;
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}
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MainMap.Zoom = 17;
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MainMap_OnMapZoomChanged();
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MainMap.HoldInvalidation = false;
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}
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RegeneratePolygon();
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@ -1933,8 +1946,13 @@ namespace ArdupilotMega.GCSViews
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{
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if (CurentRectMarker.InnerMarker.Tag.ToString().Contains("grid"))
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{
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drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(end.Lat, end.Lng);
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MainMap.UpdatePolygonLocalPosition(drawnpolygon);
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try
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{
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drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(end.Lat, end.Lng);
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MainMap.UpdatePolygonLocalPosition(drawnpolygon);
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MainMap.Invalidate();
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}
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catch { }
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}
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else
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{
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@ -2002,6 +2020,7 @@ namespace ArdupilotMega.GCSViews
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{
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drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(point.Lat, point.Lng);
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MainMap.UpdatePolygonLocalPosition(drawnpolygon);
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MainMap.Invalidate();
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}
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}
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catch { }
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@ -2446,6 +2465,24 @@ namespace ArdupilotMega.GCSViews
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string angle = (90).ToString("0");
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Common.InputBox("Angle", "Enter the line direction (0-180)", ref angle);
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double tryme = 0;
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if (!double.TryParse(angle, out tryme))
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{
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MessageBox.Show("Invalid Angle");
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return;
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}
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if (!double.TryParse(alt, out tryme))
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{
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MessageBox.Show("Invalid Alt");
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return;
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}
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if (!double.TryParse(distance, out tryme))
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{
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MessageBox.Show("Invalid Distance");
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return;
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}
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#if DEBUG
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//Commands.Rows.Clear();
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#endif
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@ -83,7 +83,7 @@
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this.label17 = new ArdupilotMega.MyLabel();
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this.panel5 = new System.Windows.Forms.Panel();
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this.zg1 = new ZedGraph.ZedGraphControl();
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this.timer1 = new System.Windows.Forms.Timer(this.components);
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this.timer_servo_graph = new System.Windows.Forms.Timer(this.components);
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this.panel6 = new System.Windows.Forms.Panel();
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this.label28 = new ArdupilotMega.MyLabel();
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this.label29 = new ArdupilotMega.MyLabel();
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@ -501,9 +501,9 @@
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this.zg1.ScrollMinY = 0D;
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this.zg1.ScrollMinY2 = 0D;
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//
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// timer1
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// timer_servo_graph
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//
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this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
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this.timer_servo_graph.Tick += new System.EventHandler(this.timer1_Tick);
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//
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// panel6
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//
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@ -692,7 +692,6 @@
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this.RAD_aerosimrc.Name = "RAD_aerosimrc";
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this.toolTip1.SetToolTip(this.RAD_aerosimrc, resources.GetString("RAD_aerosimrc.ToolTip"));
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this.RAD_aerosimrc.UseVisualStyleBackColor = true;
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this.RAD_aerosimrc.CheckedChanged += new System.EventHandler(this.RAD_aerosimrc_CheckedChanged);
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//
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// RAD_JSBSim
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//
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@ -700,7 +699,6 @@
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this.RAD_JSBSim.Name = "RAD_JSBSim";
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this.toolTip1.SetToolTip(this.RAD_JSBSim, resources.GetString("RAD_JSBSim.ToolTip"));
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this.RAD_JSBSim.UseVisualStyleBackColor = true;
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this.RAD_JSBSim.CheckedChanged += new System.EventHandler(this.RAD_JSBSim_CheckedChanged);
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//
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// CHK_xplane10
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//
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@ -811,7 +809,7 @@
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private ArdupilotMega.MyLabel label19;
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private ArdupilotMega.MyLabel TXT_control_mode;
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private ZedGraph.ZedGraphControl zg1;
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private System.Windows.Forms.Timer timer1;
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private System.Windows.Forms.Timer timer_servo_graph;
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private System.Windows.Forms.Panel panel6;
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private System.Windows.Forms.TextBox TXT_ruddergain;
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private System.Windows.Forms.TextBox TXT_pitchgain;
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@ -280,7 +280,7 @@ namespace ArdupilotMega.GCSViews
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_procstartinfo.UseShellExecute = true;
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//_procstartinfo.RedirectStandardOutput = true;
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System.Diagnostics.Process.Start(_procstartinfo);
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@ -307,12 +307,12 @@ namespace ArdupilotMega.GCSViews
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};
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t11.Start();
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MainV2.threads.Add(t11);
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timer1.Start();
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timer_servo_graph.Start();
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}
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else
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{
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timer1.Stop();
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timer_servo_graph.Stop();
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threadrun = 0;
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if (SimulatorRECV != null)
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SimulatorRECV.Close();
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@ -569,7 +569,8 @@ namespace ArdupilotMega.GCSViews
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RECVprocess(udpdata, recv, comPort);
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}
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}
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catch { //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
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catch
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{ //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
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}
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}
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if (MavLink != null && MavLink.Client != null && MavLink.Client.Connected && MavLink.Available > 0)
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@ -606,7 +607,7 @@ namespace ArdupilotMega.GCSViews
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if (hzcounttime.Second != DateTime.Now.Second)
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{
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// Console.WriteLine("SIM hz {0}", hzcount);
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// Console.WriteLine("SIM hz {0}", hzcount);
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hzcount = 0;
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hzcounttime = DateTime.Now;
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}
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@ -675,11 +676,11 @@ namespace ArdupilotMega.GCSViews
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MavLink = new UdpClient("127.0.0.1", 14550);
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}
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float oldax =0, olday =0, oldaz = 0;
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float oldax = 0, olday = 0, oldaz = 0;
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DateTime oldtime = DateTime.Now;
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#if MAVLINK10
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ArdupilotMega.MAVLink.__mavlink_gps_raw_int_t oldgps = new MAVLink.__mavlink_gps_raw_int_t();
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#endif
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#endif
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ArdupilotMega.MAVLink.__mavlink_attitude_t oldatt = new ArdupilotMega.MAVLink.__mavlink_attitude_t();
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@ -740,7 +741,9 @@ namespace ArdupilotMega.GCSViews
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att.pitchspeed = (DATA[17][0]);
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att.rollspeed = (DATA[17][1]);
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att.yawspeed = (DATA[17][2]);
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} else {
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}
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else
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{
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att.pitch = (DATA[17][0] * deg2rad);
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att.roll = (DATA[17][1] * deg2rad);
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att.yaw = (DATA[17][2] * deg2rad);
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@ -799,9 +802,9 @@ namespace ArdupilotMega.GCSViews
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double head = DATA[18][2] - 90;
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#if MAVLINK10
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imu.time_usec = ((ulong)DateTime.Now.ToBinary());
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#else
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imu.usec = ((ulong)DateTime.Now.ToBinary());
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#endif
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#else
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imu.usec = ((ulong)DateTime.Now.ToBinary());
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#endif
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imu.xgyro = xgyro; // roll - yes
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imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
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imu.ygyro = ygyro; // pitch - yes
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@ -817,7 +820,14 @@ namespace ArdupilotMega.GCSViews
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#if MAVLINK10
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gps.alt = (int)(DATA[20][2] * ft2m * 1000);
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gps.fix_type = 3;
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gps.cog = (ushort)(DATA[19][2] * 100);
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if (xplane9)
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{
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gps.cog = ((float)DATA[19][2]);
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}
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else
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{
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gps.cog = ((float)DATA[18][2]);
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}
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gps.lat = (int)(DATA[20][0] * 1.0e7);
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gps.lon = (int)(DATA[20][1] * 1.0e7);
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gps.time_usec = ((ulong)0);
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@ -825,7 +835,14 @@ namespace ArdupilotMega.GCSViews
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#else
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gps.alt = ((float)(DATA[20][2] * ft2m));
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gps.fix_type = 3;
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gps.hdg = ((float)DATA[19][2]);
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if (xplane9)
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{
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gps.hdg = ((float)DATA[19][2]);
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}
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else
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{
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gps.hdg = ((float)DATA[18][2]);
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}
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gps.lat = ((float)DATA[20][0]);
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gps.lon = ((float)DATA[20][1]);
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gps.usec = ((ulong)0);
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@ -860,9 +877,9 @@ namespace ArdupilotMega.GCSViews
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|
||||
#if MAVLINK10
|
||||
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
|
||||
#else
|
||||
imu.usec = ((ulong)DateTime.Now.ToBinary());
|
||||
#endif
|
||||
#else
|
||||
imu.usec = ((ulong)DateTime.Now.ToBinary());
|
||||
#endif
|
||||
|
||||
imu.xacc = ((Int16)(imudata2.accelX * 9808 / 32.2));
|
||||
imu.xgyro = ((Int16)(imudata2.rateRoll * 17.453293));
|
||||
@ -873,7 +890,7 @@ namespace ArdupilotMega.GCSViews
|
||||
imu.zacc = ((Int16)(imudata2.accelZ * 9808 / 32.2)); // + 1000
|
||||
imu.zgyro = ((Int16)(imudata2.rateYaw * 17.453293));
|
||||
imu.zmag = 0;
|
||||
|
||||
|
||||
#if MAVLINK10
|
||||
gps.alt = ((int)(imudata2.altitude * ft2m * 1000));
|
||||
gps.fix_type = 3;
|
||||
@ -927,9 +944,9 @@ namespace ArdupilotMega.GCSViews
|
||||
|
||||
#if MAVLINK10
|
||||
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
|
||||
#else
|
||||
imu.usec = ((ulong)DateTime.Now.ToBinary());
|
||||
#endif
|
||||
#else
|
||||
imu.usec = ((ulong)DateTime.Now.ToBinary());
|
||||
#endif
|
||||
imu.xgyro = (short)(aeroin.Model_fAngVel_Body_X * 1000); // roll - yes
|
||||
//imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
|
||||
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.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
|
||||
gps.alt = ((int)(aeroin.Model_fPosZ) * 1000);
|
||||
@ -953,7 +970,7 @@ namespace ArdupilotMega.GCSViews
|
||||
gps.lon = (int)(aeroin.Model_fLongitude * 1.0e7);
|
||||
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);
|
||||
#else
|
||||
#else
|
||||
gps.alt = ((float)(aeroin.Model_fPosZ));
|
||||
gps.fix_type = 3;
|
||||
gps.hdg = ((float)Math.Atan2(aeroin.Model_fVelX, aeroin.Model_fVelY) * rad2deg);
|
||||
@ -988,9 +1005,9 @@ namespace ArdupilotMega.GCSViews
|
||||
|
||||
#if MAVLINK10
|
||||
imu.time_usec = ((ulong)DateTime.Now.ToBinary());
|
||||
#else
|
||||
imu.usec = ((ulong)DateTime.Now.ToBinary());
|
||||
#endif
|
||||
#else
|
||||
imu.usec = ((ulong)DateTime.Now.ToBinary());
|
||||
#endif
|
||||
imu.xgyro = (short)(fdm.phidot); // roll - yes
|
||||
//imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
|
||||
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.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);
|
||||
|
||||
|
||||
SITLSEND.Send(sitlout, sitlout.Length);
|
||||
|
||||
return;
|
||||
@ -1176,27 +1193,27 @@ namespace ArdupilotMega.GCSViews
|
||||
|
||||
comPort.sendPacket(asp);
|
||||
|
||||
#else
|
||||
|
||||
#else
|
||||
|
||||
if (chkSensor.Checked == false) // attitude
|
||||
{
|
||||
comPort.sendPacket( att);
|
||||
comPort.sendPacket(att);
|
||||
|
||||
comPort.sendPacket( asp);
|
||||
comPort.sendPacket(asp);
|
||||
}
|
||||
else // raw imu
|
||||
{
|
||||
// imudata
|
||||
|
||||
comPort.sendPacket( imu);
|
||||
comPort.sendPacket(imu);
|
||||
|
||||
#endif
|
||||
#endif
|
||||
|
||||
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
|
||||
pres.press_diff1 = (short)(int)(calc - 101325); // 0 alt is 0 pa
|
||||
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
|
||||
pres.press_diff1 = (short)(int)(calc - 101325); // 0 alt is 0 pa
|
||||
|
||||
comPort.sendPacket(pres);
|
||||
comPort.sendPacket(pres);
|
||||
#if !MAVLINK10
|
||||
comPort.sendPacket(asp);
|
||||
}
|
||||
@ -1210,7 +1227,7 @@ namespace ArdupilotMega.GCSViews
|
||||
comPort.sendPacket(gps);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
HIL.QuadCopter quad = new HIL.QuadCopter();
|
||||
|
||||
@ -1228,7 +1245,7 @@ namespace ArdupilotMega.GCSViews
|
||||
/// <param name="pitch_out">-1 to 1</param>
|
||||
/// <param name="rudder_out">-1 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
|
||||
{
|
||||
@ -1329,7 +1346,7 @@ namespace ArdupilotMega.GCSViews
|
||||
}
|
||||
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;
|
||||
|
||||
@ -1350,10 +1367,9 @@ namespace ArdupilotMega.GCSViews
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
roll_out = (float)MainV2.cs.hilch1 / rollgain;
|
||||
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;
|
||||
|
||||
if (RAD_aerosimrc.Checked && CHK_quad.Checked)
|
||||
@ -1415,7 +1431,9 @@ namespace ArdupilotMega.GCSViews
|
||||
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);
|
||||
} 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);
|
||||
}
|
||||
@ -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)(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)((throttle_out *2) -1)), 0, AeroSimRC, 24, 8);
|
||||
Array.Copy(BitConverter.GetBytes((double)((throttle_out * 2) - 1)), 0, AeroSimRC, 24, 8);
|
||||
|
||||
if (heli)
|
||||
{
|
||||
@ -1487,12 +1505,12 @@ namespace ArdupilotMega.GCSViews
|
||||
if (RAD_JSBSim.Checked)
|
||||
{
|
||||
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);
|
||||
|
||||
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);
|
||||
byte[] data = System.Text.Encoding.ASCII.GetBytes(cmd);
|
||||
@ -1529,7 +1547,7 @@ namespace ArdupilotMega.GCSViews
|
||||
|
||||
if (RAD_softXplanes.Checked)
|
||||
{
|
||||
|
||||
|
||||
|
||||
// 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);
|
||||
|
||||
// Sample at 50ms intervals
|
||||
timer1.Interval = 50;
|
||||
timer1.Enabled = true;
|
||||
timer1.Start();
|
||||
timer_servo_graph.Interval = 50;
|
||||
timer_servo_graph.Enabled = true;
|
||||
timer_servo_graph.Start();
|
||||
|
||||
|
||||
// Calculate the Axis Scale Ranges
|
||||
@ -1778,14 +1796,14 @@ namespace ArdupilotMega.GCSViews
|
||||
xScale.Max = time + xScale.MajorStep;
|
||||
xScale.Min = xScale.Max - 30.0;
|
||||
}
|
||||
// Make sure the Y axis is rescaled to accommodate actual data
|
||||
try
|
||||
{
|
||||
zg1.AxisChange();
|
||||
}
|
||||
catch { }
|
||||
// Force a redraw
|
||||
zg1.Invalidate();
|
||||
// Make sure the Y axis is rescaled to accommodate actual data
|
||||
try
|
||||
{
|
||||
zg1.AxisChange();
|
||||
}
|
||||
catch { }
|
||||
// Force a redraw
|
||||
zg1.Invalidate();
|
||||
}
|
||||
|
||||
private void SaveSettings_Click(object sender, EventArgs e)
|
||||
@ -1965,9 +1983,9 @@ namespace ArdupilotMega.GCSViews
|
||||
|
||||
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();
|
||||
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 ";
|
||||
@ -2044,7 +2062,7 @@ namespace ArdupilotMega.GCSViews
|
||||
if (displayfull)
|
||||
{
|
||||
//this.Width = 651;
|
||||
timer1.Start();
|
||||
timer_servo_graph.Start();
|
||||
zg1.Visible = true;
|
||||
|
||||
|
||||
@ -2059,7 +2077,7 @@ namespace ArdupilotMega.GCSViews
|
||||
//this.Width = 651;
|
||||
//this.Height = 457;
|
||||
|
||||
timer1.Stop();
|
||||
timer_servo_graph.Stop();
|
||||
zg1.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)
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1356,7 +1356,7 @@
|
||||
<data name=">>zg1.ZOrder" xml:space="preserve">
|
||||
<value>17</value>
|
||||
</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>
|
||||
</metadata>
|
||||
<data name="label28.Location" type="System.Drawing.Point, System.Drawing">
|
||||
@ -2142,10 +2142,10 @@
|
||||
<data name=">>currentStateBindingSource.Type" xml:space="preserve">
|
||||
<value>System.Windows.Forms.BindingSource, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||
</data>
|
||||
<data name=">>timer1.Name" xml:space="preserve">
|
||||
<value>timer1</value>
|
||||
<data name=">>timer_servo_graph.Name" xml:space="preserve">
|
||||
<value>timer_servo_graph</value>
|
||||
</data>
|
||||
<data name=">>timer1.Type" xml:space="preserve">
|
||||
<data name=">>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>
|
||||
</data>
|
||||
<data name=">>toolTip1.Name" xml:space="preserve">
|
||||
|
||||
@ -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("1.1.31")]
|
||||
[assembly: AssemblyFileVersion("1.1.32")]
|
||||
[assembly: NeutralResourcesLanguageAttribute("")]
|
||||
|
||||
@ -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);
|
||||
|
||||
|
||||
Binary file not shown.
Loading…
Reference in New Issue
Block a user