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

2011-09-22 17:45:01 -07:00 · 2011-09-22 17:45:01 -07:00 · 3444b7fdca
parent 5b57df5d1c 69d9c15835
commit 3444b7fdca
11 changed files with 205 additions and 103 deletions
--- a/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs
+++ b/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs
@ -79,17 +79,16 @@ namespace System.IO.Ports

            client = new UdpClient(int.Parse(Port));

-            int timeout = 5;
-            while (timeout > 0)
-            {
-                if (BytesToRead > 0)
-                    break;
-                System.Threading.Thread.Sleep(1000);
-                timeout--;
-            }
-
-            if (BytesToRead == 0)
-                return;
+                         int timeout = 5;  
+            while (timeout > 0) 
+            { 
+                if (BytesToRead > 0)  
+                    break;  
+                System.Threading.Thread.Sleep(1000);  
+                timeout--;  
+            }  
+            if (BytesToRead == 0)  
+                return; 

            try
            {
--- a/Tools/ArdupilotMegaPlanner/CurrentState.cs
+++ b/Tools/ArdupilotMegaPlanner/CurrentState.cs
@ -136,7 +136,11 @@ namespace ArdupilotMega
        public int hilch1 { get; set; }
        public int hilch2 { get; set; }
        public int hilch3 { get; set; }
-        public int hilch4 { get; set; } 
+        public int hilch4 { get; set; }
+        public int hilch5;
+        public int hilch6;
+        public int hilch7;
+        public int hilch8;

        // rc override
        public ushort rcoverridech1 { get; set; }
@ -230,6 +234,10 @@ namespace ArdupilotMega
                    hilch2 = hil.chan2_scaled;
                    hilch3 = hil.chan3_scaled;
                    hilch4 = hil.chan4_scaled;
+                    hilch5 = hil.chan5_scaled;
+                    hilch6 = hil.chan6_scaled;
+                    hilch7 = hil.chan7_scaled;
+                    hilch8 = hil.chan8_scaled;

                    //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] = null;
                }
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
@ -622,7 +622,11 @@ namespace ArdupilotMega.GCSViews
                    case MAVLink.MAV_CMD.LAND:
                        Commands.Columns[1].HeaderText = "N/A";
                        if (MainV2.APMFirmware != MainV2.Firmwares.ArduPlane)
+                        {
                            Commands.Columns[2].HeaderText = "N/A";
+                            Commands.Columns[3].HeaderText = "N/A";
+                            Commands.Columns[4].HeaderText = "N/A";
+                        }
                        break;
                    case MAVLink.MAV_CMD.TAKEOFF:
                        if (MainV2.APMFirmware != MainV2.Firmwares.ArduPlane)
@ -2430,7 +2434,7 @@ namespace ArdupilotMega.GCSViews

                polygons.Markers.Add(new GMapMarkerGoogleRed(start));
                MainMap.Invalidate();
-                MessageBox.Show("Distance: " + FormatDistance(MainMap.Manager.GetDistance(startmeasure, start), true));
+                MessageBox.Show("Distance: " + FormatDistance(MainMap.Manager.GetDistance(startmeasure, start),true) + " AZ: " + (MainMap.Manager.GetBearing(startmeasure, start).ToString("0")));
                polygons.Polygons.Remove(line);
                polygons.Markers.Clear();
                startmeasure = new PointLatLng();
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.Designer.cs
@ -109,6 +109,7 @@
            this.BUT_startfgquad = new ArdupilotMega.MyButton();
            this.BUT_startfgplane = new ArdupilotMega.MyButton();
            this.BUT_startxplane = new ArdupilotMega.MyButton();
+            this.CHK_heli = new System.Windows.Forms.CheckBox();
            ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).BeginInit();
            this.panel1.SuspendLayout();
            this.panel2.SuspendLayout();
@ -673,10 +674,17 @@
            this.BUT_startxplane.UseVisualStyleBackColor = true;
            this.BUT_startxplane.Click += new System.EventHandler(this.BUT_startxplane_Click);
            // 
+            // CHK_heli
+            // 
+            resources.ApplyResources(this.CHK_heli, "CHK_heli");
+            this.CHK_heli.Name = "CHK_heli";
+            this.CHK_heli.UseVisualStyleBackColor = true;
+            // 
            // Simulation
            // 
            resources.ApplyResources(this, "$this");
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.CHK_heli);
            this.Controls.Add(this.BUT_startxplane);
            this.Controls.Add(this.BUT_startfgplane);
            this.Controls.Add(this.BUT_startfgquad);
@ -801,5 +809,6 @@
        private MyButton BUT_startfgquad;
        private MyButton BUT_startfgplane;
        private MyButton BUT_startxplane;
+        private System.Windows.Forms.CheckBox CHK_heli;
    }
 }
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
@ -124,6 +124,8 @@ namespace ArdupilotMega.GCSViews

                try
                {
+                    quad = new HIL.QuadCopter();
+
                    SetupUDPRecv();

                    if (RAD_softXplanes.Checked)
@ -149,6 +151,7 @@ namespace ArdupilotMega.GCSViews
                };
                t11.Start();
                MainV2.threads.Add(t11);
+                timer1.Start();
            }
            else
            {
@ -618,6 +621,9 @@ namespace ArdupilotMega.GCSViews
                att.pitch = (DATA[18][0] * deg2rad);
                att.roll = (DATA[18][1] * deg2rad);
                att.yaw = (DATA[18][2] * deg2rad);
+                att.pitchspeed = (DATA[17][0]);
+                att.rollspeed = (DATA[17][1]);
+                att.yawspeed = (DATA[17][2]);
                
                TimeSpan timediff = DateTime.Now - oldtime;

@ -679,7 +685,7 @@ namespace ArdupilotMega.GCSViews

                object imudata = new fgIMUData();

-                MAVLink.ByteArrayToStructure(data, ref imudata, 0);
+                MAVLink.ByteArrayToStructureEndian(data, ref imudata, 0);

                imudata = (fgIMUData)(imudata);

@ -725,7 +731,7 @@ namespace ArdupilotMega.GCSViews

                object temp = fdm;

-                MAVLink.ByteArrayToStructure(data, ref temp, 0);
+                MAVLink.ByteArrayToStructureEndian(data, ref temp, 0);

                fdm = (FGNetFDM)(temp);

@ -904,12 +910,9 @@ namespace ArdupilotMega.GCSViews
        private void processArduPilot()
        {

-            //            Console.WriteLine("sim "+DateTime.Now.Millisecond);
+            bool heli = CHK_heli.Checked;

-            float roll_out = (float)MainV2.cs.hilch1 / rollgain;
-            float pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
-            float throttle_out = ((float)MainV2.cs.hilch3 + 5000) / throttlegain;
-            float rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
+            //            Console.WriteLine("sim "+DateTime.Now.Millisecond);

            if (CHK_quad.Checked)
            {
@ -931,6 +934,9 @@ namespace ArdupilotMega.GCSViews
                try
                {

+                    if (lastfdmdata.version == 0)
+                        return;
+
                    quad.update(ref m, lastfdmdata);
                }
                catch (Exception e) { Console.WriteLine("Quad hill error " + e.ToString()); }
@ -1010,12 +1016,37 @@ namespace ArdupilotMega.GCSViews

            }

+            float roll_out, pitch_out, throttle_out, rudder_out, collective_out;
+
+            collective_out = 0;
+
+            if (heli)
+            {
+                roll_out = (float)MainV2.cs.hilch1 / rollgain;
+                pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
+                throttle_out = 1;
+                rudder_out = (float)MainV2.cs.hilch4 / -ruddergain;
+
+                collective_out = (float)(MainV2.cs.hilch3 - 1000) / throttlegain; 
+            }
+            else
+            {
+
+                roll_out = (float)MainV2.cs.hilch1 / rollgain;
+                pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
+                throttle_out = ((float)MainV2.cs.hilch3 + 5000) / throttlegain;
+                rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
+            }

            if ((roll_out == -1 || roll_out == 1) && (pitch_out == -1 || pitch_out == 1))
            {
                this.Invoke((MethodInvoker)delegate
                {
-                    //OutputLog.AppendText("Please check your radio setup - CLI -> setup -> radio!!!\n");
+                    try
+                    {
+                        OutputLog.AppendText("Please check your radio setup - CLI -> setup -> radio!!!\n");
+                    }
+                    catch { }
                });
            }

@ -1158,15 +1189,9 @@ namespace ArdupilotMega.GCSViews
            {
                // sending only 1 packet instead of many.

-                bool helicopter = false;
-
-#if !DEBUG
-                helicopter = false;
-#endif
-
                byte[] Xplane = new byte[5 + 36 + 36];

-                if (helicopter)
+                if (heli)
                {
                    Xplane = new byte[5 + 36 + 36 + 36];
                }
@ -1184,14 +1209,6 @@ namespace ArdupilotMega.GCSViews
                Array.Copy(BitConverter.GetBytes((float)throttle_out), 0, Xplane, 17, 4);
                Array.Copy(BitConverter.GetBytes((float)throttle_out), 0, Xplane, 21, 4);

-                if (helicopter)
-                {
-                    Array.Copy(BitConverter.GetBytes((float)1), 0, Xplane, 9, 4); // start data
-                    Array.Copy(BitConverter.GetBytes((float)1), 0, Xplane, 13, 4);
-                    Array.Copy(BitConverter.GetBytes((float)1), 0, Xplane, 17, 4);
-                    Array.Copy(BitConverter.GetBytes((float)1), 0, Xplane, 21, 4);
-                }
-
                Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 25, 4);
                Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 29, 4);
                Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 33, 4);
@ -1211,12 +1228,15 @@ namespace ArdupilotMega.GCSViews
                Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 69, 4);
                Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 73, 4);

-                if (helicopter)
+                if (heli)
                {
+                    Array.Copy(BitConverter.GetBytes((float)(0)), 0, Xplane, 53, 4);
+
+
                    int a = 73 + 4;
                    Array.Copy(BitConverter.GetBytes((int)39), 0, Xplane, a, 4); // packet index
                    a += 4;
-                    Array.Copy(BitConverter.GetBytes((float)(12 * throttle_out - 2)), 0, Xplane, a, 4); // main rotor 0 - 12
+                    Array.Copy(BitConverter.GetBytes((float)(12 * collective_out)), 0, Xplane, a, 4); // main rotor 0 - 12
                    a += 4;
                    Array.Copy(BitConverter.GetBytes((float)(12 * rudder_out)), 0, Xplane, a, 4); // tail rotor -12 - 12
                    a += 4;
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.resx
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.resx
@ -144,7 +144,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKREV_roll.ZOrder" xml:space="preserve">
-    <value>27</value>
+    <value>28</value>
  </data>
  <data name="CHKREV_pitch.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -171,7 +171,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKREV_pitch.ZOrder" xml:space="preserve">
-    <value>26</value>
+    <value>27</value>
  </data>
  <data name="CHKREV_rudder.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -198,7 +198,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKREV_rudder.ZOrder" xml:space="preserve">
-    <value>25</value>
+    <value>26</value>
  </data>
  <data name="GPSrate.Items" xml:space="preserve">
    <value>100</value>
@ -243,7 +243,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;GPSrate.ZOrder" xml:space="preserve">
-    <value>24</value>
+    <value>25</value>
  </data>
  <data name="ConnectComPort.Location" type="System.Drawing.Point, System.Drawing">
    <value>26, 13</value>
@ -294,7 +294,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;OutputLog.ZOrder" xml:space="preserve">
-    <value>23</value>
+    <value>24</value>
  </data>
  <data name="TXT_roll.Location" type="System.Drawing.Point, System.Drawing">
    <value>67, 22</value>
@ -510,7 +510,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;SaveSettings.ZOrder" xml:space="preserve">
-    <value>22</value>
+    <value>23</value>
  </data>
  <data name="RAD_softXplanes.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -537,7 +537,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;RAD_softXplanes.ZOrder" xml:space="preserve">
-    <value>21</value>
+    <value>22</value>
  </data>
  <data name="RAD_softFlightGear.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -564,7 +564,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;RAD_softFlightGear.ZOrder" xml:space="preserve">
-    <value>20</value>
+    <value>21</value>
  </data>
  <data name="TXT_servoroll.Location" type="System.Drawing.Point, System.Drawing">
    <value>67, 24</value>
@ -765,7 +765,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
-    <value>19</value>
+    <value>20</value>
  </data>
  <data name="label30.Location" type="System.Drawing.Point, System.Drawing">
    <value>7, 100</value>
@ -927,7 +927,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;panel2.ZOrder" xml:space="preserve">
-    <value>18</value>
+    <value>19</value>
  </data>
  <data name="label8.Location" type="System.Drawing.Point, System.Drawing">
    <value>7, 27</value>
@ -1140,7 +1140,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;panel3.ZOrder" xml:space="preserve">
-    <value>17</value>
+    <value>18</value>
  </data>
  <data name="label20.Location" type="System.Drawing.Point, System.Drawing">
    <value>72, 104</value>
@ -1275,7 +1275,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;panel4.ZOrder" xml:space="preserve">
-    <value>16</value>
+    <value>17</value>
  </data>
  <data name="label17.Location" type="System.Drawing.Point, System.Drawing">
    <value>535, 9</value>
@ -1299,7 +1299,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;label17.ZOrder" xml:space="preserve">
-    <value>15</value>
+    <value>16</value>
  </data>
  <data name="panel5.Location" type="System.Drawing.Point, System.Drawing">
    <value>13, 5</value>
@ -1320,7 +1320,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;panel5.ZOrder" xml:space="preserve">
-    <value>14</value>
+    <value>15</value>
  </data>
  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
  <data name="zg1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
@ -1345,7 +1345,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;zg1.ZOrder" xml:space="preserve">
-    <value>13</value>
+    <value>14</value>
  </data>
  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
    <value>17, 17</value>
@ -1657,7 +1657,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;panel6.ZOrder" xml:space="preserve">
-    <value>12</value>
+    <value>13</value>
  </data>
  <data name="label26.Location" type="System.Drawing.Point, System.Drawing">
    <value>508, 330</value>
@ -1681,7 +1681,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;label26.ZOrder" xml:space="preserve">
-    <value>11</value>
+    <value>12</value>
  </data>
  <data name="CHKdisplayall.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -1708,7 +1708,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKdisplayall.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>11</value>
  </data>
  <data name="CHKgraphroll.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
    <value>Bottom, Left</value>
@ -1738,7 +1738,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKgraphroll.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>10</value>
  </data>
  <data name="CHKgraphpitch.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
    <value>Bottom, Left</value>
@ -1768,7 +1768,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKgraphpitch.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>9</value>
  </data>
  <data name="CHKgraphrudder.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
    <value>Bottom, Left</value>
@ -1798,7 +1798,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKgraphrudder.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>8</value>
  </data>
  <data name="CHKgraphthrottle.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
    <value>Bottom, Left</value>
@ -1828,7 +1828,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKgraphthrottle.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>7</value>
  </data>
  <data name="but_advsettings.Location" type="System.Drawing.Point, System.Drawing">
    <value>566, 368</value>
@ -1852,13 +1852,13 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;but_advsettings.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
  </data>
  <data name="chkSensor.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
  </data>
  <data name="chkSensor.Location" type="System.Drawing.Point, System.Drawing">
-    <value>567, 324</value>
+    <value>566, 317</value>
  </data>
  <data name="chkSensor.Size" type="System.Drawing.Size, System.Drawing">
    <value>59, 17</value>
@ -1879,7 +1879,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;chkSensor.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
  </data>
  <data name="CHK_quad.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -1888,7 +1888,7 @@
    <value>NoControl</value>
  </data>
  <data name="CHK_quad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>567, 346</value>
+    <value>566, 334</value>
  </data>
  <data name="CHK_quad.Size" type="System.Drawing.Size, System.Drawing">
    <value>52, 17</value>
@ -1909,7 +1909,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHK_quad.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
  </data>
  <data name="BUT_startfgquad.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
@ -1936,7 +1936,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;BUT_startfgquad.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
  </data>
  <data name="BUT_startfgplane.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
@ -1963,7 +1963,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;BUT_startfgplane.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
  </data>
  <data name="BUT_startxplane.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
@ -1990,6 +1990,36 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;BUT_startxplane.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="CHK_heli.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="CHK_heli.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="CHK_heli.Location" type="System.Drawing.Point, System.Drawing">
+    <value>566, 350</value>
+  </data>
+  <data name="CHK_heli.Size" type="System.Drawing.Size, System.Drawing">
+    <value>44, 17</value>
+  </data>
+  <data name="CHK_heli.TabIndex" type="System.Int32, mscorlib">
+    <value>47</value>
+  </data>
+  <data name="CHK_heli.Text" xml:space="preserve">
+    <value>Heli</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.Name" xml:space="preserve">
+    <value>CHK_heli</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.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_heli.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.ZOrder" xml:space="preserve">
    <value>0</value>
  </data>
  <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
--- a/Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs
+++ b/Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs
@ -159,7 +159,7 @@ namespace ArdupilotMega.HIL

            //Console.WriteLine("Z {0} halt {1}  < gl {2} fh {3}" ,position.Z , home_altitude , ground_level , frame_height);

-            if (home_latitude == 0)
+            if (home_latitude == 0 || home_latitude > 90 || home_latitude < -90 || home_longitude == 0)
            {
                this.home_latitude = fdm.latitude * rad2deg;
                this.home_longitude = fdm.longitude * rad2deg;
@ -187,7 +187,7 @@ namespace ArdupilotMega.HIL
                position = new Vector3d(position.X, position.Y,
                                               ground_level + frame_height - home_altitude + 0);
               // Console.WriteLine("here " + position.Z);
-            } 
+            }

            //# update lat/lon/altitude
            update_position();
--- a/Tools/ArdupilotMegaPlanner/MainV2.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.cs
@ -222,12 +222,12 @@ namespace ArdupilotMega

        private void CMB_serialport_Click(object sender, EventArgs e)
        {
-            String old_port = CMB_serialport.Text;
+            string oldport = CMB_serialport.Text;
            CMB_serialport.Items.Clear();
            CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
            CMB_serialport.Items.Add("UDP");
-            if (CMB_serialport.Items.Contains(old_port))
-                CMB_serialport.Text = old_port;
+            if (CMB_serialport.Items.Contains(oldport))
+                CMB_serialport.Text = oldport;
        }

        public static void fixtheme(Control temp)
@ -679,6 +679,7 @@ namespace ArdupilotMega
                CMB_baudrate.Enabled = false;
            else
                CMB_baudrate.Enabled = true;
+
            try
            {
                comPort.BaseStream.PortName = CMB_serialport.Text;
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.0.74")]
+[assembly: AssemblyFileVersion("1.0.75")]
 [assembly: NeutralResourcesLanguageAttribute("")]
--- a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
+++ b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
@ -456,7 +456,8 @@ namespace ArdupilotMega.Setup

                    float value = (float)(CB_simple1.Checked ? 1 : 0) + (CB_simple2.Checked ? 1 << 1 : 0) + (CB_simple3.Checked ? 1 <<2 : 0)
                        + (CB_simple4.Checked ? 1 << 3 : 0) + (CB_simple5.Checked ? 1 << 4 : 0) + (CB_simple6.Checked ? 1 << 5 : 0);
-                    MainV2.comPort.setParam("SIMPLE", value);
+                    if (MainV2.comPort.param.ContainsKey("SIMPLE"))
+                        MainV2.comPort.setParam("SIMPLE", value);
                }
            }
            catch { MessageBox.Show("Failed to set Flight modes"); }
--- a/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/Simulation.resx
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/Simulation.resx
@ -144,7 +144,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKREV_roll.ZOrder" xml:space="preserve">
-    <value>27</value>
+    <value>28</value>
  </data>
  <data name="CHKREV_pitch.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -171,7 +171,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKREV_pitch.ZOrder" xml:space="preserve">
-    <value>26</value>
+    <value>27</value>
  </data>
  <data name="CHKREV_rudder.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -198,7 +198,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKREV_rudder.ZOrder" xml:space="preserve">
-    <value>25</value>
+    <value>26</value>
  </data>
  <data name="GPSrate.Items" xml:space="preserve">
    <value>100</value>
@ -243,7 +243,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;GPSrate.ZOrder" xml:space="preserve">
-    <value>24</value>
+    <value>25</value>
  </data>
  <data name="ConnectComPort.Location" type="System.Drawing.Point, System.Drawing">
    <value>26, 13</value>
@ -294,7 +294,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;OutputLog.ZOrder" xml:space="preserve">
-    <value>23</value>
+    <value>24</value>
  </data>
  <data name="TXT_roll.Location" type="System.Drawing.Point, System.Drawing">
    <value>67, 22</value>
@ -510,7 +510,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;SaveSettings.ZOrder" xml:space="preserve">
-    <value>22</value>
+    <value>23</value>
  </data>
  <data name="RAD_softXplanes.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -537,7 +537,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;RAD_softXplanes.ZOrder" xml:space="preserve">
-    <value>21</value>
+    <value>22</value>
  </data>
  <data name="RAD_softFlightGear.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -564,7 +564,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;RAD_softFlightGear.ZOrder" xml:space="preserve">
-    <value>20</value>
+    <value>21</value>
  </data>
  <data name="TXT_servoroll.Location" type="System.Drawing.Point, System.Drawing">
    <value>67, 24</value>
@ -765,7 +765,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
-    <value>19</value>
+    <value>20</value>
  </data>
  <data name="label30.Location" type="System.Drawing.Point, System.Drawing">
    <value>7, 100</value>
@ -927,7 +927,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;panel2.ZOrder" xml:space="preserve">
-    <value>18</value>
+    <value>19</value>
  </data>
  <data name="label8.Location" type="System.Drawing.Point, System.Drawing">
    <value>7, 27</value>
@ -1140,7 +1140,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;panel3.ZOrder" xml:space="preserve">
-    <value>17</value>
+    <value>18</value>
  </data>
  <data name="label20.Location" type="System.Drawing.Point, System.Drawing">
    <value>72, 104</value>
@ -1275,7 +1275,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;panel4.ZOrder" xml:space="preserve">
-    <value>16</value>
+    <value>17</value>
  </data>
  <data name="label17.Location" type="System.Drawing.Point, System.Drawing">
    <value>535, 9</value>
@ -1299,7 +1299,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;label17.ZOrder" xml:space="preserve">
-    <value>15</value>
+    <value>16</value>
  </data>
  <data name="panel5.Location" type="System.Drawing.Point, System.Drawing">
    <value>13, 5</value>
@ -1320,7 +1320,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;panel5.ZOrder" xml:space="preserve">
-    <value>14</value>
+    <value>15</value>
  </data>
  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
  <data name="zg1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
@ -1345,7 +1345,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;zg1.ZOrder" xml:space="preserve">
-    <value>13</value>
+    <value>14</value>
  </data>
  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
    <value>17, 17</value>
@ -1657,7 +1657,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;panel6.ZOrder" xml:space="preserve">
-    <value>12</value>
+    <value>13</value>
  </data>
  <data name="label26.Location" type="System.Drawing.Point, System.Drawing">
    <value>508, 330</value>
@ -1681,7 +1681,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;label26.ZOrder" xml:space="preserve">
-    <value>11</value>
+    <value>12</value>
  </data>
  <data name="CHKdisplayall.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -1708,7 +1708,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKdisplayall.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>11</value>
  </data>
  <data name="CHKgraphroll.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
    <value>Bottom, Left</value>
@ -1738,7 +1738,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKgraphroll.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>10</value>
  </data>
  <data name="CHKgraphpitch.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
    <value>Bottom, Left</value>
@ -1768,7 +1768,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKgraphpitch.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>9</value>
  </data>
  <data name="CHKgraphrudder.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
    <value>Bottom, Left</value>
@ -1798,7 +1798,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKgraphrudder.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>8</value>
  </data>
  <data name="CHKgraphthrottle.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
    <value>Bottom, Left</value>
@ -1828,7 +1828,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHKgraphthrottle.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>7</value>
  </data>
  <data name="but_advsettings.Location" type="System.Drawing.Point, System.Drawing">
    <value>566, 368</value>
@ -1852,13 +1852,13 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;but_advsettings.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
  </data>
  <data name="chkSensor.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
  </data>
  <data name="chkSensor.Location" type="System.Drawing.Point, System.Drawing">
-    <value>567, 324</value>
+    <value>566, 317</value>
  </data>
  <data name="chkSensor.Size" type="System.Drawing.Size, System.Drawing">
    <value>59, 17</value>
@ -1879,7 +1879,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;chkSensor.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
  </data>
  <data name="CHK_quad.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -1888,7 +1888,7 @@
    <value>NoControl</value>
  </data>
  <data name="CHK_quad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>567, 346</value>
+    <value>566, 334</value>
  </data>
  <data name="CHK_quad.Size" type="System.Drawing.Size, System.Drawing">
    <value>52, 17</value>
@ -1909,7 +1909,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;CHK_quad.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
  </data>
  <data name="BUT_startfgquad.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
@ -1936,7 +1936,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;BUT_startfgquad.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
  </data>
  <data name="BUT_startfgplane.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
@ -1963,7 +1963,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;BUT_startfgplane.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
  </data>
  <data name="BUT_startxplane.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
@ -1990,6 +1990,36 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;BUT_startxplane.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="CHK_heli.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="CHK_heli.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="CHK_heli.Location" type="System.Drawing.Point, System.Drawing">
+    <value>566, 350</value>
+  </data>
+  <data name="CHK_heli.Size" type="System.Drawing.Size, System.Drawing">
+    <value>44, 17</value>
+  </data>
+  <data name="CHK_heli.TabIndex" type="System.Int32, mscorlib">
+    <value>47</value>
+  </data>
+  <data name="CHK_heli.Text" xml:space="preserve">
+    <value>Heli</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.Name" xml:space="preserve">
+    <value>CHK_heli</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.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_heli.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.ZOrder" xml:space="preserve">
    <value>0</value>
  </data>
  <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">