APM Planner 1.0.96

small tweaks
Move to .net 4.0 (make sure you have .net 4 installed) - for ironpython

Tools/ArdupilotMegaPlanner/ArduinoDetect.cs

@@ -56,7 +56,7 @@ namespace ArdupilotMega
             System.Threading.Thread.Sleep(500);
 
             //HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Enum\USB\VID_2341&PID_0010\640333439373519060F0\Device Parameters
-            if (!MainV2.MAC)
+            if (!MainV2.MONO)
             {
                 ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_USBControllerDevice");
                 ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);
@@ -66,7 +66,7 @@ namespace ArdupilotMega
 
                     if (obj2["Dependent"].ToString().Contains(@"USB\\VID_2341&PID_0010"))
                     {
-                        return "2560-2";
+                        //return "2560-2";
                     }
                 }
             }

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -10,7 +10,7 @@
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>ArdupilotMega</RootNamespace>
     <AssemblyName>ArdupilotMegaPlanner</AssemblyName>
-    <TargetFrameworkVersion>v3.5</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
     <TargetFrameworkProfile>
     </TargetFrameworkProfile>
     <FileAlignment>512</FileAlignment>
@@ -57,7 +57,7 @@
     <DebugType>full</DebugType>
     <Optimize>true</Optimize>
     <OutputPath>bin\Release\</OutputPath>
-    <DefineConstants>DEBUG;TRACE;MAVLINK10cra</DefineConstants>
+    <DefineConstants>TRACE;DEBUG;MAVLINK10cra</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
     <AllowUnsafeBlocks>false</AllowUnsafeBlocks>
@@ -92,7 +92,7 @@
   </PropertyGroup>
   <PropertyGroup />
   <PropertyGroup>
-    <AssemblyOriginatorKeyFile>mykey.pfx</AssemblyOriginatorKeyFile>
+    <AssemblyOriginatorKeyFile>mykey.snk</AssemblyOriginatorKeyFile>
   </PropertyGroup>
   <PropertyGroup />
   <PropertyGroup />
@@ -134,6 +134,17 @@
     <Reference Include="ICSharpCode.SharpZipLib">
       <HintPath>..\..\..\..\..\Desktop\DIYDrones\SrcSamples\bin\ICSharpCode.SharpZipLib.dll</HintPath>
     </Reference>
+    <Reference Include="IronPython, Version=2.7.0.40, Culture=neutral, PublicKeyToken=7f709c5b713576e1, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\IronPython.dll</HintPath>
+      <Private>True</Private>
+      <EmbedInteropTypes>False</EmbedInteropTypes>
+    </Reference>
+    <Reference Include="IronPython.Modules, Version=2.7.0.40, Culture=neutral, PublicKeyToken=7f709c5b713576e1, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\IronPython.Modules.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
     <Reference Include="KMLib">
       <HintPath>..\..\..\..\..\Desktop\DIYDrones\kml-library\KmlTestbed\bin\Release\KMLib.dll</HintPath>
     </Reference>
@@ -147,6 +158,16 @@
       <HintPath>..\..\..\..\..\..\..\Windows\Microsoft.NET\DirectX for Managed Code\1.0.2902.0\Microsoft.DirectX.DirectInput.dll</HintPath>
       <Private>False</Private>
     </Reference>
+    <Reference Include="Microsoft.Dynamic, Version=1.1.0.20, Culture=neutral, PublicKeyToken=7f709c5b713576e1, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\Microsoft.Dynamic.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
+    <Reference Include="Microsoft.Scripting, Version=1.1.0.20, Culture=neutral, PublicKeyToken=7f709c5b713576e1, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\Microsoft.Scripting.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
     <Reference Include="OpenTK, Version=1.0.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>
       <HintPath>..\..\..\..\..\Desktop\DIYDrones\opentk\trunk\Binaries\OpenTK\Release\OpenTK.dll</HintPath>
@@ -203,6 +224,7 @@
     <Compile Include="HIL\QuadCopter.cs" />
     <Compile Include="HIL\Quaternion.cs" />
     <Compile Include="HIL\Vector3d.cs" />
+    <Compile Include="hires.cs" />
     <Compile Include="MavlinkLog.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -329,6 +351,7 @@
     </Compile>
     <Compile Include="Program.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="Script.cs" />
     <Compile Include="SerialOutput.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -523,7 +546,7 @@
     </None>
     <None Include="MAC\Info.plist" />
     <None Include="MAC\run.sh" />
-    <None Include="mykey.pfx" />
+    <None Include="mykey.snk" />
     <None Include="Properties\app.manifest" />
     <None Include="Properties\DataSources\CurrentState.datasource" />
     <None Include="block_plane_0.dae">
@@ -621,7 +644,6 @@
     </BootstrapperPackage>
   </ItemGroup>
   <ItemGroup />
-  <ItemGroup />
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <PropertyGroup>
     <PostBuildEvent>rem macos.bat</PostBuildEvent>

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj.user

@@ -10,4 +10,7 @@
     <InstallUrlHistory />
     <UpdateUrlHistory />
   </PropertyGroup>
+  <PropertyGroup>
+    <ReferencePath>C:\Users\hog\Documents\Visual Studio 2010\Projects\ArdupilotMega\ArdupilotMega\bin\Release\</ReferencePath>
+  </PropertyGroup>
 </Project>

Tools/ArdupilotMegaPlanner/Common.cs

@@ -140,6 +140,9 @@ namespace ArdupilotMega
 
     public class GMapMarkerQuad : GMapMarker
     {
+        const float rad2deg = (float)(180 / Math.PI);
+        const float deg2rad = (float)(1.0 / rad2deg);
+
         static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::ArdupilotMega.Properties.Resources.quad2.Width, global::ArdupilotMega.Properties.Resources.quad2.Height);
         float heading = 0;
         float cog = -1;
@@ -158,8 +161,17 @@ namespace ArdupilotMega
         {
             Matrix temp = g.Transform;
             g.TranslateTransform(LocalPosition.X, LocalPosition.Y);
+
+            int length = 500;
+
+            g.DrawLine(new Pen(Color.Red, 2), 0.0f, 0.0f, (float)Math.Cos((heading - 90) * deg2rad) * length, (float)Math.Sin((heading - 90) * deg2rad) * length);
+            //g.DrawLine(new Pen(Color.Green, 2), 0.0f, 0.0f, (float)Math.Cos((nav_bearing - 90) * deg2rad) * length, (float)Math.Sin((nav_bearing - 90) * deg2rad) * length);
+            g.DrawLine(new Pen(Color.Black, 2), 0.0f, 0.0f, (float)Math.Cos((cog - 90) * deg2rad) * length, (float)Math.Sin((cog - 90) * deg2rad) * length);
+            g.DrawLine(new Pen(Color.Orange, 2), 0.0f, 0.0f, (float)Math.Cos((target - 90) * deg2rad) * length, (float)Math.Sin((target - 90) * deg2rad) * length);
+
+
             g.RotateTransform(heading);
-            g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.quad2, global::ArdupilotMega.Properties.Resources.quad2.Width / -2, global::ArdupilotMega.Properties.Resources.quad2.Height / -2);
+            g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.quad2, global::ArdupilotMega.Properties.Resources.quad2.Width / -2 + 2, global::ArdupilotMega.Properties.Resources.quad2.Height / -2);
 
             g.Transform = temp;
         }

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -510,7 +510,7 @@ namespace ArdupilotMega.GCSViews
                 Console.WriteLine("Detected a " + board);
 
                 string baseurl = "";
-                if (board == "2560" || board == "2560-2")
+                if (board == "2560")
                 {
                     baseurl = temp.url2560.ToString();
                 }
@@ -605,7 +605,7 @@ namespace ArdupilotMega.GCSViews
                 //port = new ArduinoSTK();
                 port.BaudRate = 57600;
             }
-            else if (board == "2560" || board == "2560-2")
+            else if (board == "2560")
             {
                 port = new ArduinoSTKv2();
                 port.BaudRate = 115200;

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs

@@ -10,6 +10,9 @@
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FlightData));
             System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
             System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
+            this.contextMenuStrip1 = new System.Windows.Forms.ContextMenuStrip(this.components);
+            this.goHereToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.pointCameraHereToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.MainH = new System.Windows.Forms.SplitContainer();
             this.SubMainLeft = new System.Windows.Forms.SplitContainer();
             this.hud1 = new hud.HUD();
@@ -52,9 +55,6 @@
             this.lbl_winddir = new ArdupilotMega.MyLabel();
             this.lbl_windvel = new ArdupilotMega.MyLabel();
             this.gMapControl1 = new GMap.NET.WindowsForms.GMapControl();
-            this.contextMenuStrip1 = new System.Windows.Forms.ContextMenuStrip(this.components);
-            this.goHereToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.pointCameraHereToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.panel1 = new System.Windows.Forms.Panel();
             this.TXT_lat = new ArdupilotMega.MyLabel();
             this.Zoomlevel = new System.Windows.Forms.NumericUpDown();
@@ -68,6 +68,7 @@
             this.ZedGraphTimer = new System.Windows.Forms.Timer(this.components);
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.label6 = new ArdupilotMega.MyLabel();
+            this.contextMenuStrip1.SuspendLayout();
             this.MainH.Panel1.SuspendLayout();
             this.MainH.Panel2.SuspendLayout();
             this.MainH.SuspendLayout();
@@ -86,11 +87,30 @@
             this.splitContainer1.Panel1.SuspendLayout();
             this.splitContainer1.Panel2.SuspendLayout();
             this.splitContainer1.SuspendLayout();
-            this.contextMenuStrip1.SuspendLayout();
             this.panel1.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.Zoomlevel)).BeginInit();
             this.SuspendLayout();
             // 
+            // contextMenuStrip1
+            // 
+            this.contextMenuStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.goHereToolStripMenuItem,
+            this.pointCameraHereToolStripMenuItem});
+            this.contextMenuStrip1.Name = "contextMenuStrip1";
+            resources.ApplyResources(this.contextMenuStrip1, "contextMenuStrip1");
+            // 
+            // goHereToolStripMenuItem
+            // 
+            this.goHereToolStripMenuItem.Name = "goHereToolStripMenuItem";
+            resources.ApplyResources(this.goHereToolStripMenuItem, "goHereToolStripMenuItem");
+            this.goHereToolStripMenuItem.Click += new System.EventHandler(this.goHereToolStripMenuItem_Click);
+            // 
+            // pointCameraHereToolStripMenuItem
+            // 
+            this.pointCameraHereToolStripMenuItem.Name = "pointCameraHereToolStripMenuItem";
+            resources.ApplyResources(this.pointCameraHereToolStripMenuItem, "pointCameraHereToolStripMenuItem");
+            this.pointCameraHereToolStripMenuItem.Click += new System.EventHandler(this.pointCameraHereToolStripMenuItem_Click);
+            // 
             // MainH
             // 
             this.MainH.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
@@ -1098,26 +1118,6 @@
             this.gMapControl1.MouseDown += new System.Windows.Forms.MouseEventHandler(this.gMapControl1_MouseDown);
             this.gMapControl1.MouseMove += new System.Windows.Forms.MouseEventHandler(this.gMapControl1_MouseMove);
             // 
-            // contextMenuStrip1
-            // 
-            this.contextMenuStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
-            this.goHereToolStripMenuItem,
-            this.pointCameraHereToolStripMenuItem});
-            this.contextMenuStrip1.Name = "contextMenuStrip1";
-            resources.ApplyResources(this.contextMenuStrip1, "contextMenuStrip1");
-            // 
-            // goHereToolStripMenuItem
-            // 
-            this.goHereToolStripMenuItem.Name = "goHereToolStripMenuItem";
-            resources.ApplyResources(this.goHereToolStripMenuItem, "goHereToolStripMenuItem");
-            this.goHereToolStripMenuItem.Click += new System.EventHandler(this.goHereToolStripMenuItem_Click);
-            // 
-            // pointCameraHereToolStripMenuItem
-            // 
-            this.pointCameraHereToolStripMenuItem.Name = "pointCameraHereToolStripMenuItem";
-            resources.ApplyResources(this.pointCameraHereToolStripMenuItem, "pointCameraHereToolStripMenuItem");
-            this.pointCameraHereToolStripMenuItem.Click += new System.EventHandler(this.pointCameraHereToolStripMenuItem_Click);
-            // 
             // panel1
             // 
             this.panel1.Controls.Add(this.TXT_lat);
@@ -1246,6 +1246,7 @@
             this.Load += new System.EventHandler(this.FlightData_Load);
             this.Resize += new System.EventHandler(this.FlightData_Resize);
             this.ParentChanged += new System.EventHandler(this.FlightData_ParentChanged);
+            this.contextMenuStrip1.ResumeLayout(false);
             this.MainH.Panel1.ResumeLayout(false);
             this.MainH.Panel2.ResumeLayout(false);
             this.MainH.ResumeLayout(false);
@@ -1265,7 +1266,6 @@
             this.splitContainer1.Panel1.ResumeLayout(false);
             this.splitContainer1.Panel2.ResumeLayout(false);
             this.splitContainer1.ResumeLayout(false);
-            this.contextMenuStrip1.ResumeLayout(false);
             this.panel1.ResumeLayout(false);
             this.panel1.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.Zoomlevel)).EndInit();

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -695,7 +695,7 @@ namespace ArdupilotMega.GCSViews
             {
                 ((Button)sender).Enabled = false;
 #if MAVLINK10
-                comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), CMB_action.Text));
+                comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), CMB_action.Text),0,0,0,0,0,0,0);
 #else
                 comPort.doAction((MAVLink.MAV_ACTION)Enum.Parse(typeof(MAVLink.MAV_ACTION), "MAV_ACTION_" + CMB_action.Text));
 #endif

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.resx

@@ -117,11 +117,35 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
+  <metadata name="contextMenuStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>290, 17</value>
+  </metadata>
+  <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
+  <data name="goHereToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>174, 22</value>
+  </data>
+  <data name="goHereToolStripMenuItem.Text" xml:space="preserve">
+    <value>Fly To Here</value>
+  </data>
+  <data name="pointCameraHereToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>174, 22</value>
+  </data>
+  <data name="pointCameraHereToolStripMenuItem.Text" xml:space="preserve">
+    <value>Point Camera Here</value>
+  </data>
+  <data name="contextMenuStrip1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>175, 48</value>
+  </data>
+  <data name="&gt;&gt;contextMenuStrip1.Name" xml:space="preserve">
+    <value>contextMenuStrip1</value>
+  </data>
+  <data name="&gt;&gt;contextMenuStrip1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ContextMenuStrip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
   <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="MainH.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Fill</value>
   </data>
-  <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="MainH.Location" type="System.Drawing.Point, System.Drawing">
     <value>0, 0</value>
   </data>
@@ -184,7 +208,7 @@
     <value>hud1</value>
   </data>
   <data name="&gt;&gt;hud1.Type" xml:space="preserve">
-    <value>hud.HUD, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>hud.HUD, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;hud1.Parent" xml:space="preserve">
     <value>SubMainLeft.Panel1</value>
@@ -229,7 +253,7 @@
     <value>BUT_joystick</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -259,7 +283,7 @@
     <value>BUT_quickmanual</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -289,7 +313,7 @@
     <value>BUT_quickrtl</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -319,7 +343,7 @@
     <value>BUT_quickauto</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -373,7 +397,7 @@
     <value>BUT_setwp</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -424,7 +448,7 @@
     <value>BUT_setmode</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -454,7 +478,7 @@
     <value>BUT_clear_track</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -505,7 +529,7 @@
     <value>BUT_Homealt</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -535,7 +559,7 @@
     <value>BUT_RAWSensor</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -565,7 +589,7 @@
     <value>BUTrestartmission</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -595,7 +619,7 @@
     <value>BUTactiondo</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -649,7 +673,7 @@
     <value>Gvspeed</value>
   </data>
   <data name="&gt;&gt;Gvspeed.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;Gvspeed.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -679,7 +703,7 @@
     <value>Gheading</value>
   </data>
   <data name="&gt;&gt;Gheading.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;Gheading.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -709,7 +733,7 @@
     <value>Galt</value>
   </data>
   <data name="&gt;&gt;Galt.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;Galt.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -742,7 +766,7 @@
     <value>Gspeed</value>
   </data>
   <data name="&gt;&gt;Gspeed.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;Gspeed.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -823,7 +847,7 @@
     <value>lbl_logpercent</value>
   </data>
   <data name="&gt;&gt;lbl_logpercent.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;lbl_logpercent.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -874,7 +898,7 @@
     <value>BUT_log2kml</value>
   </data>
   <data name="&gt;&gt;BUT_log2kml.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUT_log2kml.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -925,7 +949,7 @@
     <value>BUT_playlog</value>
   </data>
   <data name="&gt;&gt;BUT_playlog.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUT_playlog.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -952,7 +976,7 @@
     <value>BUT_loadtelem</value>
   </data>
   <data name="&gt;&gt;BUT_loadtelem.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;BUT_loadtelem.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1138,7 +1162,7 @@
     <value>lbl_winddir</value>
   </data>
   <data name="&gt;&gt;lbl_winddir.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;lbl_winddir.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1168,7 +1192,7 @@
     <value>lbl_windvel</value>
   </data>
   <data name="&gt;&gt;lbl_windvel.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;lbl_windvel.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1176,30 +1200,6 @@
   <data name="&gt;&gt;lbl_windvel.ZOrder" xml:space="preserve">
     <value>1</value>
   </data>
-  <metadata name="contextMenuStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>290, 17</value>
-  </metadata>
-  <data name="goHereToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>174, 22</value>
-  </data>
-  <data name="goHereToolStripMenuItem.Text" xml:space="preserve">
-    <value>Fly To Here</value>
-  </data>
-  <data name="pointCameraHereToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>174, 22</value>
-  </data>
-  <data name="pointCameraHereToolStripMenuItem.Text" xml:space="preserve">
-    <value>Point Camera Here</value>
-  </data>
-  <data name="contextMenuStrip1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>175, 48</value>
-  </data>
-  <data name="&gt;&gt;contextMenuStrip1.Name" xml:space="preserve">
-    <value>contextMenuStrip1</value>
-  </data>
-  <data name="&gt;&gt;contextMenuStrip1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.ContextMenuStrip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
   <data name="gMapControl1.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Fill</value>
   </data>
@@ -1427,7 +1427,7 @@
     <value>TXT_lat</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1484,7 +1484,7 @@
     <value>label1</value>
   </data>
   <data name="&gt;&gt;label1.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;label1.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1514,7 +1514,7 @@
     <value>TXT_long</value>
   </data>
   <data name="&gt;&gt;TXT_long.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;TXT_long.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1544,7 +1544,7 @@
     <value>TXT_alt</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1745,7 +1745,7 @@
     <value>label6</value>
   </data>
   <data name="&gt;&gt;label6.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
   <data name="&gt;&gt;label6.Parent" xml:space="preserve">
     <value>$this</value>
@@ -1765,6 +1765,18 @@
   <data name="$this.Size" type="System.Drawing.Size, System.Drawing">
     <value>1008, 461</value>
   </data>
+  <data name="&gt;&gt;goHereToolStripMenuItem.Name" xml:space="preserve">
+    <value>goHereToolStripMenuItem</value>
+  </data>
+  <data name="&gt;&gt;goHereToolStripMenuItem.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;pointCameraHereToolStripMenuItem.Name" xml:space="preserve">
+    <value>pointCameraHereToolStripMenuItem</value>
+  </data>
+  <data name="&gt;&gt;pointCameraHereToolStripMenuItem.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
   <data name="&gt;&gt;recordHudToAVIToolStripMenuItem.Name" xml:space="preserve">
     <value>recordHudToAVIToolStripMenuItem</value>
   </data>
@@ -1783,18 +1795,6 @@
   <data name="&gt;&gt;bindingSource1.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="&gt;&gt;goHereToolStripMenuItem.Name" xml:space="preserve">
-    <value>goHereToolStripMenuItem</value>
-  </data>
-  <data name="&gt;&gt;goHereToolStripMenuItem.Type" xml:space="preserve">
-    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;pointCameraHereToolStripMenuItem.Name" xml:space="preserve">
-    <value>pointCameraHereToolStripMenuItem</value>
-  </data>
-  <data name="&gt;&gt;pointCameraHereToolStripMenuItem.Type" xml:space="preserve">
-    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
   <data name="&gt;&gt;dataGridViewImageColumn1.Name" xml:space="preserve">
     <value>dataGridViewImageColumn1</value>
   </data>
@@ -1823,6 +1823,6 @@
     <value>FlightData</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs

@@ -120,6 +120,7 @@
             this.label11 = new System.Windows.Forms.Label();
             this.panelBASE = new System.Windows.Forms.Panel();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
+            this.BUT_zoomto = new ArdupilotMega.MyButton();
             ((System.ComponentModel.ISupportInitialize)(this.Commands)).BeginInit();
             this.panel5.SuspendLayout();
             this.panel1.SuspendLayout();
@@ -508,6 +509,7 @@
             this.panelWaypoints.CaptionFont = new System.Drawing.Font("Segoe UI", 11.75F, System.Drawing.FontStyle.Bold);
             this.panelWaypoints.CaptionHeight = 21;
             this.panelWaypoints.ColorScheme = BSE.Windows.Forms.ColorScheme.Custom;
+            this.panelWaypoints.Controls.Add(this.BUT_zoomto);
             this.panelWaypoints.Controls.Add(this.BUT_Camera);
             this.panelWaypoints.Controls.Add(this.BUT_grid);
             this.panelWaypoints.Controls.Add(this.BUT_Prefetch);
@@ -832,6 +834,14 @@
             resources.ApplyResources(this.panelBASE, "panelBASE");
             this.panelBASE.Name = "panelBASE";
             // 
+            // BUT_zoomto
+            // 
+            resources.ApplyResources(this.BUT_zoomto, "BUT_zoomto");
+            this.BUT_zoomto.Name = "BUT_zoomto";
+            this.toolTip1.SetToolTip(this.BUT_zoomto, resources.GetString("BUT_zoomto.ToolTip"));
+            this.BUT_zoomto.UseVisualStyleBackColor = true;
+            this.BUT_zoomto.Click += new System.EventHandler(this.BUT_zoomto_Click);
+            // 
             // FlightPlanner
             // 
             resources.ApplyResources(this, "$this");
@@ -943,5 +953,6 @@
         private System.Windows.Forms.DataGridViewButtonColumn Delete;
         private System.Windows.Forms.DataGridViewImageColumn Up;
         private System.Windows.Forms.DataGridViewImageColumn Down;
+        private MyButton BUT_zoomto;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -691,6 +691,15 @@ namespace ArdupilotMega.GCSViews
 
         private void Commands_RowsAdded(object sender, DataGridViewRowsAddedEventArgs e)
         {
+            for (int i = 0; i < Commands.ColumnCount; i++)
+            {
+                DataGridViewCell tcell = Commands.Rows[e.RowIndex].Cells[i];
+                if (tcell.GetType() == typeof(DataGridViewTextBoxCell))
+                {
+                    tcell.Value = "0";
+                }
+            }                
+
             DataGridViewComboBoxCell cell = Commands.Rows[e.RowIndex].Cells[Command.Index] as DataGridViewComboBoxCell;
             if (cell.Value == null)
             {
@@ -2079,6 +2088,18 @@ namespace ArdupilotMega.GCSViews
             // update row headers
             ((ComboBox)sender).ForeColor = Color.White;
             ChangeColumnHeader(((ComboBox)sender).Text);
+            try
+            {
+                for (int i = 0; i < Commands.ColumnCount; i++)
+                {
+                    DataGridViewCell tcell = Commands.Rows[selectedrow].Cells[i];
+                    if (tcell.GetType() == typeof(DataGridViewTextBoxCell))
+                    {
+                        tcell.Value = "0";
+                    }
+                }
+            }
+            catch { }
         }
         /// <summary>
         /// Get the Google earth ALT for a given coord
@@ -2723,5 +2744,21 @@ namespace ArdupilotMega.GCSViews
             trackBar1.Size = new System.Drawing.Size(trackBar1.Size.Width, panelMap.Size.Height - trackBar1.Location.Y);
             label11.Location = new Point(panelMap.Size.Width - 50, label11.Location.Y);
         }
+
+        private void BUT_zoomto_Click(object sender, EventArgs e)
+        {
+            string place = "Perth, Australia";
+            Common.InputBox("Location", "Enter your location", ref place);
+
+            GeoCoderStatusCode status = MainMap.SetCurrentPositionByKeywords(place);
+            if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
+            {
+                MessageBox.Show("Google Maps Geocoder can't find: '" + place + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
+            }
+            else
+            {
+                MainMap.Zoom = 15;
+            }
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx

@@ -127,7 +127,7 @@
   </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="CHK_altmode.Location" type="System.Drawing.Point, System.Drawing">
-    <value>326, 31</value>
+    <value>213, 31</value>
   </data>
   <data name="CHK_altmode.Size" type="System.Drawing.Size, System.Drawing">
     <value>82, 17</value>
@@ -148,7 +148,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;CHK_altmode.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
   </data>
   <data name="CHK_holdalt.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -157,7 +157,7 @@
     <value>NoControl</value>
   </data>
   <data name="CHK_holdalt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>411, 24</value>
+    <value>298, 24</value>
   </data>
   <data name="CHK_holdalt.Size" type="System.Drawing.Size, System.Drawing">
     <value>98, 17</value>
@@ -178,7 +178,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;CHK_holdalt.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>9</value>
   </data>
   <data name="Commands.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Bottom, Left, Right</value>
@@ -186,9 +186,9 @@
   <data name="Commands.ColumnHeadersHeight" type="System.Int32, mscorlib">
     <value>30</value>
   </data>
-  <data name="Command.UserAddedColumn" type="System.Boolean, mscorlib">
+  <metadata name="Command.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
-  </data>
+  </metadata>
   <data name="Command.HeaderText" xml:space="preserve">
     <value>Command</value>
   </data>
@@ -198,9 +198,9 @@
   <data name="Command.Width" type="System.Int32, mscorlib">
     <value>150</value>
   </data>
-  <data name="Param1.UserAddedColumn" type="System.Boolean, mscorlib">
+  <metadata name="Param1.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
-  </data>
+  </metadata>
   <data name="Param1.HeaderText" xml:space="preserve">
     <value>P1</value>
   </data>
@@ -210,9 +210,9 @@
   <data name="Param1.Width" type="System.Int32, mscorlib">
     <value>40</value>
   </data>
-  <data name="Param2.UserAddedColumn" type="System.Boolean, mscorlib">
+  <metadata name="Param2.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
-  </data>
+  </metadata>
   <data name="Param2.HeaderText" xml:space="preserve">
     <value>P2</value>
   </data>
@@ -222,9 +222,9 @@
   <data name="Param2.Width" type="System.Int32, mscorlib">
     <value>40</value>
   </data>
-  <data name="Param3.UserAddedColumn" type="System.Boolean, mscorlib">
+  <metadata name="Param3.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
-  </data>
+  </metadata>
   <data name="Param3.HeaderText" xml:space="preserve">
     <value>P3</value>
   </data>
@@ -234,9 +234,9 @@
   <data name="Param3.Width" type="System.Int32, mscorlib">
     <value>40</value>
   </data>
-  <data name="Param4.UserAddedColumn" type="System.Boolean, mscorlib">
+  <metadata name="Param4.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
-  </data>
+  </metadata>
   <data name="Param4.HeaderText" xml:space="preserve">
     <value>P4</value>
   </data>
@@ -246,9 +246,9 @@
   <data name="Param4.Width" type="System.Int32, mscorlib">
     <value>40</value>
   </data>
-  <data name="Lat.UserAddedColumn" type="System.Boolean, mscorlib">
+  <metadata name="Lat.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
-  </data>
+  </metadata>
   <data name="Lat.HeaderText" xml:space="preserve">
     <value>Lat</value>
   </data>
@@ -258,9 +258,9 @@
   <data name="Lat.Width" type="System.Int32, mscorlib">
     <value>40</value>
   </data>
-  <data name="Lon.UserAddedColumn" type="System.Boolean, mscorlib">
+  <metadata name="Lon.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
-  </data>
+  </metadata>
   <data name="Lon.HeaderText" xml:space="preserve">
     <value>Lon</value>
   </data>
@@ -270,9 +270,9 @@
   <data name="Lon.Width" type="System.Int32, mscorlib">
     <value>40</value>
   </data>
-  <data name="Alt.UserAddedColumn" type="System.Boolean, mscorlib">
+  <metadata name="Alt.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
-  </data>
+  </metadata>
   <data name="Alt.HeaderText" xml:space="preserve">
     <value>Alt</value>
   </data>
@@ -282,9 +282,9 @@
   <data name="Alt.Width" type="System.Int32, mscorlib">
     <value>40</value>
   </data>
-  <data name="Delete.UserAddedColumn" type="System.Boolean, mscorlib">
+  <metadata name="Delete.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
-  </data>
+  </metadata>
   <data name="Delete.HeaderText" xml:space="preserve">
     <value>Delete</value>
   </data>
@@ -294,9 +294,9 @@
   <data name="Delete.Width" type="System.Int32, mscorlib">
     <value>50</value>
   </data>
-  <data name="Up.UserAddedColumn" type="System.Boolean, mscorlib">
+  <metadata name="Up.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
-  </data>
+  </metadata>
   <data name="Up.HeaderText" xml:space="preserve">
     <value>Up</value>
   </data>
@@ -306,9 +306,9 @@
   <data name="Up.Width" type="System.Int32, mscorlib">
     <value>30</value>
   </data>
-  <data name="Down.UserAddedColumn" type="System.Boolean, mscorlib">
+  <metadata name="Down.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
-  </data>
+  </metadata>
   <data name="Down.HeaderText" xml:space="preserve">
     <value>Down</value>
   </data>
@@ -340,7 +340,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;Commands.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>11</value>
   </data>
   <data name="CHK_geheight.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -349,7 +349,7 @@
     <value>NoControl</value>
   </data>
   <data name="CHK_geheight.Location" type="System.Drawing.Point, System.Drawing">
-    <value>411, 40</value>
+    <value>298, 40</value>
   </data>
   <data name="CHK_geheight.Size" type="System.Drawing.Size, System.Drawing">
     <value>86, 17</value>
@@ -370,10 +370,10 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;CHK_geheight.ZOrder" xml:space="preserve">
-    <value>12</value>
+    <value>13</value>
   </data>
   <data name="TXT_WPRad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>73, 32</value>
+    <value>23, 36</value>
   </data>
   <data name="TXT_WPRad.Size" type="System.Drawing.Size, System.Drawing">
     <value>36, 20</value>
@@ -394,10 +394,10 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;TXT_WPRad.ZOrder" xml:space="preserve">
-    <value>13</value>
+    <value>14</value>
   </data>
   <data name="TXT_DefaultAlt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>280, 32</value>
+    <value>154, 36</value>
   </data>
   <data name="TXT_DefaultAlt.Size" type="System.Drawing.Size, System.Drawing">
     <value>40, 20</value>
@@ -418,7 +418,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;TXT_DefaultAlt.ZOrder" xml:space="preserve">
-    <value>11</value>
+    <value>12</value>
   </data>
   <data name="LBL_WPRad.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -427,7 +427,7 @@
     <value>NoControl</value>
   </data>
   <data name="LBL_WPRad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>9, 32</value>
+    <value>9, 24</value>
   </data>
   <data name="LBL_WPRad.Size" type="System.Drawing.Size, System.Drawing">
     <value>61, 13</value>
@@ -448,7 +448,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;LBL_WPRad.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
   </data>
   <data name="LBL_defalutalt.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -457,7 +457,7 @@
     <value>NoControl</value>
   </data>
   <data name="LBL_defalutalt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>221, 32</value>
+    <value>151, 24</value>
   </data>
   <data name="LBL_defalutalt.Size" type="System.Drawing.Size, System.Drawing">
     <value>56, 13</value>
@@ -478,10 +478,10 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;LBL_defalutalt.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>10</value>
   </data>
   <data name="TXT_loiterrad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>184, 32</value>
+    <value>89, 36</value>
   </data>
   <data name="TXT_loiterrad.Size" type="System.Drawing.Size, System.Drawing">
     <value>36, 20</value>
@@ -502,7 +502,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;TXT_loiterrad.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>8</value>
   </data>
   <data name="label5.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -511,7 +511,7 @@
     <value>NoControl</value>
   </data>
   <data name="label5.Location" type="System.Drawing.Point, System.Drawing">
-    <value>112, 32</value>
+    <value>76, 24</value>
   </data>
   <data name="label5.Size" type="System.Drawing.Size, System.Drawing">
     <value>69, 13</value>
@@ -532,7 +532,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;label5.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>7</value>
   </data>
   <data name="panel5.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
@@ -556,7 +556,7 @@
     <value>BUT_write</value>
   </data>
   <data name="&gt;&gt;BUT_write.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_write.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -583,7 +583,7 @@
     <value>BUT_read</value>
   </data>
   <data name="&gt;&gt;BUT_read.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_read.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -610,7 +610,7 @@
     <value>SaveFile</value>
   </data>
   <data name="&gt;&gt;SaveFile.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;SaveFile.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -637,7 +637,7 @@
     <value>BUT_loadwpfile</value>
   </data>
   <data name="&gt;&gt;BUT_loadwpfile.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_loadwpfile.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -1128,9 +1128,9 @@
   <data name="comboBoxMapType.TabIndex" type="System.Int32, mscorlib">
     <value>42</value>
   </data>
-  <data name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing">
+  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>172, 17</value>
-  </data>
+  </metadata>
   <data name="comboBoxMapType.ToolTip" xml:space="preserve">
     <value>Change the current map type</value>
   </data>
@@ -1239,11 +1239,41 @@
   <data name="&gt;&gt;splitter1.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
+  <data name="BUT_zoomto.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_zoomto.Location" type="System.Drawing.Point, System.Drawing">
+    <value>746, 26</value>
+  </data>
+  <data name="BUT_zoomto.Size" type="System.Drawing.Size, System.Drawing">
+    <value>62, 23</value>
+  </data>
+  <data name="BUT_zoomto.TabIndex" type="System.Int32, mscorlib">
+    <value>53</value>
+  </data>
+  <data name="BUT_zoomto.Text" xml:space="preserve">
+    <value>Zoom To</value>
+  </data>
+  <data name="BUT_zoomto.ToolTip" xml:space="preserve">
+    <value>Get Camera settings for overlap</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.Name" xml:space="preserve">
+    <value>BUT_zoomto</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.Type" xml:space="preserve">
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.Parent" xml:space="preserve">
+    <value>panelWaypoints</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
   <data name="BUT_Camera.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_Camera.Location" type="System.Drawing.Point, System.Drawing">
-    <value>809, 26</value>
+    <value>692, 26</value>
   </data>
   <data name="BUT_Camera.Size" type="System.Drawing.Size, System.Drawing">
     <value>48, 23</value>
@@ -1261,19 +1291,19 @@
     <value>BUT_Camera</value>
   </data>
   <data name="&gt;&gt;BUT_Camera.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_Camera.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_Camera.ZOrder" xml:space="preserve">
-    <value>0</value>
+    <value>1</value>
   </data>
   <data name="BUT_grid.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_grid.Location" type="System.Drawing.Point, System.Drawing">
-    <value>755, 26</value>
+    <value>638, 26</value>
   </data>
   <data name="BUT_grid.Size" type="System.Drawing.Size, System.Drawing">
     <value>48, 23</value>
@@ -1291,19 +1321,19 @@
     <value>BUT_grid</value>
   </data>
   <data name="&gt;&gt;BUT_grid.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_grid.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_grid.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="BUT_Prefetch.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_Prefetch.Location" type="System.Drawing.Point, System.Drawing">
-    <value>693, 26</value>
+    <value>576, 26</value>
   </data>
   <data name="BUT_Prefetch.Size" type="System.Drawing.Size, System.Drawing">
     <value>56, 23</value>
@@ -1321,19 +1351,19 @@
     <value>BUT_Prefetch</value>
   </data>
   <data name="&gt;&gt;BUT_Prefetch.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_Prefetch.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_Prefetch.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="button1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="button1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>596, 26</value>
+    <value>479, 26</value>
   </data>
   <data name="button1.Size" type="System.Drawing.Size, System.Drawing">
     <value>91, 23</value>
@@ -1351,19 +1381,19 @@
     <value>button1</value>
   </data>
   <data name="&gt;&gt;button1.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;button1.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;button1.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
   </data>
   <data name="BUT_Add.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_Add.Location" type="System.Drawing.Point, System.Drawing">
-    <value>515, 26</value>
+    <value>398, 26</value>
   </data>
   <data name="BUT_Add.Size" type="System.Drawing.Size, System.Drawing">
     <value>75, 23</value>
@@ -1381,13 +1411,13 @@
     <value>BUT_Add</value>
   </data>
   <data name="&gt;&gt;BUT_Add.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_Add.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_Add.ZOrder" xml:space="preserve">
-    <value>14</value>
+    <value>15</value>
   </data>
   <data name="panelWaypoints.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Bottom</value>
@@ -1536,9 +1566,9 @@
   <data name="MainMap.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Bottom, Left, Right</value>
   </data>
-  <data name="contextMenuStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing">
+  <metadata name="contextMenuStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>17, 17</value>
-  </data>
+  </metadata>
   <data name="deleteWPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>167, 22</value>
   </data>
@@ -1823,7 +1853,7 @@
     <value>trackBar1</value>
   </data>
   <data name="&gt;&gt;trackBar1.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyTrackBar, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyTrackBar, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;trackBar1.Parent" xml:space="preserve">
     <value>panelMap</value>
@@ -1915,9 +1945,9 @@
   <data name="&gt;&gt;panelBASE.ZOrder" xml:space="preserve">
     <value>1</value>
   </data>
-  <data name="$this.Localizable" type="System.Boolean, mscorlib">
+  <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
-  </data>
+  </metadata>
   <data name="$this.AutoScaleDimensions" type="System.Drawing.SizeF, System.Drawing">
     <value>6, 13</value>
   </data>
@@ -2105,9 +2135,6 @@
     <value>FlightPlanner</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
-  </data>
-  <data name="MAVCmd" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\MAVCmd.txt;System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089;Windows-1252</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.Designer.cs

@@ -125,7 +125,6 @@
             // 
             resources.ApplyResources(this.CHKREV_roll, "CHKREV_roll");
             this.CHKREV_roll.Name = "CHKREV_roll";
-            this.toolTip1.SetToolTip(this.CHKREV_roll, resources.GetString("CHKREV_roll.ToolTip"));
             this.CHKREV_roll.UseVisualStyleBackColor = true;
             this.CHKREV_roll.CheckedChanged += new System.EventHandler(this.CHKREV_roll_CheckedChanged);
             // 
@@ -133,7 +132,6 @@
             // 
             resources.ApplyResources(this.CHKREV_pitch, "CHKREV_pitch");
             this.CHKREV_pitch.Name = "CHKREV_pitch";
-            this.toolTip1.SetToolTip(this.CHKREV_pitch, resources.GetString("CHKREV_pitch.ToolTip"));
             this.CHKREV_pitch.UseVisualStyleBackColor = true;
             this.CHKREV_pitch.CheckedChanged += new System.EventHandler(this.CHKREV_pitch_CheckedChanged);
             // 
@@ -141,13 +139,11 @@
             // 
             resources.ApplyResources(this.CHKREV_rudder, "CHKREV_rudder");
             this.CHKREV_rudder.Name = "CHKREV_rudder";
-            this.toolTip1.SetToolTip(this.CHKREV_rudder, resources.GetString("CHKREV_rudder.ToolTip"));
             this.CHKREV_rudder.UseVisualStyleBackColor = true;
             this.CHKREV_rudder.CheckedChanged += new System.EventHandler(this.CHKREV_rudder_CheckedChanged);
             // 
             // GPSrate
             // 
-            resources.ApplyResources(this.GPSrate, "GPSrate");
             this.GPSrate.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
             this.GPSrate.FormattingEnabled = true;
             this.GPSrate.Items.AddRange(new object[] {
@@ -159,8 +155,8 @@
             resources.GetString("GPSrate.Items5"),
             resources.GetString("GPSrate.Items6"),
             resources.GetString("GPSrate.Items7")});
+            resources.ApplyResources(this.GPSrate, "GPSrate");
             this.GPSrate.Name = "GPSrate";
-            this.toolTip1.SetToolTip(this.GPSrate, resources.GetString("GPSrate.ToolTip"));
             this.GPSrate.SelectedIndexChanged += new System.EventHandler(this.GPSrate_SelectedIndexChanged);
             this.GPSrate.KeyDown += new System.Windows.Forms.KeyEventHandler(this.GPSrate_KeyDown);
             this.GPSrate.Leave += new System.EventHandler(this.GPSrate_Leave);
@@ -169,7 +165,6 @@
             // 
             resources.ApplyResources(this.ConnectComPort, "ConnectComPort");
             this.ConnectComPort.Name = "ConnectComPort";
-            this.toolTip1.SetToolTip(this.ConnectComPort, resources.GetString("ConnectComPort.ToolTip"));
             this.ConnectComPort.UseVisualStyleBackColor = true;
             this.ConnectComPort.Click += new System.EventHandler(this.ConnectComPort_Click);
             // 
@@ -177,7 +172,6 @@
             // 
             resources.ApplyResources(this.OutputLog, "OutputLog");
             this.OutputLog.Name = "OutputLog";
-            this.toolTip1.SetToolTip(this.OutputLog, resources.GetString("OutputLog.ToolTip"));
             this.OutputLog.TextChanged += new System.EventHandler(this.OutputLog_TextChanged);
             // 
             // TXT_roll
@@ -185,28 +179,24 @@
             resources.ApplyResources(this.TXT_roll, "TXT_roll");
             this.TXT_roll.Name = "TXT_roll";
             this.TXT_roll.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_roll, resources.GetString("TXT_roll.ToolTip"));
             // 
             // TXT_pitch
             // 
             resources.ApplyResources(this.TXT_pitch, "TXT_pitch");
             this.TXT_pitch.Name = "TXT_pitch";
             this.TXT_pitch.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_pitch, resources.GetString("TXT_pitch.ToolTip"));
             // 
             // TXT_heading
             // 
             resources.ApplyResources(this.TXT_heading, "TXT_heading");
             this.TXT_heading.Name = "TXT_heading";
             this.TXT_heading.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_heading, resources.GetString("TXT_heading.ToolTip"));
             // 
             // TXT_wpdist
             // 
             resources.ApplyResources(this.TXT_wpdist, "TXT_wpdist");
             this.TXT_wpdist.Name = "TXT_wpdist";
             this.TXT_wpdist.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_wpdist, resources.GetString("TXT_wpdist.ToolTip"));
             // 
             // currentStateBindingSource
             // 
@@ -217,41 +207,35 @@
             resources.ApplyResources(this.TXT_bererror, "TXT_bererror");
             this.TXT_bererror.Name = "TXT_bererror";
             this.TXT_bererror.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_bererror, resources.GetString("TXT_bererror.ToolTip"));
             // 
             // TXT_alterror
             // 
             resources.ApplyResources(this.TXT_alterror, "TXT_alterror");
             this.TXT_alterror.Name = "TXT_alterror";
             this.TXT_alterror.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_alterror, resources.GetString("TXT_alterror.ToolTip"));
             // 
             // TXT_lat
             // 
             resources.ApplyResources(this.TXT_lat, "TXT_lat");
             this.TXT_lat.Name = "TXT_lat";
             this.TXT_lat.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_lat, resources.GetString("TXT_lat.ToolTip"));
             // 
             // TXT_long
             // 
             resources.ApplyResources(this.TXT_long, "TXT_long");
             this.TXT_long.Name = "TXT_long";
             this.TXT_long.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_long, resources.GetString("TXT_long.ToolTip"));
             // 
             // TXT_alt
             // 
             resources.ApplyResources(this.TXT_alt, "TXT_alt");
             this.TXT_alt.Name = "TXT_alt";
             this.TXT_alt.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_alt, resources.GetString("TXT_alt.ToolTip"));
             // 
             // SaveSettings
             // 
             resources.ApplyResources(this.SaveSettings, "SaveSettings");
             this.SaveSettings.Name = "SaveSettings";
-            this.toolTip1.SetToolTip(this.SaveSettings, resources.GetString("SaveSettings.ToolTip"));
             this.SaveSettings.UseVisualStyleBackColor = true;
             this.SaveSettings.Click += new System.EventHandler(this.SaveSettings_Click);
             // 
@@ -278,32 +262,27 @@
             resources.ApplyResources(this.TXT_servoroll, "TXT_servoroll");
             this.TXT_servoroll.Name = "TXT_servoroll";
             this.TXT_servoroll.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_servoroll, resources.GetString("TXT_servoroll.ToolTip"));
             // 
             // TXT_servopitch
             // 
             resources.ApplyResources(this.TXT_servopitch, "TXT_servopitch");
             this.TXT_servopitch.Name = "TXT_servopitch";
             this.TXT_servopitch.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_servopitch, resources.GetString("TXT_servopitch.ToolTip"));
             // 
             // TXT_servorudder
             // 
             resources.ApplyResources(this.TXT_servorudder, "TXT_servorudder");
             this.TXT_servorudder.Name = "TXT_servorudder";
             this.TXT_servorudder.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_servorudder, resources.GetString("TXT_servorudder.ToolTip"));
             // 
             // TXT_servothrottle
             // 
             resources.ApplyResources(this.TXT_servothrottle, "TXT_servothrottle");
             this.TXT_servothrottle.Name = "TXT_servothrottle";
             this.TXT_servothrottle.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_servothrottle, resources.GetString("TXT_servothrottle.ToolTip"));
             // 
             // panel1
             // 
-            resources.ApplyResources(this.panel1, "panel1");
             this.panel1.Controls.Add(this.label4);
             this.panel1.Controls.Add(this.label3);
             this.panel1.Controls.Add(this.label2);
@@ -311,40 +290,35 @@
             this.panel1.Controls.Add(this.TXT_lat);
             this.panel1.Controls.Add(this.TXT_long);
             this.panel1.Controls.Add(this.TXT_alt);
+            resources.ApplyResources(this.panel1, "panel1");
             this.panel1.Name = "panel1";
-            this.toolTip1.SetToolTip(this.panel1, resources.GetString("panel1.ToolTip"));
             // 
             // label4
             // 
             resources.ApplyResources(this.label4, "label4");
             this.label4.Name = "label4";
             this.label4.resize = false;
-            this.toolTip1.SetToolTip(this.label4, resources.GetString("label4.ToolTip"));
             // 
             // label3
             // 
             resources.ApplyResources(this.label3, "label3");
             this.label3.Name = "label3";
             this.label3.resize = false;
-            this.toolTip1.SetToolTip(this.label3, resources.GetString("label3.ToolTip"));
             // 
             // label2
             // 
             resources.ApplyResources(this.label2, "label2");
             this.label2.Name = "label2";
             this.label2.resize = false;
-            this.toolTip1.SetToolTip(this.label2, resources.GetString("label2.ToolTip"));
             // 
             // label1
             // 
             resources.ApplyResources(this.label1, "label1");
             this.label1.Name = "label1";
             this.label1.resize = false;
-            this.toolTip1.SetToolTip(this.label1, resources.GetString("label1.ToolTip"));
             // 
             // panel2
             // 
-            resources.ApplyResources(this.panel2, "panel2");
             this.panel2.Controls.Add(this.label30);
             this.panel2.Controls.Add(this.TXT_yaw);
             this.panel2.Controls.Add(this.label11);
@@ -354,75 +328,65 @@
             this.panel2.Controls.Add(this.TXT_roll);
             this.panel2.Controls.Add(this.TXT_pitch);
             this.panel2.Controls.Add(this.TXT_heading);
+            resources.ApplyResources(this.panel2, "panel2");
             this.panel2.Name = "panel2";
-            this.toolTip1.SetToolTip(this.panel2, resources.GetString("panel2.ToolTip"));
             // 
             // label30
             // 
             resources.ApplyResources(this.label30, "label30");
             this.label30.Name = "label30";
             this.label30.resize = false;
-            this.toolTip1.SetToolTip(this.label30, resources.GetString("label30.ToolTip"));
             // 
             // TXT_yaw
             // 
             resources.ApplyResources(this.TXT_yaw, "TXT_yaw");
             this.TXT_yaw.Name = "TXT_yaw";
             this.TXT_yaw.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_yaw, resources.GetString("TXT_yaw.ToolTip"));
             // 
             // label11
             // 
             resources.ApplyResources(this.label11, "label11");
             this.label11.Name = "label11";
             this.label11.resize = false;
-            this.toolTip1.SetToolTip(this.label11, resources.GetString("label11.ToolTip"));
             // 
             // label7
             // 
             resources.ApplyResources(this.label7, "label7");
             this.label7.Name = "label7";
             this.label7.resize = false;
-            this.toolTip1.SetToolTip(this.label7, resources.GetString("label7.ToolTip"));
             // 
             // label6
             // 
             resources.ApplyResources(this.label6, "label6");
             this.label6.Name = "label6";
             this.label6.resize = false;
-            this.toolTip1.SetToolTip(this.label6, resources.GetString("label6.ToolTip"));
             // 
             // label5
             // 
             resources.ApplyResources(this.label5, "label5");
             this.label5.Name = "label5";
             this.label5.resize = false;
-            this.toolTip1.SetToolTip(this.label5, resources.GetString("label5.ToolTip"));
             // 
             // label8
             // 
             resources.ApplyResources(this.label8, "label8");
             this.label8.Name = "label8";
             this.label8.resize = false;
-            this.toolTip1.SetToolTip(this.label8, resources.GetString("label8.ToolTip"));
             // 
             // label9
             // 
             resources.ApplyResources(this.label9, "label9");
             this.label9.Name = "label9";
             this.label9.resize = false;
-            this.toolTip1.SetToolTip(this.label9, resources.GetString("label9.ToolTip"));
             // 
             // label10
             // 
             resources.ApplyResources(this.label10, "label10");
             this.label10.Name = "label10";
             this.label10.resize = false;
-            this.toolTip1.SetToolTip(this.label10, resources.GetString("label10.ToolTip"));
             // 
             // panel3
             // 
-            resources.ApplyResources(this.panel3, "panel3");
             this.panel3.Controls.Add(this.label16);
             this.panel3.Controls.Add(this.label15);
             this.panel3.Controls.Add(this.label14);
@@ -432,47 +396,41 @@
             this.panel3.Controls.Add(this.TXT_servopitch);
             this.panel3.Controls.Add(this.TXT_servorudder);
             this.panel3.Controls.Add(this.TXT_servothrottle);
+            resources.ApplyResources(this.panel3, "panel3");
             this.panel3.Name = "panel3";
-            this.toolTip1.SetToolTip(this.panel3, resources.GetString("panel3.ToolTip"));
             // 
             // label16
             // 
             resources.ApplyResources(this.label16, "label16");
             this.label16.Name = "label16";
             this.label16.resize = false;
-            this.toolTip1.SetToolTip(this.label16, resources.GetString("label16.ToolTip"));
             // 
             // label15
             // 
             resources.ApplyResources(this.label15, "label15");
             this.label15.Name = "label15";
             this.label15.resize = false;
-            this.toolTip1.SetToolTip(this.label15, resources.GetString("label15.ToolTip"));
             // 
             // label14
             // 
             resources.ApplyResources(this.label14, "label14");
             this.label14.Name = "label14";
             this.label14.resize = false;
-            this.toolTip1.SetToolTip(this.label14, resources.GetString("label14.ToolTip"));
             // 
             // label13
             // 
             resources.ApplyResources(this.label13, "label13");
             this.label13.Name = "label13";
             this.label13.resize = false;
-            this.toolTip1.SetToolTip(this.label13, resources.GetString("label13.ToolTip"));
             // 
             // label12
             // 
             resources.ApplyResources(this.label12, "label12");
             this.label12.Name = "label12";
             this.label12.resize = false;
-            this.toolTip1.SetToolTip(this.label12, resources.GetString("label12.ToolTip"));
             // 
             // panel4
             // 
-            resources.ApplyResources(this.panel4, "panel4");
             this.panel4.Controls.Add(this.label20);
             this.panel4.Controls.Add(this.label19);
             this.panel4.Controls.Add(this.TXT_control_mode);
@@ -484,57 +442,50 @@
             this.panel4.Controls.Add(this.TXT_wpdist);
             this.panel4.Controls.Add(this.TXT_bererror);
             this.panel4.Controls.Add(this.TXT_alterror);
+            resources.ApplyResources(this.panel4, "panel4");
             this.panel4.Name = "panel4";
-            this.toolTip1.SetToolTip(this.panel4, resources.GetString("panel4.ToolTip"));
             // 
             // label20
             // 
             resources.ApplyResources(this.label20, "label20");
             this.label20.Name = "label20";
             this.label20.resize = false;
-            this.toolTip1.SetToolTip(this.label20, resources.GetString("label20.ToolTip"));
             // 
             // label19
             // 
             resources.ApplyResources(this.label19, "label19");
             this.label19.Name = "label19";
             this.label19.resize = false;
-            this.toolTip1.SetToolTip(this.label19, resources.GetString("label19.ToolTip"));
             // 
             // TXT_control_mode
             // 
             resources.ApplyResources(this.TXT_control_mode, "TXT_control_mode");
             this.TXT_control_mode.Name = "TXT_control_mode";
             this.TXT_control_mode.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_control_mode, resources.GetString("TXT_control_mode.ToolTip"));
             // 
             // TXT_WP
             // 
             resources.ApplyResources(this.TXT_WP, "TXT_WP");
             this.TXT_WP.Name = "TXT_WP";
             this.TXT_WP.resize = false;
-            this.toolTip1.SetToolTip(this.TXT_WP, resources.GetString("TXT_WP.ToolTip"));
             // 
             // label18
             // 
             resources.ApplyResources(this.label18, "label18");
             this.label18.Name = "label18";
             this.label18.resize = false;
-            this.toolTip1.SetToolTip(this.label18, resources.GetString("label18.ToolTip"));
             // 
             // label17
             // 
             resources.ApplyResources(this.label17, "label17");
             this.label17.Name = "label17";
             this.label17.resize = false;
-            this.toolTip1.SetToolTip(this.label17, resources.GetString("label17.ToolTip"));
             // 
             // panel5
             // 
-            resources.ApplyResources(this.panel5, "panel5");
             this.panel5.Controls.Add(this.ConnectComPort);
+            resources.ApplyResources(this.panel5, "panel5");
             this.panel5.Name = "panel5";
-            this.toolTip1.SetToolTip(this.panel5, resources.GetString("panel5.ToolTip"));
             // 
             // zg1
             // 
@@ -547,7 +498,6 @@
             this.zg1.ScrollMinX = 0D;
             this.zg1.ScrollMinY = 0D;
             this.zg1.ScrollMinY2 = 0D;
-            this.toolTip1.SetToolTip(this.zg1, resources.GetString("zg1.ToolTip"));
             // 
             // timer1
             // 
@@ -555,7 +505,6 @@
             // 
             // panel6
             // 
-            resources.ApplyResources(this.panel6, "panel6");
             this.panel6.Controls.Add(this.label28);
             this.panel6.Controls.Add(this.label29);
             this.panel6.Controls.Add(this.label27);
@@ -568,42 +517,37 @@
             this.panel6.Controls.Add(this.TXT_ruddergain);
             this.panel6.Controls.Add(this.TXT_pitchgain);
             this.panel6.Controls.Add(this.TXT_rollgain);
+            resources.ApplyResources(this.panel6, "panel6");
             this.panel6.Name = "panel6";
-            this.toolTip1.SetToolTip(this.panel6, resources.GetString("panel6.ToolTip"));
             // 
             // label28
             // 
             resources.ApplyResources(this.label28, "label28");
             this.label28.Name = "label28";
             this.label28.resize = false;
-            this.toolTip1.SetToolTip(this.label28, resources.GetString("label28.ToolTip"));
             // 
             // label29
             // 
             resources.ApplyResources(this.label29, "label29");
             this.label29.Name = "label29";
             this.label29.resize = false;
-            this.toolTip1.SetToolTip(this.label29, resources.GetString("label29.ToolTip"));
             // 
             // label27
             // 
             resources.ApplyResources(this.label27, "label27");
             this.label27.Name = "label27";
             this.label27.resize = false;
-            this.toolTip1.SetToolTip(this.label27, resources.GetString("label27.ToolTip"));
             // 
             // label25
             // 
             resources.ApplyResources(this.label25, "label25");
             this.label25.Name = "label25";
             this.label25.resize = false;
-            this.toolTip1.SetToolTip(this.label25, resources.GetString("label25.ToolTip"));
             // 
             // TXT_throttlegain
             // 
             resources.ApplyResources(this.TXT_throttlegain, "TXT_throttlegain");
             this.TXT_throttlegain.Name = "TXT_throttlegain";
-            this.toolTip1.SetToolTip(this.TXT_throttlegain, resources.GetString("TXT_throttlegain.ToolTip"));
             this.TXT_throttlegain.TextChanged += new System.EventHandler(this.TXT_throttlegain_TextChanged);
             // 
             // label24
@@ -611,48 +555,41 @@
             resources.ApplyResources(this.label24, "label24");
             this.label24.Name = "label24";
             this.label24.resize = false;
-            this.toolTip1.SetToolTip(this.label24, resources.GetString("label24.ToolTip"));
             // 
             // label23
             // 
             resources.ApplyResources(this.label23, "label23");
             this.label23.Name = "label23";
             this.label23.resize = false;
-            this.toolTip1.SetToolTip(this.label23, resources.GetString("label23.ToolTip"));
             // 
             // label22
             // 
             resources.ApplyResources(this.label22, "label22");
             this.label22.Name = "label22";
             this.label22.resize = false;
-            this.toolTip1.SetToolTip(this.label22, resources.GetString("label22.ToolTip"));
             // 
             // label21
             // 
             resources.ApplyResources(this.label21, "label21");
             this.label21.Name = "label21";
             this.label21.resize = false;
-            this.toolTip1.SetToolTip(this.label21, resources.GetString("label21.ToolTip"));
             // 
             // TXT_ruddergain
             // 
             resources.ApplyResources(this.TXT_ruddergain, "TXT_ruddergain");
             this.TXT_ruddergain.Name = "TXT_ruddergain";
-            this.toolTip1.SetToolTip(this.TXT_ruddergain, resources.GetString("TXT_ruddergain.ToolTip"));
             this.TXT_ruddergain.TextChanged += new System.EventHandler(this.TXT_ruddergain_TextChanged);
             // 
             // TXT_pitchgain
             // 
             resources.ApplyResources(this.TXT_pitchgain, "TXT_pitchgain");
             this.TXT_pitchgain.Name = "TXT_pitchgain";
-            this.toolTip1.SetToolTip(this.TXT_pitchgain, resources.GetString("TXT_pitchgain.ToolTip"));
             this.TXT_pitchgain.TextChanged += new System.EventHandler(this.TXT_pitchgain_TextChanged);
             // 
             // TXT_rollgain
             // 
             resources.ApplyResources(this.TXT_rollgain, "TXT_rollgain");
             this.TXT_rollgain.Name = "TXT_rollgain";
-            this.toolTip1.SetToolTip(this.TXT_rollgain, resources.GetString("TXT_rollgain.ToolTip"));
             this.TXT_rollgain.TextChanged += new System.EventHandler(this.TXT_rollgain_TextChanged);
             // 
             // label26
@@ -660,13 +597,11 @@
             resources.ApplyResources(this.label26, "label26");
             this.label26.Name = "label26";
             this.label26.resize = false;
-            this.toolTip1.SetToolTip(this.label26, resources.GetString("label26.ToolTip"));
             // 
             // CHKdisplayall
             // 
             resources.ApplyResources(this.CHKdisplayall, "CHKdisplayall");
             this.CHKdisplayall.Name = "CHKdisplayall";
-            this.toolTip1.SetToolTip(this.CHKdisplayall, resources.GetString("CHKdisplayall.ToolTip"));
             this.CHKdisplayall.UseVisualStyleBackColor = true;
             this.CHKdisplayall.CheckedChanged += new System.EventHandler(this.CHKdisplayall_CheckedChanged);
             // 
@@ -676,7 +611,6 @@
             this.CHKgraphroll.Checked = true;
             this.CHKgraphroll.CheckState = System.Windows.Forms.CheckState.Checked;
             this.CHKgraphroll.Name = "CHKgraphroll";
-            this.toolTip1.SetToolTip(this.CHKgraphroll, resources.GetString("CHKgraphroll.ToolTip"));
             this.CHKgraphroll.UseVisualStyleBackColor = true;
             // 
             // CHKgraphpitch
@@ -685,7 +619,6 @@
             this.CHKgraphpitch.Checked = true;
             this.CHKgraphpitch.CheckState = System.Windows.Forms.CheckState.Checked;
             this.CHKgraphpitch.Name = "CHKgraphpitch";
-            this.toolTip1.SetToolTip(this.CHKgraphpitch, resources.GetString("CHKgraphpitch.ToolTip"));
             this.CHKgraphpitch.UseVisualStyleBackColor = true;
             // 
             // CHKgraphrudder
@@ -694,7 +627,6 @@
             this.CHKgraphrudder.Checked = true;
             this.CHKgraphrudder.CheckState = System.Windows.Forms.CheckState.Checked;
             this.CHKgraphrudder.Name = "CHKgraphrudder";
-            this.toolTip1.SetToolTip(this.CHKgraphrudder, resources.GetString("CHKgraphrudder.ToolTip"));
             this.CHKgraphrudder.UseVisualStyleBackColor = true;
             // 
             // CHKgraphthrottle
@@ -703,14 +635,12 @@
             this.CHKgraphthrottle.Checked = true;
             this.CHKgraphthrottle.CheckState = System.Windows.Forms.CheckState.Checked;
             this.CHKgraphthrottle.Name = "CHKgraphthrottle";
-            this.toolTip1.SetToolTip(this.CHKgraphthrottle, resources.GetString("CHKgraphthrottle.ToolTip"));
             this.CHKgraphthrottle.UseVisualStyleBackColor = true;
             // 
             // but_advsettings
             // 
             resources.ApplyResources(this.but_advsettings, "but_advsettings");
             this.but_advsettings.Name = "but_advsettings";
-            this.toolTip1.SetToolTip(this.but_advsettings, resources.GetString("but_advsettings.ToolTip"));
             this.but_advsettings.UseVisualStyleBackColor = true;
             this.but_advsettings.Click += new System.EventHandler(this.but_advsettings_Click);
             // 
@@ -718,14 +648,12 @@
             // 
             resources.ApplyResources(this.chkSensor, "chkSensor");
             this.chkSensor.Name = "chkSensor";
-            this.toolTip1.SetToolTip(this.chkSensor, resources.GetString("chkSensor.ToolTip"));
             this.chkSensor.UseVisualStyleBackColor = true;
             // 
             // CHK_quad
             // 
             resources.ApplyResources(this.CHK_quad, "CHK_quad");
             this.CHK_quad.Name = "CHK_quad";
-            this.toolTip1.SetToolTip(this.CHK_quad, resources.GetString("CHK_quad.ToolTip"));
             this.CHK_quad.UseVisualStyleBackColor = true;
             this.CHK_quad.CheckedChanged += new System.EventHandler(this.CHK_quad_CheckedChanged);
             // 
@@ -733,7 +661,6 @@
             // 
             resources.ApplyResources(this.BUT_startfgquad, "BUT_startfgquad");
             this.BUT_startfgquad.Name = "BUT_startfgquad";
-            this.toolTip1.SetToolTip(this.BUT_startfgquad, resources.GetString("BUT_startfgquad.ToolTip"));
             this.BUT_startfgquad.UseVisualStyleBackColor = true;
             this.BUT_startfgquad.Click += new System.EventHandler(this.BUT_startfgquad_Click);
             // 
@@ -741,7 +668,6 @@
             // 
             resources.ApplyResources(this.BUT_startfgplane, "BUT_startfgplane");
             this.BUT_startfgplane.Name = "BUT_startfgplane";
-            this.toolTip1.SetToolTip(this.BUT_startfgplane, resources.GetString("BUT_startfgplane.ToolTip"));
             this.BUT_startfgplane.UseVisualStyleBackColor = true;
             this.BUT_startfgplane.Click += new System.EventHandler(this.BUT_startfgplane_Click);
             // 
@@ -749,7 +675,6 @@
             // 
             resources.ApplyResources(this.BUT_startxplane, "BUT_startxplane");
             this.BUT_startxplane.Name = "BUT_startxplane";
-            this.toolTip1.SetToolTip(this.BUT_startxplane, resources.GetString("BUT_startxplane.ToolTip"));
             this.BUT_startxplane.UseVisualStyleBackColor = true;
             this.BUT_startxplane.Click += new System.EventHandler(this.BUT_startxplane_Click);
             // 
@@ -757,7 +682,6 @@
             // 
             resources.ApplyResources(this.CHK_heli, "CHK_heli");
             this.CHK_heli.Name = "CHK_heli";
-            this.toolTip1.SetToolTip(this.CHK_heli, resources.GetString("CHK_heli.ToolTip"));
             this.CHK_heli.UseVisualStyleBackColor = true;
             // 
             // RAD_aerosimrc
@@ -803,7 +727,6 @@
             this.Controls.Add(this.CHKREV_pitch);
             this.Controls.Add(this.CHKREV_roll);
             this.Name = "Simulation";
-            this.toolTip1.SetToolTip(this, resources.GetString("$this.ToolTip"));
             this.Load += new System.EventHandler(this.Simulation_Load);
             ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).EndInit();
             this.panel1.ResumeLayout(false);

Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs

@@ -146,6 +146,11 @@ namespace ArdupilotMega.HIL
             accel3D += new Vector3d(0, 0, -gravity);
             accel3D += air_resistance;
 
+            Random rand = new Random();
+            int fixme;
+            
+            //velocity.X += .05 + rand.NextDouble() * .03;
+            //velocity.Y += .05 + rand.NextDouble() * .03;
 
             //# new velocity vector
             velocity += accel3D * delta_time.TotalSeconds;

Tools/ArdupilotMegaPlanner/MAVLink.cs

@@ -473,6 +473,8 @@ namespace ArdupilotMega
 
             packetcount++;
 
+
+
             //System.Threading.Thread.Sleep(1);
         }
 
@@ -818,7 +820,7 @@ namespace ArdupilotMega
             }
         }
 
-        public bool doCommand(MAV_CMD actionid)
+        public bool doCommand(MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
         {
 
             MainV2.givecomport = true;
@@ -831,6 +833,14 @@ namespace ArdupilotMega
 
             req.command = (ushort)actionid;
 
+            req.param1 = p1;
+            req.param2 = p2;
+            req.param3 = p3;
+            req.param4 = p4;
+            req.param5 = p5;
+            req.param6 = p6;
+            req.param7 = p7;
+
             generatePacket(MAVLINK_MSG_ID_COMMAND_LONG, req);
 
             DateTime start = DateTime.Now;

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -19,6 +19,7 @@ using System.Speech.Synthesis;
 using System.Globalization;
 using System.Threading;
 using System.Net.Sockets;
+using IronPython.Hosting;
 
 namespace ArdupilotMega
 {
@@ -37,7 +38,7 @@ namespace ArdupilotMega
         public static Hashtable config = new Hashtable();
         public static bool givecomport = false;
         public static Firmwares APMFirmware = Firmwares.ArduPlane;
-        public static bool MAC = false;
+        public static bool MONO = false;
 
         public static bool speechenable = false;
         public static SpeechSynthesizer talk = new SpeechSynthesizer();
@@ -78,6 +79,11 @@ namespace ArdupilotMega
         GCSViews.Firmware Firmware;
         GCSViews.Terminal Terminal;
 
+        public void testpython()
+        {
+            Console.WriteLine("hello world from c# via python");
+        }
+
         public MainV2()
         {
             //System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
@@ -91,8 +97,17 @@ namespace ArdupilotMega
 
             //return;
 
+            var engine = Python.CreateEngine();
+            var scope = engine.CreateScope();
+
+            scope.SetVariable("MainV2",this);
+            Console.WriteLine(DateTime.Now.Millisecond);
+            engine.CreateScriptSourceFromString("print 'hello world from python'").Execute(scope);
+            Console.WriteLine(DateTime.Now.Millisecond);
+            engine.CreateScriptSourceFromString("MainV2.testpython()").Execute(scope);
+            Console.WriteLine(DateTime.Now.Millisecond);
             var t = Type.GetType("Mono.Runtime");
-            MAC = (t != null);
+            MONO = (t != null);
 
             Form splash = new Splash();
             splash.Show();
@@ -146,7 +161,7 @@ namespace ArdupilotMega
             if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
                 changelanguage(getcultureinfo((string)config["language"]));
 
-            if (!MAC) // windows only
+            if (!MONO) // windows only
             {
                 if (MainV2.config["showconsole"] != null && MainV2.config["showconsole"].ToString() == "True")
                 {
@@ -208,7 +223,7 @@ namespace ArdupilotMega
             //System.Threading.Thread.Sleep(2000);
 
             // make sure new enough .net framework is installed
-            if (!MAC)
+            if (!MONO)
             {
                 Microsoft.Win32.RegistryKey installed_versions = Microsoft.Win32.Registry.LocalMachine.OpenSubKey(@"SOFTWARE\Microsoft\NET Framework Setup\NDP");
                 string[] version_names = installed_versions.GetSubKeyNames();
@@ -216,9 +231,9 @@ namespace ArdupilotMega
                 double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1), CultureInfo.InvariantCulture);
                 int SP = Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1]).GetValue("SP", 0));
 
-                if (Framework < 3.5)
+                if (Framework < 4.0)
                 {
-                    MessageBox.Show("This program requires .NET Framework 3.5 +. You currently have " + Framework);
+                    MessageBox.Show("This program requires .NET Framework 4.0 +. You currently have " + Framework);
                 }
             }
 
@@ -809,7 +824,7 @@ namespace ArdupilotMega
             {
                 try
                 {
-                    System.Configuration.Configuration appconfig = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
+                    //System.Configuration.Configuration appconfig = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
 
                     XmlTextWriter xmlwriter = new XmlTextWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml", Encoding.ASCII);
                     xmlwriter.Formatting = Formatting.Indented;
@@ -824,9 +839,9 @@ namespace ArdupilotMega
 
                     xmlwriter.WriteElementString("APMFirmware", APMFirmware.ToString());
 
-                    appconfig.AppSettings.Settings.Add("comport", comportname);
+                    //appconfig.AppSettings.Settings.Add("comport", comportname);
-                    appconfig.AppSettings.Settings.Add("baudrate", CMB_baudrate.Text);
+                    //appconfig.AppSettings.Settings.Add("baudrate", CMB_baudrate.Text);
-                    appconfig.AppSettings.Settings.Add("APMFirmware", APMFirmware.ToString());
+                    //appconfig.AppSettings.Settings.Add("APMFirmware", APMFirmware.ToString());
 
                     foreach (string key in config.Keys)
                     {
@@ -836,7 +851,7 @@ namespace ArdupilotMega
                                 continue;
                             xmlwriter.WriteElementString(key, config[key].ToString());
 
-                            appconfig.AppSettings.Settings.Add(key, config[key].ToString());
+                            //appconfig.AppSettings.Settings.Add(key, config[key].ToString());
                         }
                         catch { }
                     }
@@ -846,7 +861,7 @@ namespace ArdupilotMega
                     xmlwriter.WriteEndDocument();
                     xmlwriter.Close();
 
-                    appconfig.Save();
+                    //appconfig.Save();
                 }
                 catch (Exception ex) { MessageBox.Show(ex.ToString()); }
             }
@@ -926,7 +941,7 @@ namespace ArdupilotMega
             {
                 try
                 {
-                    if (!MAC)
+                    if (!MONO)
                     {
                         //joystick stuff
 
@@ -980,7 +995,7 @@ namespace ArdupilotMega
 
             int minbytes = 10;
 
-            if (MAC)
+            if (MONO)
                 minbytes = 0;
 
             DateTime menuupdate = DateTime.Now;
@@ -1401,7 +1416,7 @@ namespace ArdupilotMega
                 string baseurl = "http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/";
                 bool update = updatecheck(loadinglabel, baseurl, "");
                 System.Diagnostics.Process P = new System.Diagnostics.Process();
-                if (MAC)
+                if (MONO)
                 {
                     P.StartInfo.FileName = "mono";
                     P.StartInfo.Arguments = " \"" + Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "Updater.exe\"";

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -231,7 +231,7 @@ namespace ArdupilotMega
 
             // create kmz - aka zip file
 
-            FileStream fs = File.Open(filename.Replace(".tlog.kml", ".kmz"), FileMode.Create);
+            FileStream fs = File.Open(filename.Replace(Path.GetExtension(filename), ".kmz"), FileMode.Create);
             ZipOutputStream zipStream = new ZipOutputStream(fs);
             zipStream.SetLevel(9); //0-9, 9 being the highest level of compression
             zipStream.UseZip64 = UseZip64.Off; // older zipfile
@@ -246,14 +246,12 @@ namespace ArdupilotMega
             // Zip the file in buffered chunks
             // the "using" will close the stream even if an exception occurs
             byte[] buffer = new byte[4096];
-            using (FileStream streamReader = File.OpenRead(filename))
+            using (FileStream streamReader = File.Open(filename,FileMode.Open,FileAccess.Read,FileShare.ReadWrite))
             {
                 StreamUtils.Copy(streamReader, zipStream, buffer);
             }
             zipStream.CloseEntry();
 
-            File.Delete(filename);
-
             filename = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "block_plane_0.dae";
 
             // entry 2
@@ -275,6 +273,9 @@ namespace ArdupilotMega
 
             zipStream.IsStreamOwner = true;	// Makes the Close also Close the underlying stream
             zipStream.Close();
+
+            File.Delete(filename);
+
             flightdata.Clear();
         }
 

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("1.0.95")]
+[assembly: AssemblyFileVersion("1.0.96")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Properties/Resources.Designer.cs

@@ -1,7 +1,7 @@
 //------------------------------------------------------------------------------
 // <auto-generated>
 //     This code was generated by a tool.
-//     Runtime Version:4.0.30319.235
+//     Runtime Version:4.0.30319.239
 //
 //     Changes to this file may cause incorrect behavior and will be lost if
 //     the code is regenerated.

Tools/ArdupilotMegaPlanner/Script.cs

@@ -0,0 +1,36 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace ArdupilotMega
+{
+    public class Script
+    {
+        DateTime timeout = DateTime.Now;
+
+        public enum Conditional
+        {
+            LT = 0,
+            LTEQ,
+            EQ,
+            GT,
+            GTEQ
+        }
+
+        public bool WaitFor(string item, Conditional cond,double value ,int timeoutms)
+        {
+            timeout = DateTime.Now;
+            while (DateTime.Now < timeout.AddMilliseconds(timeoutms))
+            {
+                //if (item)
+                {
+
+                }
+            }
+
+            return false;
+        }
+
+    }
+}

Tools/ArdupilotMegaPlanner/Setup/Setup.cs

@@ -1055,8 +1055,8 @@ namespace ArdupilotMega.Setup
             try
             {
 #if MAVLINK10
-                int fixme;
+                int fixme; // needs to be accel only
-                //                MainV2.comPort.doCommand(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
+                MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,1,1,1,1,1,1);
 #else
                 MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
 #endif

Tools/ArdupilotMegaPlanner/app.config

@@ -3,6 +3,10 @@
 <configSections>
 </configSections>
   <startup>
-    <supportedRuntime version="v2.0.50727"/>
+    
+  <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0"/></startup>
+    <startup useLegacyV2RuntimeActivationPolicy="true">
+        <supportedRuntime version="v4.0"/>
+    
   </startup>
 </configuration>

Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application

@@ -3,15 +3,18 @@
   <assemblyIdentity name="ArdupilotMegaPlanner.application" version="0.0.0.1" publicKeyToken="0000000000000000" language="en-US" processorArchitecture="x86" xmlns="urn:schemas-microsoft-com:asm.v1" />
   <description asmv2:publisher="Michael Oborne" asmv2:product="ArdupilotMegaPlanner" xmlns="urn:schemas-microsoft-com:asm.v1" />
   <deployment install="true" />
+  <compatibleFrameworks xmlns="urn:schemas-microsoft-com:clickonce.v2">
+    <framework targetVersion="4.0" profile="Full" supportedRuntime="4.0.30319" />
+  </compatibleFrameworks>
   <dependency>
-    <dependentAssembly dependencyType="install" codebase="ArdupilotMegaPlanner.exe.manifest" size="18547">
+    <dependentAssembly dependencyType="install" codebase="ArdupilotMegaPlanner.exe.manifest" size="19987">
       <assemblyIdentity name="ArdupilotMegaPlanner.exe" version="0.0.0.1" publicKeyToken="0000000000000000" language="en-US" processorArchitecture="x86" type="win32" />
       <hash>
         <dsig:Transforms>
           <dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
         </dsig:Transforms>
         <dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
-        <dsig:DigestValue>d1SWduiRJYsMADkinyiFASzMBV8=</dsig:DigestValue>
+        <dsig:DigestValue>l2Rn8qTiwOzQt8/BkJyqqyHeXA0=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>

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

@@ -3,6 +3,10 @@
 <configSections>
 </configSections>
   <startup>
-    <supportedRuntime version="v2.0.50727"/>
+    
+  <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0"/></startup>
+    <startup useLegacyV2RuntimeActivationPolicy="true">
+        <supportedRuntime version="v4.0"/>
+    
   </startup>
 </configuration>

Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/FlightPlanner.resx

@@ -127,7 +127,7 @@
   </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="CHK_altmode.Location" type="System.Drawing.Point, System.Drawing">
-    <value>326, 31</value>
+    <value>213, 31</value>
   </data>
   <data name="CHK_altmode.Size" type="System.Drawing.Size, System.Drawing">
     <value>82, 17</value>
@@ -148,7 +148,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;CHK_altmode.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
   </data>
   <data name="CHK_holdalt.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -157,7 +157,7 @@
     <value>NoControl</value>
   </data>
   <data name="CHK_holdalt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>411, 24</value>
+    <value>298, 24</value>
   </data>
   <data name="CHK_holdalt.Size" type="System.Drawing.Size, System.Drawing">
     <value>98, 17</value>
@@ -178,7 +178,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;CHK_holdalt.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>9</value>
   </data>
   <data name="Commands.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Bottom, Left, Right</value>
@@ -340,7 +340,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;Commands.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>11</value>
   </data>
   <data name="CHK_geheight.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -349,7 +349,7 @@
     <value>NoControl</value>
   </data>
   <data name="CHK_geheight.Location" type="System.Drawing.Point, System.Drawing">
-    <value>411, 40</value>
+    <value>298, 40</value>
   </data>
   <data name="CHK_geheight.Size" type="System.Drawing.Size, System.Drawing">
     <value>86, 17</value>
@@ -370,10 +370,10 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;CHK_geheight.ZOrder" xml:space="preserve">
-    <value>12</value>
+    <value>13</value>
   </data>
   <data name="TXT_WPRad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>73, 32</value>
+    <value>23, 36</value>
   </data>
   <data name="TXT_WPRad.Size" type="System.Drawing.Size, System.Drawing">
     <value>36, 20</value>
@@ -394,10 +394,10 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;TXT_WPRad.ZOrder" xml:space="preserve">
-    <value>13</value>
+    <value>14</value>
   </data>
   <data name="TXT_DefaultAlt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>280, 32</value>
+    <value>154, 36</value>
   </data>
   <data name="TXT_DefaultAlt.Size" type="System.Drawing.Size, System.Drawing">
     <value>40, 20</value>
@@ -418,7 +418,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;TXT_DefaultAlt.ZOrder" xml:space="preserve">
-    <value>11</value>
+    <value>12</value>
   </data>
   <data name="LBL_WPRad.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -427,7 +427,7 @@
     <value>NoControl</value>
   </data>
   <data name="LBL_WPRad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>9, 32</value>
+    <value>9, 24</value>
   </data>
   <data name="LBL_WPRad.Size" type="System.Drawing.Size, System.Drawing">
     <value>61, 13</value>
@@ -448,7 +448,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;LBL_WPRad.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
   </data>
   <data name="LBL_defalutalt.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -457,7 +457,7 @@
     <value>NoControl</value>
   </data>
   <data name="LBL_defalutalt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>221, 32</value>
+    <value>151, 24</value>
   </data>
   <data name="LBL_defalutalt.Size" type="System.Drawing.Size, System.Drawing">
     <value>56, 13</value>
@@ -478,10 +478,10 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;LBL_defalutalt.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>10</value>
   </data>
   <data name="TXT_loiterrad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>184, 32</value>
+    <value>89, 36</value>
   </data>
   <data name="TXT_loiterrad.Size" type="System.Drawing.Size, System.Drawing">
     <value>36, 20</value>
@@ -502,7 +502,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;TXT_loiterrad.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>8</value>
   </data>
   <data name="label5.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -511,7 +511,7 @@
     <value>NoControl</value>
   </data>
   <data name="label5.Location" type="System.Drawing.Point, System.Drawing">
-    <value>112, 32</value>
+    <value>76, 24</value>
   </data>
   <data name="label5.Size" type="System.Drawing.Size, System.Drawing">
     <value>69, 13</value>
@@ -532,7 +532,7 @@
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;label5.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>7</value>
   </data>
   <data name="panel5.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
@@ -556,7 +556,7 @@
     <value>BUT_write</value>
   </data>
   <data name="&gt;&gt;BUT_write.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_write.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -583,7 +583,7 @@
     <value>BUT_read</value>
   </data>
   <data name="&gt;&gt;BUT_read.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_read.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -610,7 +610,7 @@
     <value>SaveFile</value>
   </data>
   <data name="&gt;&gt;SaveFile.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;SaveFile.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -637,7 +637,7 @@
     <value>BUT_loadwpfile</value>
   </data>
   <data name="&gt;&gt;BUT_loadwpfile.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_loadwpfile.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -1239,11 +1239,41 @@
   <data name="&gt;&gt;splitter1.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
+  <data name="BUT_zoomto.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_zoomto.Location" type="System.Drawing.Point, System.Drawing">
+    <value>746, 26</value>
+  </data>
+  <data name="BUT_zoomto.Size" type="System.Drawing.Size, System.Drawing">
+    <value>62, 23</value>
+  </data>
+  <data name="BUT_zoomto.TabIndex" type="System.Int32, mscorlib">
+    <value>53</value>
+  </data>
+  <data name="BUT_zoomto.Text" xml:space="preserve">
+    <value>Zoom To</value>
+  </data>
+  <data name="BUT_zoomto.ToolTip" xml:space="preserve">
+    <value>Get Camera settings for overlap</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.Name" xml:space="preserve">
+    <value>BUT_zoomto</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.Type" xml:space="preserve">
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.Parent" xml:space="preserve">
+    <value>panelWaypoints</value>
+  </data>
+  <data name="&gt;&gt;BUT_zoomto.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
   <data name="BUT_Camera.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_Camera.Location" type="System.Drawing.Point, System.Drawing">
-    <value>809, 26</value>
+    <value>692, 26</value>
   </data>
   <data name="BUT_Camera.Size" type="System.Drawing.Size, System.Drawing">
     <value>48, 23</value>
@@ -1261,19 +1291,19 @@
     <value>BUT_Camera</value>
   </data>
   <data name="&gt;&gt;BUT_Camera.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_Camera.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_Camera.ZOrder" xml:space="preserve">
-    <value>0</value>
+    <value>1</value>
   </data>
   <data name="BUT_grid.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_grid.Location" type="System.Drawing.Point, System.Drawing">
-    <value>755, 26</value>
+    <value>638, 26</value>
   </data>
   <data name="BUT_grid.Size" type="System.Drawing.Size, System.Drawing">
     <value>48, 23</value>
@@ -1291,19 +1321,19 @@
     <value>BUT_grid</value>
   </data>
   <data name="&gt;&gt;BUT_grid.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_grid.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_grid.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="BUT_Prefetch.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_Prefetch.Location" type="System.Drawing.Point, System.Drawing">
-    <value>693, 26</value>
+    <value>576, 26</value>
   </data>
   <data name="BUT_Prefetch.Size" type="System.Drawing.Size, System.Drawing">
     <value>56, 23</value>
@@ -1321,19 +1351,19 @@
     <value>BUT_Prefetch</value>
   </data>
   <data name="&gt;&gt;BUT_Prefetch.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_Prefetch.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_Prefetch.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="button1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="button1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>596, 26</value>
+    <value>479, 26</value>
   </data>
   <data name="button1.Size" type="System.Drawing.Size, System.Drawing">
     <value>91, 23</value>
@@ -1351,19 +1381,19 @@
     <value>button1</value>
   </data>
   <data name="&gt;&gt;button1.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;button1.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;button1.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
   </data>
   <data name="BUT_Add.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="BUT_Add.Location" type="System.Drawing.Point, System.Drawing">
-    <value>515, 26</value>
+    <value>398, 26</value>
   </data>
   <data name="BUT_Add.Size" type="System.Drawing.Size, System.Drawing">
     <value>75, 23</value>
@@ -1381,13 +1411,13 @@
     <value>BUT_Add</value>
   </data>
   <data name="&gt;&gt;BUT_Add.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_Add.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
   </data>
   <data name="&gt;&gt;BUT_Add.ZOrder" xml:space="preserve">
-    <value>14</value>
+    <value>15</value>
   </data>
   <data name="panelWaypoints.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Bottom</value>
@@ -1823,7 +1853,7 @@
     <value>trackBar1</value>
   </data>
   <data name="&gt;&gt;trackBar1.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyTrackBar, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyTrackBar, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;trackBar1.Parent" xml:space="preserve">
     <value>panelMap</value>
@@ -2105,6 +2135,6 @@
     <value>FlightPlanner</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/bin/Release/mavcmd.xml

@@ -2,61 +2,477 @@
 <!-- TAGS ARE CASE SENSATIVE -->
 <CMD>
   <AC2>
-<WAYPOINT><P1>Delay</P1><P2>Hit Rad</P2><P3></P3><P4>Yaw Ang</P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></WAYPOINT>
+    <WAYPOINT>
-<LOITER_UNLIM><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_UNLIM>
+      <P1>Delay</P1>
-<LOITER_TURNS><P1>Turns</P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_TURNS>
+      <P2>Hit Rad</P2>
-<LOITER_TIME><P1>Time s</P1><P2></P2><P3>rad</P3><P4>yaw per</P4><X></X><Y></Y><Z></Z></LOITER_TIME>
+      <P3></P3>
-<RETURN_TO_LAUNCH><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></RETURN_TO_LAUNCH>
+      <P4>Yaw Ang</P4>
-<LAND><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></LAND>
+      <X>Lat</X>
-<TAKEOFF><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></TAKEOFF>
+      <Y>Long</Y>
-<ROI><P1>MAV_ROI</P1><P2>WP#</P2><P3>ROI#</P3><P4></P4><X></X><Y></Y><Z></Z></ROI>
+      <Z>Alt</Z>
-<PATHPLANNING><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></PATHPLANNING>
+    </WAYPOINT>
-<CONDITION_DELAY><P1>Time (sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DELAY>
+    <LOITER_UNLIM>
-<CONDITION_CHANGE_ALT><P1>Rate (cm/sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></CONDITION_CHANGE_ALT>
+      <P1></P1>
-<CONDITION_DISTANCE><P1>Dist (m)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DISTANCE>
+      <P2></P2>
-<CONDITION_YAW><P1>Deg</P1><P2>Sec</P2><P3>Dir 1=CW</P3><P4>rel/abs</P4><X></X><Y></Y><Z></Z></CONDITION_YAW>
+      <P3></P3>
-<DO_SET_MODE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_MODE>
+      <P4></P4>
-<DO_JUMP><P1>WP #</P1><P2>Repeat#</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_JUMP>
+      <X>Lat</X>
-<DO_CHANGE_SPEED><P1>Type (0=as 1=gs)</P1><P2>Throttle(%)</P2><P3>Speed (m/s)</P3><P4></P4><X></X><Y></Y><Z></Z></DO_CHANGE_SPEED>
+      <Y>Long</Y>
-<DO_SET_HOME><P1>Current(1)/Spec(0)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_HOME>
+      <Z>Alt</Z>
-<DO_SET_PARAMETER><P1>#</P1><P2>Value</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_PARAMETER>
+    </LOITER_UNLIM>
-<DO_SET_RELAY><P1>off(0)/on(1)</P1><P2>Delay (s)</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_RELAY>
+    <LOITER_TURNS>
-<DO_REPEAT_RELAY><P1></P1><P2>Delay (s)</P2><P3>Repeat#</P3><P4></P4><X></X><Y></Y><Z></Z></DO_REPEAT_RELAY>
+      <P1>Turns</P1>
-<DO_SET_SERVO><P1>Ser No</P1><P2>PWM</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_SERVO>
+      <P2></P2>
-<DO_REPEAT_SERVO><P1>Ser No</P1><P2>Repeat#</P2><P3>Delay (s)</P3><P4>PWM</P4><X></X><Y></Y><Z></Z></DO_REPEAT_SERVO>
+      <P3></P3>
-<DO_DIGICAM_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONFIGURE>
+      <P4></P4>
-<DO_DIGICAM_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONTROL>
+      <X>Lat</X>
-<DO_MOUNT_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONFIGURE>
+      <Y>Long</Y>
-<DO_MOUNT_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONTROL>
+      <Z>Alt</Z>
+    </LOITER_TURNS>
+    <LOITER_TIME>
+      <P1>Time s</P1>
+      <P2></P2>
+      <P3>rad</P3>
+      <P4>yaw per</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </LOITER_TIME>
+    <RETURN_TO_LAUNCH>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </RETURN_TO_LAUNCH>
+    <LAND>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </LAND>
+    <TAKEOFF>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </TAKEOFF>
+    <ROI>
+      <P1>MAV_ROI</P1>
+      <P2>WP#</P2>
+      <P3>ROI#</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </ROI>
+    <PATHPLANNING>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </PATHPLANNING>
+    <CONDITION_DELAY>
+      <P1>Time (sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DELAY>
+    <CONDITION_CHANGE_ALT>
+      <P1>Rate (cm/sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </CONDITION_CHANGE_ALT>
+    <CONDITION_DISTANCE>
+      <P1>Dist (m)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DISTANCE>
+    <CONDITION_YAW>
+      <P1>Deg</P1>
+      <P2>Sec</P2>
+      <P3>Dir 1=CW</P3>
+      <P4>rel/abs</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_YAW>
+    <DO_SET_MODE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_MODE>
+    <DO_JUMP>
+      <P1>WP #</P1>
+      <P2>Repeat#</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_JUMP>
+    <DO_CHANGE_SPEED>
+      <P1>Type (0=as 1=gs)</P1>
+      <P2>Throttle(%)</P2>
+      <P3>Speed (m/s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_CHANGE_SPEED>
+    <DO_SET_HOME>
+      <P1>Current(1)/Spec(0)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_HOME>
+    <DO_SET_PARAMETER>
+      <P1>#</P1>
+      <P2>Value</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_PARAMETER>
+    <DO_SET_RELAY>
+      <P1>off(0)/on(1)</P1>
+      <P2>Delay (s)</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_RELAY>
+    <DO_REPEAT_RELAY>
+      <P1></P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_RELAY>
+    <DO_SET_SERVO>
+      <P1>Ser No</P1>
+      <P2>PWM</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_SERVO>
+    <DO_REPEAT_SERVO>
+      <P1>Ser No</P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4>PWM</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_SERVO>
+    <DO_DIGICAM_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONFIGURE>
+    <DO_DIGICAM_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONTROL>
+    <DO_MOUNT_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONFIGURE>
+    <DO_MOUNT_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONTROL>
 
   </AC2>
   <!-- -->
   <APM>
-<WAYPOINT><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></WAYPOINT>
+    <WAYPOINT>
-<LOITER_UNLIM><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_UNLIM>
+      <P1></P1>
-<LOITER_TURNS><P1>Turns</P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_TURNS>
+      <P2></P2>
-<LOITER_TIME><P1>Time s</P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_TIME>
+      <P3></P3>
-<RETURN_TO_LAUNCH><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></RETURN_TO_LAUNCH>
+      <P4></P4>
-<LAND><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LAND>
+      <X>Lat</X>
-<TAKEOFF><P1>Angle</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></TAKEOFF>
+      <Y>Long</Y>
-<ROI><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></ROI>
+      <Z>Alt</Z>
-<PATHPLANNING><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></PATHPLANNING>
+    </WAYPOINT>
-<CONDITION_DELAY><P1>Time (sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DELAY>
+    <LOITER_UNLIM>
-<CONDITION_CHANGE_ALT><P1>Rate (cm/sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></CONDITION_CHANGE_ALT>
+      <P1></P1>
-<CONDITION_DISTANCE><P1>Dist (m)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DISTANCE>
+      <P2></P2>
-<CONDITION_YAW><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_YAW>
+      <P3></P3>
-<DO_SET_MODE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_MODE>
+      <P4></P4>
-<DO_JUMP><P1>WP #</P1><P2>Repeat#</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_JUMP>
+      <X>Lat</X>
-<DO_CHANGE_SPEED><P1>Type (0=as 1=gs)</P1><P2>Throttle(%)</P2><P3>Speed (m/s)</P3><P4></P4><X></X><Y></Y><Z></Z></DO_CHANGE_SPEED>
+      <Y>Long</Y>
-<DO_SET_HOME><P1>Current(1)/Spec(0)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_HOME>
+      <Z>Alt</Z>
-<DO_SET_PARAMETER><P1>#</P1><P2>Value</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_PARAMETER>
+    </LOITER_UNLIM>
-<DO_SET_RELAY><P1>off(0)/on(1)</P1><P2>Delay (s)</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_RELAY>
+    <LOITER_TURNS>
-<DO_REPEAT_RELAY><P1></P1><P2>Delay (s)</P2><P3>Repeat#</P3><P4></P4><X></X><Y></Y><Z></Z></DO_REPEAT_RELAY>
+      <P1>Turns</P1>
-<DO_SET_SERVO><P1>Ser No</P1><P2>PWM</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_SERVO>
+      <P2></P2>
-<DO_REPEAT_SERVO><P1>Ser No</P1><P2>Repeat#</P2><P3>Delay (s)</P3><P4>PWM</P4><X></X><Y></Y><Z></Z></DO_REPEAT_SERVO>
+      <P3></P3>
-<DO_DIGICAM_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONFIGURE>
+      <P4></P4>
-<DO_DIGICAM_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONTROL>
+      <X>Lat</X>
-<DO_MOUNT_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONFIGURE>
+      <Y>Long</Y>
-<DO_MOUNT_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONTROL>
+      <Z>Alt</Z>
+    </LOITER_TURNS>
+    <LOITER_TIME>
+      <P1>Time s</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </LOITER_TIME>
+    <RETURN_TO_LAUNCH>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </RETURN_TO_LAUNCH>
+    <LAND>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </LAND>
+    <TAKEOFF>
+      <P1>Angle</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </TAKEOFF>
+    <ROI>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </ROI>
+    <PATHPLANNING>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </PATHPLANNING>
+    <CONDITION_DELAY>
+      <P1>Time (sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DELAY>
+    <CONDITION_CHANGE_ALT>
+      <P1>Rate (cm/sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </CONDITION_CHANGE_ALT>
+    <CONDITION_DISTANCE>
+      <P1>Dist (m)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DISTANCE>
+    <CONDITION_YAW>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_YAW>
+    <DO_SET_MODE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_MODE>
+    <DO_JUMP>
+      <P1>WP #</P1>
+      <P2>Repeat#</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_JUMP>
+    <DO_CHANGE_SPEED>
+      <P1>Type (0=as 1=gs)</P1>
+      <P2>Throttle(%)</P2>
+      <P3>Speed (m/s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_CHANGE_SPEED>
+    <DO_SET_HOME>
+      <P1>Current(1)/Spec(0)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_HOME>
+    <DO_SET_PARAMETER>
+      <P1>#</P1>
+      <P2>Value</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_PARAMETER>
+    <DO_SET_RELAY>
+      <P1>off(0)/on(1)</P1>
+      <P2>Delay (s)</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_RELAY>
+    <DO_REPEAT_RELAY>
+      <P1></P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_RELAY>
+    <DO_SET_SERVO>
+      <P1>Ser No</P1>
+      <P2>PWM</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_SERVO>
+    <DO_REPEAT_SERVO>
+      <P1>Ser No</P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4>PWM</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_SERVO>
+    <DO_DIGICAM_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONFIGURE>
+    <DO_DIGICAM_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONTROL>
+    <DO_MOUNT_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONFIGURE>
+    <DO_MOUNT_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONTROL>
   </APM>
 </CMD>

Tools/ArdupilotMegaPlanner/hires.cs

@@ -0,0 +1,48 @@
+using System;
+using System.Runtime.InteropServices;
+
+namespace hires
+{
+    public class Stopwatch
+    {
+        [DllImport("Kernel32.dll")]
+        private static extern bool QueryPerformanceCounter(
+            out long lpPerformanceCount);
+
+        [DllImport("Kernel32.dll")]
+        private static extern bool QueryPerformanceFrequency(
+            out long lpFrequency);
+
+        private long start=0;
+        private long stop=0;
+
+        // static - so this value used in all instances of 
+        private static double frequency = getFrequency();
+
+        // Note this is static- called once, before any constructor!
+        private static double getFrequency()
+        {
+            long tempfrequency;
+            QueryPerformanceFrequency(out tempfrequency);
+            return tempfrequency; // implicit casting to double from long
+        }
+
+        public void Start()
+        {
+            QueryPerformanceCounter(out start);
+        }
+
+        public void Stop()
+        {
+            QueryPerformanceCounter(out stop);
+        }
+
+        public double Elapsed
+        {
+            get
+            {
+                return (double)(stop - start) / frequency;
+            }
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/mavcmd.xml

@@ -2,61 +2,477 @@
 <!-- TAGS ARE CASE SENSATIVE -->
 <CMD>
   <AC2>
-<WAYPOINT><P1>Delay</P1><P2>Hit Rad</P2><P3></P3><P4>Yaw Ang</P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></WAYPOINT>
+    <WAYPOINT>
-<LOITER_UNLIM><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_UNLIM>
+      <P1>Delay</P1>
-<LOITER_TURNS><P1>Turns</P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_TURNS>
+      <P2>Hit Rad</P2>
-<LOITER_TIME><P1>Time s</P1><P2></P2><P3>rad</P3><P4>yaw per</P4><X></X><Y></Y><Z></Z></LOITER_TIME>
+      <P3></P3>
-<RETURN_TO_LAUNCH><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></RETURN_TO_LAUNCH>
+      <P4>Yaw Ang</P4>
-<LAND><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></LAND>
+      <X>Lat</X>
-<TAKEOFF><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></TAKEOFF>
+      <Y>Long</Y>
-<ROI><P1>MAV_ROI</P1><P2>WP#</P2><P3>ROI#</P3><P4></P4><X></X><Y></Y><Z></Z></ROI>
+      <Z>Alt</Z>
-<PATHPLANNING><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></PATHPLANNING>
+    </WAYPOINT>
-<CONDITION_DELAY><P1>Time (sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DELAY>
+    <LOITER_UNLIM>
-<CONDITION_CHANGE_ALT><P1>Rate (cm/sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></CONDITION_CHANGE_ALT>
+      <P1></P1>
-<CONDITION_DISTANCE><P1>Dist (m)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DISTANCE>
+      <P2></P2>
-<CONDITION_YAW><P1>Deg</P1><P2>Sec</P2><P3>Dir 1=CW</P3><P4>rel/abs</P4><X></X><Y></Y><Z></Z></CONDITION_YAW>
+      <P3></P3>
-<DO_SET_MODE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_MODE>
+      <P4></P4>
-<DO_JUMP><P1>WP #</P1><P2>Repeat#</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_JUMP>
+      <X>Lat</X>
-<DO_CHANGE_SPEED><P1>Type (0=as 1=gs)</P1><P2>Throttle(%)</P2><P3>Speed (m/s)</P3><P4></P4><X></X><Y></Y><Z></Z></DO_CHANGE_SPEED>
+      <Y>Long</Y>
-<DO_SET_HOME><P1>Current(1)/Spec(0)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_HOME>
+      <Z>Alt</Z>
-<DO_SET_PARAMETER><P1>#</P1><P2>Value</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_PARAMETER>
+    </LOITER_UNLIM>
-<DO_SET_RELAY><P1>off(0)/on(1)</P1><P2>Delay (s)</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_RELAY>
+    <LOITER_TURNS>
-<DO_REPEAT_RELAY><P1></P1><P2>Delay (s)</P2><P3>Repeat#</P3><P4></P4><X></X><Y></Y><Z></Z></DO_REPEAT_RELAY>
+      <P1>Turns</P1>
-<DO_SET_SERVO><P1>Ser No</P1><P2>PWM</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_SERVO>
+      <P2></P2>
-<DO_REPEAT_SERVO><P1>Ser No</P1><P2>Repeat#</P2><P3>Delay (s)</P3><P4>PWM</P4><X></X><Y></Y><Z></Z></DO_REPEAT_SERVO>
+      <P3></P3>
-<DO_DIGICAM_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONFIGURE>
+      <P4></P4>
-<DO_DIGICAM_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONTROL>
+      <X>Lat</X>
-<DO_MOUNT_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONFIGURE>
+      <Y>Long</Y>
-<DO_MOUNT_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONTROL>
+      <Z>Alt</Z>
+    </LOITER_TURNS>
+    <LOITER_TIME>
+      <P1>Time s</P1>
+      <P2></P2>
+      <P3>rad</P3>
+      <P4>yaw per</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </LOITER_TIME>
+    <RETURN_TO_LAUNCH>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </RETURN_TO_LAUNCH>
+    <LAND>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </LAND>
+    <TAKEOFF>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </TAKEOFF>
+    <ROI>
+      <P1>MAV_ROI</P1>
+      <P2>WP#</P2>
+      <P3>ROI#</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </ROI>
+    <PATHPLANNING>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </PATHPLANNING>
+    <CONDITION_DELAY>
+      <P1>Time (sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DELAY>
+    <CONDITION_CHANGE_ALT>
+      <P1>Rate (cm/sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </CONDITION_CHANGE_ALT>
+    <CONDITION_DISTANCE>
+      <P1>Dist (m)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DISTANCE>
+    <CONDITION_YAW>
+      <P1>Deg</P1>
+      <P2>Sec</P2>
+      <P3>Dir 1=CW</P3>
+      <P4>rel/abs</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_YAW>
+    <DO_SET_MODE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_MODE>
+    <DO_JUMP>
+      <P1>WP #</P1>
+      <P2>Repeat#</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_JUMP>
+    <DO_CHANGE_SPEED>
+      <P1>Type (0=as 1=gs)</P1>
+      <P2>Throttle(%)</P2>
+      <P3>Speed (m/s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_CHANGE_SPEED>
+    <DO_SET_HOME>
+      <P1>Current(1)/Spec(0)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_HOME>
+    <DO_SET_PARAMETER>
+      <P1>#</P1>
+      <P2>Value</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_PARAMETER>
+    <DO_SET_RELAY>
+      <P1>off(0)/on(1)</P1>
+      <P2>Delay (s)</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_RELAY>
+    <DO_REPEAT_RELAY>
+      <P1></P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_RELAY>
+    <DO_SET_SERVO>
+      <P1>Ser No</P1>
+      <P2>PWM</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_SERVO>
+    <DO_REPEAT_SERVO>
+      <P1>Ser No</P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4>PWM</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_SERVO>
+    <DO_DIGICAM_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONFIGURE>
+    <DO_DIGICAM_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONTROL>
+    <DO_MOUNT_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONFIGURE>
+    <DO_MOUNT_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONTROL>
 
   </AC2>
   <!-- -->
   <APM>
-<WAYPOINT><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></WAYPOINT>
+    <WAYPOINT>
-<LOITER_UNLIM><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_UNLIM>
+      <P1></P1>
-<LOITER_TURNS><P1>Turns</P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_TURNS>
+      <P2></P2>
-<LOITER_TIME><P1>Time s</P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LOITER_TIME>
+      <P3></P3>
-<RETURN_TO_LAUNCH><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></RETURN_TO_LAUNCH>
+      <P4></P4>
-<LAND><P1></P1><P2></P2><P3></P3><P4></P4><X>Lat</X><Y>Long</Y><Z>Alt</Z></LAND>
+      <X>Lat</X>
-<TAKEOFF><P1>Angle</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></TAKEOFF>
+      <Y>Long</Y>
-<ROI><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></ROI>
+      <Z>Alt</Z>
-<PATHPLANNING><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></PATHPLANNING>
+    </WAYPOINT>
-<CONDITION_DELAY><P1>Time (sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DELAY>
+    <LOITER_UNLIM>
-<CONDITION_CHANGE_ALT><P1>Rate (cm/sec)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z>Alt</Z></CONDITION_CHANGE_ALT>
+      <P1></P1>
-<CONDITION_DISTANCE><P1>Dist (m)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_DISTANCE>
+      <P2></P2>
-<CONDITION_YAW><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></CONDITION_YAW>
+      <P3></P3>
-<DO_SET_MODE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_MODE>
+      <P4></P4>
-<DO_JUMP><P1>WP #</P1><P2>Repeat#</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_JUMP>
+      <X>Lat</X>
-<DO_CHANGE_SPEED><P1>Type (0=as 1=gs)</P1><P2>Throttle(%)</P2><P3>Speed (m/s)</P3><P4></P4><X></X><Y></Y><Z></Z></DO_CHANGE_SPEED>
+      <Y>Long</Y>
-<DO_SET_HOME><P1>Current(1)/Spec(0)</P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_HOME>
+      <Z>Alt</Z>
-<DO_SET_PARAMETER><P1>#</P1><P2>Value</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_PARAMETER>
+    </LOITER_UNLIM>
-<DO_SET_RELAY><P1>off(0)/on(1)</P1><P2>Delay (s)</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_RELAY>
+    <LOITER_TURNS>
-<DO_REPEAT_RELAY><P1></P1><P2>Delay (s)</P2><P3>Repeat#</P3><P4></P4><X></X><Y></Y><Z></Z></DO_REPEAT_RELAY>
+      <P1>Turns</P1>
-<DO_SET_SERVO><P1>Ser No</P1><P2>PWM</P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_SET_SERVO>
+      <P2></P2>
-<DO_REPEAT_SERVO><P1>Ser No</P1><P2>Repeat#</P2><P3>Delay (s)</P3><P4>PWM</P4><X></X><Y></Y><Z></Z></DO_REPEAT_SERVO>
+      <P3></P3>
-<DO_DIGICAM_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONFIGURE>
+      <P4></P4>
-<DO_DIGICAM_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_DIGICAM_CONTROL>
+      <X>Lat</X>
-<DO_MOUNT_CONFIGURE><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONFIGURE>
+      <Y>Long</Y>
-<DO_MOUNT_CONTROL><P1></P1><P2></P2><P3></P3><P4></P4><X></X><Y></Y><Z></Z></DO_MOUNT_CONTROL>
+      <Z>Alt</Z>
+    </LOITER_TURNS>
+    <LOITER_TIME>
+      <P1>Time s</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </LOITER_TIME>
+    <RETURN_TO_LAUNCH>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </RETURN_TO_LAUNCH>
+    <LAND>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </LAND>
+    <TAKEOFF>
+      <P1>Angle</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </TAKEOFF>
+    <ROI>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </ROI>
+    <PATHPLANNING>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </PATHPLANNING>
+    <CONDITION_DELAY>
+      <P1>Time (sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DELAY>
+    <CONDITION_CHANGE_ALT>
+      <P1>Rate (cm/sec)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z>Alt</Z>
+    </CONDITION_CHANGE_ALT>
+    <CONDITION_DISTANCE>
+      <P1>Dist (m)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_DISTANCE>
+    <CONDITION_YAW>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </CONDITION_YAW>
+    <DO_SET_MODE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_MODE>
+    <DO_JUMP>
+      <P1>WP #</P1>
+      <P2>Repeat#</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_JUMP>
+    <DO_CHANGE_SPEED>
+      <P1>Type (0=as 1=gs)</P1>
+      <P2>Throttle(%)</P2>
+      <P3>Speed (m/s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_CHANGE_SPEED>
+    <DO_SET_HOME>
+      <P1>Current(1)/Spec(0)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_HOME>
+    <DO_SET_PARAMETER>
+      <P1>#</P1>
+      <P2>Value</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_PARAMETER>
+    <DO_SET_RELAY>
+      <P1>off(0)/on(1)</P1>
+      <P2>Delay (s)</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_RELAY>
+    <DO_REPEAT_RELAY>
+      <P1></P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_RELAY>
+    <DO_SET_SERVO>
+      <P1>Ser No</P1>
+      <P2>PWM</P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_SET_SERVO>
+    <DO_REPEAT_SERVO>
+      <P1>Ser No</P1>
+      <P2>Repeat#</P2>
+      <P3>Delay (s)</P3>
+      <P4>PWM</P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_REPEAT_SERVO>
+    <DO_DIGICAM_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONFIGURE>
+    <DO_DIGICAM_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_DIGICAM_CONTROL>
+    <DO_MOUNT_CONFIGURE>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONFIGURE>
+    <DO_MOUNT_CONTROL>
+      <P1></P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X></X>
+      <Y></Y>
+      <Z></Z>
+    </DO_MOUNT_CONTROL>
   </APM>
 </CMD>