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APM Planner 1.1.41

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add NaN checking/error message
add config page shortcuts - F5, ctl-s and ctl-o
add +++ passthrough on terminal
add longer delay to log download
modify param receive process.
modify connecting and param receive process - re Andrew
This commit is contained in:
Michael Oborne 2012-02-24 09:38:56 +08:00
parent 48cad8bc25
commit 58bca7d4a4
26 changed files with 10423 additions and 9255 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
Tools/ArdupilotMegaPlanner/ArduinoSTK.cs
View File

@ -257,6 +257,7 @@ namespace ArdupilotMega
return sync();
}
/// <summary>
/// Upload data at preset address
/// </summary>

30
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
View File

@ -225,6 +225,18 @@
</Reference>
</ItemGroup>
<ItemGroup>
<Compile Include="Controls\ProgressReporterDialogue.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Controls\ProgressReporterDialogue.designer.cs">
<DependentUpon>ProgressReporterDialogue.cs</DependentUpon>
</Compile>
<Compile Include="Radio\3DRradio.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Radio\3DRradio.Designer.cs">
<DependentUpon>3DRradio.cs</DependentUpon>
</Compile>
<Compile Include="Controls\AGauge.cs">
<SubType>UserControl</SubType>
</Compile>
@ -252,18 +264,13 @@
<Compile Include="Controls\myGMAP.cs">
<SubType>UserControl</SubType>
</Compile>
<Compile Include="Controls\ProgressReporter.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Controls\ProgressReporter.designer.cs">
<DependentUpon>ProgressReporter.cs</DependentUpon>
</Compile>
<Compile Include="Controls\XorPlus.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="Controls\XorPlus.Designer.cs">
<DependentUpon>XorPlus.cs</DependentUpon>
</Compile>
<Compile Include="Radio\IHex.cs" />
<Compile Include="Mavlink\MavlinkCRC.cs" />
<Compile Include="Mavlink\MavlinkUtil.cs" />
<Compile Include="SerialInput.cs">
@ -437,6 +444,13 @@
<Compile Include="temp.Designer.cs">
<DependentUpon>temp.cs</DependentUpon>
</Compile>
<Compile Include="Radio\Uploader.cs" />
<EmbeddedResource Include="Controls\ProgressReporterDialogue.resx">
<DependentUpon>ProgressReporterDialogue.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Radio\3DRradio.resx">
<DependentUpon>3DRradio.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Controls\AGauge.resx">
<DependentUpon>AGauge.cs</DependentUpon>
<SubType>Designer</SubType>
@ -447,9 +461,6 @@
<EmbeddedResource Include="Controls\ImageLabel.resx">
<DependentUpon>ImageLabel.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Controls\ProgressReporter.resx">
<DependentUpon>ProgressReporter.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Controls\XorPlus.resx">
<DependentUpon>XorPlus.cs</DependentUpon>
</EmbeddedResource>
@ -830,6 +841,7 @@
<Content Include="mavcmd.xml">
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
</Content>
<None Include="Resources\y6.png" />
<None Include="Resources\new frames-13.png" />
<None Include="Resources\new frames-12.png" />
<None Include="Resources\new frames-11.png" />

33
Tools/ArdupilotMegaPlanner/Common.cs
View File

@ -118,13 +118,19 @@ namespace ArdupilotMega
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);
// anti NaN
try
{
g.DrawLine(new Pen(Color.Red, 2), 0.0f, 0.0f, (float)Math.Cos((heading - 90) * deg2rad) * length, (float)Math.Sin((heading - 90) * deg2rad) * length);
}
catch { }
g.DrawLine(new Pen(Color.Green, 2), 0.0f, 0.0f, (float)Math.Cos((nav_bearing - 90) * deg2rad) * length, (float)Math.Sin((nav_bearing - 90) * deg2rad) * length);
g.DrawLine(new Pen(Color.Black, 2), 0.0f, 0.0f, (float)Math.Cos((cog - 90) * deg2rad) * length, (float)Math.Sin((cog - 90) * deg2rad) * length);
g.DrawLine(new Pen(Color.Orange, 2), 0.0f, 0.0f, (float)Math.Cos((target - 90) * deg2rad) * length, (float)Math.Sin((target - 90) * deg2rad) * length);
// anti NaN
try {
g.RotateTransform(heading);
} catch{}
g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.planeicon, global::ArdupilotMega.Properties.Resources.planeicon.Width / -2, global::ArdupilotMega.Properties.Resources.planeicon.Height / -2);
g.Transform = temp;
@ -157,14 +163,21 @@ namespace ArdupilotMega
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);
// anti NaN
try
{
g.DrawLine(new Pen(Color.Red, 2), 0.0f, 0.0f, (float)Math.Cos((heading - 90) * deg2rad) * length, (float)Math.Sin((heading - 90) * deg2rad) * length);
}
catch { }
//g.DrawLine(new Pen(Color.Green, 2), 0.0f, 0.0f, (float)Math.Cos((nav_bearing - 90) * deg2rad) * length, (float)Math.Sin((nav_bearing - 90) * deg2rad) * length);
g.DrawLine(new Pen(Color.Black, 2), 0.0f, 0.0f, (float)Math.Cos((cog - 90) * deg2rad) * length, (float)Math.Sin((cog - 90) * deg2rad) * length);
g.DrawLine(new Pen(Color.Orange, 2), 0.0f, 0.0f, (float)Math.Cos((target - 90) * deg2rad) * length, (float)Math.Sin((target - 90) * deg2rad) * length);
g.RotateTransform(heading);
// anti NaN
try
{
g.RotateTransform(heading);
}
catch { }
g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.quadicon, global::ArdupilotMega.Properties.Resources.quadicon.Width / -2 + 2, global::ArdupilotMega.Properties.Resources.quadicon.Height / -2);
g.Transform = temp;
@ -490,7 +503,7 @@ namespace ArdupilotMega
WebResponse response = request.GetResponse();
// Display the status.
Console.WriteLine(((HttpWebResponse)response).StatusDescription);
if (((HttpWebResponse)response).StatusDescription != "200")
if (((HttpWebResponse)response).StatusCode != HttpStatusCode.OK)
return false;
// Get the stream containing content returned by the server.
Stream dataStream = response.GetResponseStream();
@ -500,7 +513,7 @@ namespace ArdupilotMega
byte[] buf1 = new byte[1024];
FileStream fs = new FileStream(saveto+".new", FileMode.Create);
FileStream fs = new FileStream(saveto + ".new", FileMode.Create);
DateTime dt = DateTime.Now;

214
Tools/ArdupilotMegaPlanner/Controls/ProgressReporterDialogue.cs Normal file
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@ -0,0 +1,214 @@
using System;
using System.ComponentModel;
using System.Threading;
using System.Windows.Forms;
namespace ArdupilotMega.Controls
{
/// <summary>
/// Form that is shown to the user during a background operation
/// </summary>
/// <remarks>
/// Performs operation excplicitely on a threadpool thread due to
/// Mono not playing nice with the BackgroundWorker
/// </remarks>
public partial class ProgressReporterDialogue : Form
{
private Exception workerException;
public ProgressWorkerEventArgs doWorkArgs;
public delegate void DoWorkEventHandler(object sender, ProgressWorkerEventArgs e);
// This is the event that will be raised on the BG thread
public event DoWorkEventHandler DoWork;
public ProgressReporterDialogue()
{
InitializeComponent();
doWorkArgs = new ProgressWorkerEventArgs();
this.btnClose.Visible = false;
}
/// <summary>
/// Called at setup - will kick off the background process on a thread pool thread
/// </summary>
public void RunBackgroundOperationAsync()
{
ThreadPool.QueueUserWorkItem(RunBackgroundOperation);
this.ShowDialog();
}
private void RunBackgroundOperation(object o)
{
try
{
if (this.DoWork != null) this.DoWork(this, doWorkArgs);
}
catch(Exception e)
{
// The background operation thew an exception.
// Examine the work args, if there is an error, then display that and the exception details
// Otherwise display 'Unexpected error' and exception details
ShowDoneWithError(e, doWorkArgs.ErrorMessage);
return;
}
if (doWorkArgs.CancelRequested && doWorkArgs.CancelAcknowledged)
{
ShowDoneCancelled();
return;
}
if (!string.IsNullOrEmpty(doWorkArgs.ErrorMessage))
{
ShowDoneWithError(null, doWorkArgs.ErrorMessage);
return;
}
if (doWorkArgs.CancelRequested)
{
ShowDoneWithError(null, "Operation could not cancel");
return;
}
ShowDone();
}
// Called as a possible last operation of the bg thread that was cancelled
// - Hide progress bar
// - Set label text
private void ShowDoneCancelled()
{
this.Invoke((MethodInvoker)delegate
{
this.progressBar1.Visible = false;
this.lblProgressMessage.Text = "Cancelled";
this.btnClose.Visible = true;
});
}
// Called as a possible last operation of the bg thread
// - Set progress bar to 100%
// - Wait a little bit to allow the Aero progress animatiom to catch up
// - Signal that we can close
private void ShowDone()
{
this.Invoke((MethodInvoker) delegate
{
this.progressBar1.Style = ProgressBarStyle.Continuous;
this.progressBar1.Value = 100;
this.btnCancel.Visible = false;
this.btnClose.Visible = false;
});
Thread.Sleep(1000);
this.BeginInvoke((MethodInvoker) this.Close);
}
// Called as a possible last operation of the bg thread
// There was an exception on the worker event, so:
// - Show the error message supplied by the worker, or a default message
// - Make visible the error icon
// - Make the progress bar invisible to make room for:
// - Add the exception details and stack trace in an expansion panel
// - Change the Cancel button to 'Close', so that the user can look at the exception message a bit
private void ShowDoneWithError(Exception exception, string doWorkArgs)
{
var errMessage = doWorkArgs ?? "There was an unexpected error";
if (this.InvokeRequired)
{
this.Invoke((MethodInvoker) delegate
{
this.Text = "Error";
this.lblProgressMessage.Left = 65;
this.lblProgressMessage.Text = errMessage;
this.imgWarning.Visible = true;
this.progressBar1.Visible = false;
this.btnCancel.Visible = false;
this.btnClose.Visible = true;
this.linkLabel1.Visible = exception != null;
this.workerException = exception;
});
}
}
private void btnCancel_Click(object sender, EventArgs e)
{
// User wants to cancel -
// * Set the text of the Cancel button to 'Close'
// * Set the cancel button to disabled, will enable it and let the user dismiss the dialogue
// when the async operation is complete
// * Set the status text to 'Cancelling...'
// * Set the progress bar to marquee, we don't know how long the worker will take to cancel
// * Signal the worker.
this.btnCancel.Visible = false;
this.lblProgressMessage.Text = "Cancelling...";
this.progressBar1.Style = ProgressBarStyle.Marquee;
doWorkArgs.CancelRequested = true;
}
private void btn_Close_Click(object sender, EventArgs e)
{
// we have already cancelled, and this now a 'close' button
this.Close();
}
/// <summary>
/// Called from the BG thread
/// </summary>
/// <param name="progress">progress in %, -1 means inderteminate</param>
/// <param name="status"></param>
public void UpdateProgressAndStatus(int progress, string status)
{
// we don't let the worker update progress when a cancel has been
// requested, unless the cancel has been acknowleged, so we know that
// this progress update pertains to the cancellation cleanup
if (doWorkArgs.CancelRequested && !doWorkArgs.CancelAcknowledged)
return;
if (this.InvokeRequired)
{
this.Invoke((MethodInvoker) delegate
{
lblProgressMessage.Text = status;
if (progress == -1)
{
this.progressBar1.Style = ProgressBarStyle.Marquee;
}
else
{
this.progressBar1.Style = ProgressBarStyle.Continuous;
this.progressBar1.Value = progress;
}
});
}
}
private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
{
var message = this.workerException.Message
+ Environment.NewLine + Environment.NewLine
+ this.workerException.StackTrace;
MessageBox.Show(message,"Exception Details",MessageBoxButtons.OK,MessageBoxIcon.Information);
}
}
public class ProgressWorkerEventArgs : EventArgs
{
public string ErrorMessage;
public volatile bool CancelRequested;
public volatile bool CancelAcknowledged;
}
}

141
Tools/ArdupilotMegaPlanner/Controls/ProgressReporterDialogue.designer.cs generated Normal file
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@ -0,0 +1,141 @@
using System;
using System.ComponentModel;
using System.Windows.Forms;
namespace ArdupilotMega.Controls
{
partial class ProgressReporterDialogue
{
/// <summary>
/// Required designer variable.
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// Clean up any resources being used.
/// </summary>
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
private void InitializeComponent()
{
this.progressBar1 = new System.Windows.Forms.ProgressBar();
this.lblProgressMessage = new System.Windows.Forms.Label();
this.btnCancel = new System.Windows.Forms.Button();
this.imgWarning = new System.Windows.Forms.PictureBox();
this.linkLabel1 = new System.Windows.Forms.LinkLabel();
this.btnClose = new System.Windows.Forms.Button();
((System.ComponentModel.ISupportInitialize)(this.imgWarning)).BeginInit();
this.SuspendLayout();
//
// progressBar1
//
this.progressBar1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.progressBar1.Location = new System.Drawing.Point(11, 90);
this.progressBar1.Name = "progressBar1";
this.progressBar1.Size = new System.Drawing.Size(277, 13);
this.progressBar1.TabIndex = 0;
//
// lblProgressMessage
//
this.lblProgressMessage.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.lblProgressMessage.Location = new System.Drawing.Point(13, 13);
this.lblProgressMessage.Name = "lblProgressMessage";
this.lblProgressMessage.Size = new System.Drawing.Size(275, 74);
this.lblProgressMessage.TabIndex = 1;
this.lblProgressMessage.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
//
// btnCancel
//
this.btnCancel.Location = new System.Drawing.Point(213, 109);
this.btnCancel.Name = "btnCancel";
this.btnCancel.Size = new System.Drawing.Size(75, 23);
this.btnCancel.TabIndex = 2;
this.btnCancel.Text = "Cancel";
this.btnCancel.UseVisualStyleBackColor = true;
this.btnCancel.Click += new System.EventHandler(this.btnCancel_Click);
//
// imgWarning
//
this.imgWarning.Image = global::ArdupilotMega.Properties.Resources.iconWarning48;
this.imgWarning.Location = new System.Drawing.Point(13, 22);
this.imgWarning.Name = "imgWarning";
this.imgWarning.Size = new System.Drawing.Size(48, 48);
this.imgWarning.TabIndex = 3;
this.imgWarning.TabStop = false;
this.imgWarning.Visible = false;
//
// linkLabel1
//
this.linkLabel1.AutoSize = true;
this.linkLabel1.Location = new System.Drawing.Point(240, 90);
this.linkLabel1.Name = "linkLabel1";
this.linkLabel1.Size = new System.Drawing.Size(48, 13);
this.linkLabel1.TabIndex = 4;
this.linkLabel1.TabStop = true;
this.linkLabel1.Text = "Details...";
this.linkLabel1.Visible = false;
this.linkLabel1.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.linkLabel1_LinkClicked);
//
// btn_Close
//
this.btnClose.Location = new System.Drawing.Point(213, 109);
this.btnClose.Name = "btnClose";
this.btnClose.Size = new System.Drawing.Size(75, 23);
this.btnClose.TabIndex = 5;
this.btnClose.Text = "Close";
this.btnClose.UseVisualStyleBackColor = true;
this.btnClose.Click += new System.EventHandler(this.btn_Close_Click);
//
// ProgressReporterDialogue
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(306, 144);
this.ControlBox = false;
this.Controls.Add(this.btnClose);
this.Controls.Add(this.linkLabel1);
this.Controls.Add(this.imgWarning);
this.Controls.Add(this.btnCancel);
this.Controls.Add(this.lblProgressMessage);
this.Controls.Add(this.progressBar1);
this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedToolWindow;
this.MaximizeBox = false;
this.MinimizeBox = false;
this.Name = "ProgressReporterDialogue";
this.SizeGripStyle = System.Windows.Forms.SizeGripStyle.Hide;
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterParent;
this.Text = "Progress";
((System.ComponentModel.ISupportInitialize)(this.imgWarning)).EndInit();
this.ResumeLayout(false);
this.PerformLayout();
}
#endregion
private ProgressBar progressBar1;
private System.Windows.Forms.Label lblProgressMessage;
private Button btnCancel;
private PictureBox imgWarning;
private LinkLabel linkLabel1;
private Button btnClose;
}
}

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

326
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs generated
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20
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
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@ -1154,5 +1154,25 @@ namespace ArdupilotMega.GCSViews
{
}
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
if (keyData == Keys.F5)
{
BUT_rerequestparams_Click(BUT_rerequestparams, null);
return true;
}
if (keyData == (Keys.Control | Keys.S))
{
BUT_writePIDS_Click(BUT_writePIDS, null);
return true;
}
if (keyData == (Keys.Control | Keys.O))
{
BUT_load_Click(BUT_load, null);
return true;
}
return base.ProcessCmdKey(ref msg, keyData);
}
}
}

12588
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.resx
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92
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.Designer.cs generated
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@ -127,7 +127,6 @@
//
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);
//
@ -135,7 +134,6 @@
//
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);
//
@ -143,13 +141,11 @@
//
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[] {
@ -161,8 +157,8 @@
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);
@ -171,7 +167,6 @@
//
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);
//
@ -179,7 +174,6 @@
//
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
@ -187,28 +181,24 @@
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
//
@ -219,41 +209,35 @@
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);
//
@ -280,32 +264,27 @@
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);
@ -313,40 +292,35 @@
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);
@ -356,75 +330,65 @@
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);
@ -434,47 +398,41 @@
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);
@ -486,57 +444,50 @@
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
//
@ -549,7 +500,6 @@
this.zg1.ScrollMinX = 0D;
this.zg1.ScrollMinY = 0D;
this.zg1.ScrollMinY2 = 0D;
this.toolTip1.SetToolTip(this.zg1, resources.GetString("zg1.ToolTip"));
//
// timer_servo_graph
//
@ -557,7 +507,6 @@
//
// panel6
//
resources.ApplyResources(this.panel6, "panel6");
this.panel6.Controls.Add(this.label28);
this.panel6.Controls.Add(this.label29);
this.panel6.Controls.Add(this.label27);
@ -570,42 +519,37 @@
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
@ -613,48 +557,41 @@
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
@ -662,13 +599,11 @@
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);
//
@ -678,7 +613,6 @@
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
@ -687,7 +621,6 @@
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
@ -696,7 +629,6 @@
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
@ -705,14 +637,12 @@
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);
//
@ -720,14 +650,12 @@
//
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);
//
@ -735,7 +663,6 @@
//
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);
//
@ -743,7 +670,6 @@
//
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);
//
@ -751,7 +677,6 @@
//
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);
//
@ -759,7 +684,6 @@
//
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
@ -780,7 +704,6 @@
//
resources.ApplyResources(this.CHK_xplane10, "CHK_xplane10");
this.CHK_xplane10.Name = "CHK_xplane10";
this.toolTip1.SetToolTip(this.CHK_xplane10, resources.GetString("CHK_xplane10.ToolTip"));
this.CHK_xplane10.UseVisualStyleBackColor = true;
//
// Simulation
@ -820,7 +743,6 @@
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);

3948
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.resx
View File

File diff suppressed because it is too large Load Diff

4
Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs
View File

@ -146,7 +146,11 @@ namespace ArdupilotMega.GCSViews
}
}
// do not change this \r is correct - no \n
if (cmd == "+++")
comPort.Write(Encoding.ASCII.GetBytes(cmd), 0, cmd.Length);
else {
comPort.Write(Encoding.ASCII.GetBytes(cmd + "\r"), 0, cmd.Length + 1);
}
}
catch { MessageBox.Show("Error writing to com port"); }
}

22
Tools/ArdupilotMegaPlanner/HUD.cs
View File

@ -676,6 +676,7 @@ namespace hud
void doPaint(PaintEventArgs e)
{
bool isNaN = false;
try
{
if (graphicsObjectGDIP == null || !opengl && (objBitmap.Width != this.Width || objBitmap.Height != this.Height))
@ -709,9 +710,22 @@ namespace hud
bgon = true;
}
if (float.IsNaN(_roll) || float.IsNaN(_pitch) || float.IsNaN(_heading))
{
isNaN = true;
_roll = 0;
_pitch = 0;
_heading = 0;
}
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
graphicsObject.RotateTransform(-_roll);
graphicsObject.RotateTransform(-_roll);
int fontsize = this.Height / 30; // = 10
int fontoffset = fontsize - 10;
@ -1272,6 +1286,11 @@ namespace hud
drawstring(graphicsObject, gps, font, fontsize + 2, whiteBrush, this.Width - 10 * fontsize, this.Height - 30 - fontoffset);
if (isNaN)
drawstring(graphicsObject, "NaN Error " + DateTime.Now, font, this.Height / 30 + 10, Brushes.Red, 50, 50);
if (!opengl)
{
e.Graphics.DrawImageUnscaled(objBitmap, 0, 0);
@ -1305,7 +1324,6 @@ namespace hud
catch (Exception ex)
{
Console.WriteLine("hud error "+ex.ToString());
//MessageBox.Show(ex.ToString());
}
}

2
Tools/ArdupilotMegaPlanner/Log.cs
View File

@ -83,7 +83,7 @@ namespace ArdupilotMega
threadrun = true;
System.Threading.Thread.Sleep(2000);
System.Threading.Thread.Sleep(4000);
try
{

243
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -9,6 +9,8 @@ using System.Reflection;
using System.Reflection.Emit;
using System.IO;
using System.Drawing;
using System.Threading;
using ArdupilotMega.Controls;
using ArdupilotMega.Mavlink;
using System.ComponentModel;
@ -20,14 +22,10 @@ namespace ArdupilotMega
private const double CONNECT_TIMEOUT_SECONDS = 30;
/// <summary>
/// Used for progress reporting on all internal functions
/// </summary>
public event ProgressEventHandler Progress;
/// <summary>
/// progress form to handle connect and param requests
/// </summary>
ProgressReporter frm;
ProgressReporterDialogue frmProgressReporter;
/// <summary>
/// used for outbound packet sending
@ -131,22 +129,39 @@ namespace ArdupilotMega
if (BaseStream.IsOpen)
return;
//System.Windows.Forms.Form frm = Common.LoadingBox("Mavlink Connecting..", "Mavlink Connecting..");
//frm.TopMost = true;
frmProgressReporter = new ProgressReporterDialogue
{
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Text = "Connecting Mavlink"
};
frm = new ProgressReporter();
MainV2.fixtheme(frm);
this.Progress += new ProgressEventHandler(MAVLink_Progress);
//(progress, status) => { frm.updateProgressAndStatus(progress, status); };
if (getparams)
{
frmProgressReporter.DoWork += FrmProgressReporterDoWorkAndParams;
}
else
{
frmProgressReporter.DoWork += FrmProgressReporterDoWorkNOParams;
}
frmProgressReporter.UpdateProgressAndStatus(-1, "Mavlink Connecting...");
MainV2.fixtheme(frmProgressReporter);
frm.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
frmProgressReporter.RunBackgroundOperationAsync();
}
frm.Show();
void FrmProgressReporterDoWorkAndParams(object sender, ProgressWorkerEventArgs e)
{
OpenBg(true, e);
}
frm.Focus();
void FrmProgressReporterDoWorkNOParams(object sender, ProgressWorkerEventArgs e)
{
OpenBg(false, e);
}
if (Progress != null)
Progress(-1, "Mavlink Connecting...");
private void OpenBg(bool getparams, ProgressWorkerEventArgs progressWorkerEventArgs)
{
frmProgressReporter.UpdateProgressAndStatus(-1, "Mavlink Connecting...");
// reset
sysid = 0;
@ -168,15 +183,7 @@ namespace ArdupilotMega
BaseStream.toggleDTR();
// allow 2560 connect timeout on usb
for (int a = 0; a < 1000; a++ ) {
System.Threading.Thread.Sleep(1);
if (!MainV2.instance.InvokeRequired)
{
System.Windows.Forms.Application.DoEvents();
}
}
Thread.Sleep(1000);
}
byte[] buffer;
@ -189,8 +196,9 @@ namespace ArdupilotMega
countDown.Elapsed += (sender, e) =>
{
int secondsRemaining = (deadline - e.SignalTime).Seconds;
if (Progress != null)
Progress(-1, string.Format("Trying to connect.\nTimeout in {0}", secondsRemaining));
//if (Progress != null)
// Progress(-1, string.Format("Trying to connect.\nTimeout in {0}", secondsRemaining));
frmProgressReporter.UpdateProgressAndStatus(-1, string.Format("Trying to connect.\nTimeout in {0}", secondsRemaining));
if (secondsRemaining > 0) countDown.Start();
};
countDown.Start();
@ -199,31 +207,35 @@ namespace ArdupilotMega
while (true)
{
if (progressWorkerEventArgs.CancelRequested)
{
progressWorkerEventArgs.CancelAcknowledged = true;
countDown.Stop();
if (BaseStream.IsOpen)
BaseStream.Close();
MainV2.givecomport = false;
return;
}
// incase we are in setup mode
BaseStream.WriteLine("planner\rgcs\r");
Console.WriteLine(DateTime.Now.Millisecond + " start ");
/*
if (Progress != null)
{
int secondsRemaining = (start.AddSeconds(CONNECT_TIMEOUT_SECONDS) - DateTime.Now).Seconds;
Progress(-1, string.Format("Trying to connect.\nTimeout in {0}", secondsRemaining));
}
*/
if (lastbad[0] == '!' && lastbad[1] == 'G' || lastbad[0] == 'G' && lastbad[1] == '!') // waiting for gps lock
{
if (Progress != null)
Progress(-1, "Waiting for GPS detection..");
start = start.AddSeconds(5); // each round is 1.1 seconds
//if (Progress != null)
// Progress(-1, "Waiting for GPS detection..");
frmProgressReporter.UpdateProgressAndStatus(-1, "Waiting for GPS detection..");
deadline = deadline.AddSeconds(5); // each round is 1.1 seconds
}
if (DateTime.Now > deadline)
{
if (Progress != null)
Progress(-1, "No Heatbeat Packets");
//if (Progress != null)
// Progress(-1, "No Heatbeat Packets");
this.Close();
progressWorkerEventArgs.ErrorMessage = "No Heatbeat Packets Received";
throw new Exception("No Mavlink Heartbeat Packets where read from this port - Verify Baud Rate and setup\nIt might also be waiting for GPS Lock\nAPM Planner waits for 2 valid heartbeat packets before connecting");
}
@ -267,11 +279,12 @@ namespace ArdupilotMega
countDown.Stop();
if (Progress != null)
Progress(-1, "Getting Params.. (sysid " + sysid + " compid " + compid + ") ");
// if (Progress != null)
// Progress(-1, "Getting Params.. (sysid " + sysid + " compid " + compid + ") ");
frmProgressReporter.UpdateProgressAndStatus(0, "Getting Params.. (sysid " + sysid + " compid " + compid + ") ");
if (getparams)
getParamList();
getParamListBG();
}
catch (Exception e)
{
@ -281,28 +294,19 @@ namespace ArdupilotMega
}
catch { }
MainV2.givecomport = false;
if (Progress != null)
Progress(-1, "Connect Failed\n" + e.Message);
throw e;
// if (Progress != null)
// Progress(-1, "Connect Failed\n" + e.Message);
if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage))
progressWorkerEventArgs.ErrorMessage = "Connect Failed";
throw;
}
frm.Close();
//frmProgressReporter.Close();
MainV2.givecomport = false;
frmProgressReporter.UpdateProgressAndStatus(100, "Done.");
Console.WriteLine("Done open " + sysid + " " + compid);
packetslost = 0;
}
void MAVLink_Progress(int progress, string status)
{
if (frm != null)
{
try
{
frm.updateProgressAndStatus(progress, status);
}
catch (Exception ex) { throw ex; }
}
}
byte[] getHeartBeat()
{
DateTime start = DateTime.Now;
@ -556,19 +560,48 @@ namespace ArdupilotMega
}
*/
public void getParamList()
{
frmProgressReporter = new ProgressReporterDialogue
{
StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen,
Text = "Getting Params"
};
frmProgressReporter.DoWork += FrmProgressReporterGetParams;
frmProgressReporter.UpdateProgressAndStatus(-1, "Getting Params...");
MainV2.fixtheme(frmProgressReporter);
frmProgressReporter.RunBackgroundOperationAsync();
}
void FrmProgressReporterGetParams(object sender, ProgressWorkerEventArgs e)
{
Hashtable old = new Hashtable(param);
getParamListBG();
if (frmProgressReporter.doWorkArgs.CancelRequested)
{
param = old;
}
}
/// <summary>
/// Get param list from apm
/// </summary>
/// <returns></returns>
public Hashtable getParamList()
private Hashtable getParamListBG()
{
MainV2.givecomport = true;
List<int> missed = new List<int>();
// ryan - re start
__mavlink_param_request_read_t rereq = new __mavlink_param_request_read_t();
rereq.target_system = sysid;
rereq.target_component = compid;
// clear old
param = new Hashtable();
int retrys = 3;
int param_count = 0;
int param_total = 5;
goagain:
__mavlink_param_request_list_t req = new __mavlink_param_request_list_t();
req.target_system = sysid;
@ -578,13 +611,18 @@ namespace ArdupilotMega
DateTime start = DateTime.Now;
DateTime restart = DateTime.Now;
int retrys = 3;
int nextid = 0;
int param_count = 0;
int param_total = 5;
while (param_count < param_total)
{
if (frmProgressReporter.doWorkArgs.CancelRequested)
{
frmProgressReporter.doWorkArgs.CancelAcknowledged = true;
MainV2.givecomport = false;
frmProgressReporter.doWorkArgs.ErrorMessage = "User Canceled";
return param;
}
if (!(start.AddMilliseconds(5000) > DateTime.Now))
{
if (retrys > 0)
@ -598,15 +636,7 @@ namespace ArdupilotMega
MainV2.givecomport = false;
throw new Exception("Timeout on read - getParamList");
}
if (!(restart.AddMilliseconds(1000) > DateTime.Now))
{
rereq.param_id = new byte[] { 0x0, 0x0 };
rereq.param_index = (short)nextid;
sendPacket(rereq);
restart = DateTime.Now;
}
System.Windows.Forms.Application.DoEvents();
byte[] buffer = readPacket();
if (buffer.Length > 5)
{
@ -619,9 +649,10 @@ namespace ArdupilotMega
__mavlink_param_value_t par = buffer.ByteArrayToStructure<__mavlink_param_value_t>(6);
// set new target
param_total = (par.param_count);
string paramID = System.Text.ASCIIEncoding.ASCII.GetString(par.param_id);
int pos = paramID.IndexOf('\0');
@ -629,47 +660,41 @@ namespace ArdupilotMega
{
paramID = paramID.Substring(0, pos);
}
Console.WriteLine(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (param_total - 1) + " name: " + paramID);
// for out of order udp packets
if (BaseStream.GetType() != typeof(UdpSerial))
{
if (nextid == (par.param_index))
{
nextid++;
if (Progress != null)
Progress((par.param_index * 100) / param_total, "Got param " + paramID);
}
else
{
if (retrys > 0)
{
generatePacket(MAVLINK_MSG_ID_PARAM_REQUEST_LIST, req);
param_count = 0;
nextid = 0;
retrys--;
continue;
}
Console.WriteLine("Out of order packet. Re-requesting list");
missed.Add(nextid); // for later devel
MainV2.givecomport = false;
throw new Exception("Missed ID expecting " + nextid + " got " + (par.param_index) + "\nPlease try loading again");
}
// check if we already have it
if (param.ContainsKey(paramID)) {
continue;
}
Console.WriteLine(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (param_total - 1) + " name: " + paramID);
modifyParamForDisplay(true, paramID, ref par.param_value);
param[paramID] = (par.param_value);
param_count++;
// if (Progress != null)
// Progress((param.Count * 100) / param_total, "Got param " + paramID);
this.frmProgressReporter.UpdateProgressAndStatus((param.Count * 100) / param_total, "Got param " + paramID);
}
else
{
//Console.WriteLine(DateTime.Now + " PC paramlist " + buffer[5] + " " + this.BytesToRead);
//Console.WriteLine(DateTime.Now + " PC paramlist " + buffer[5] + " want " + MAVLINK_MSG_ID_PARAM_VALUE + " btr " + BaseStream.BytesToRead);
}
//stopwatch.Stop();
//Console.WriteLine("Time elapsed: {0}", stopwatch.Elapsed);
}
}
if (param.Count != param_total)
{
if (retrys > 0)
{
this.frmProgressReporter.UpdateProgressAndStatus((param.Count * 100) / param_total, "Getting missed params");
retrys--;
goto goagain;
}
throw new Exception("Missing Params");
}
MainV2.givecomport = false;
return param;
}
@ -1923,10 +1948,10 @@ namespace ArdupilotMega
throw new Exception("Timeout");
}
System.Threading.Thread.Sleep(1);
if (!MainV2.instance.InvokeRequired)
{
System.Windows.Forms.Application.DoEvents(); // when connecting this is in the main thread
}
// if (!MainV2.instance.InvokeRequired)
// {
// System.Windows.Forms.Application.DoEvents(); // when connecting this is in the main thread
// }
to++;
}
if (BaseStream.IsOpen)

9
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -125,8 +125,8 @@ namespace ArdupilotMega
CMB_serialport.Items.Add("UDP");
if (CMB_serialport.Items.Count > 0)
{
CMB_serialport.SelectedIndex = 0;
CMB_baudrate.SelectedIndex = 7;
CMB_serialport.SelectedIndex = 0;
}
splash.Refresh();
@ -1945,6 +1945,13 @@ namespace ArdupilotMega
frm.Show();
return true;
}
if (keyData == (Keys.Control | Keys.A)) // test
{
Form frm = new _3DRradio();
fixtheme(frm);
frm.Show();
return true;
}
if (keyData == (Keys.Control | Keys.T)) // for override connect
{
try

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

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.1.40")]
[assembly: AssemblyFileVersion("1.1.41")]
[assembly: NeutralResourcesLanguageAttribute("")]

14
Tools/ArdupilotMegaPlanner/Properties/Resources.Designer.cs generated
View File

@ -214,6 +214,20 @@ namespace ArdupilotMega.Properties {
}
}
public static System.Drawing.Bitmap iconWarning32 {
get {
object obj = ResourceManager.GetObject("iconWarning32", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
public static System.Drawing.Bitmap iconWarning48 {
get {
object obj = ResourceManager.GetObject("iconWarning48", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
public static System.Drawing.Bitmap octo {
get {
object obj = ResourceManager.GetObject("octo", resourceCulture);

14
Tools/ArdupilotMegaPlanner/Properties/Resources.resx
View File

@ -181,9 +181,6 @@
<data name="hexa" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\frames-07.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="y6" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\frames-08.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="planeicon" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\planetracker.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
@ -1201,7 +1198,6 @@
<data name="opticalflow" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\BR-0016-01-3T.jpg;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="hil" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\new frames-10.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
@ -1220,4 +1216,14 @@
<data name="octov" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\new frames-06.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="iconWarning32" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\iconWarning32.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<data name="iconWarning48" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\iconWarning48.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
<assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="y6" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\y6.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
</root>

620
Tools/ArdupilotMegaPlanner/Radio/3DRradio.Designer.cs generated Normal file
View File

@ -0,0 +1,620 @@
namespace ArdupilotMega
{
partial class _3DRradio
{
/// <summary>
/// Required designer variable.
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// Clean up any resources being used.
/// </summary>
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region Windows Form Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
private void InitializeComponent()
{
this.components = new System.ComponentModel.Container();
this.Progressbar = new System.Windows.Forms.ProgressBar();
this.S1 = new System.Windows.Forms.ComboBox();
this.label1 = new System.Windows.Forms.Label();
this.S0 = new System.Windows.Forms.TextBox();
this.label2 = new System.Windows.Forms.Label();
this.label3 = new System.Windows.Forms.Label();
this.S2 = new System.Windows.Forms.ComboBox();
this.label4 = new System.Windows.Forms.Label();
this.S3 = new System.Windows.Forms.ComboBox();
this.label5 = new System.Windows.Forms.Label();
this.S4 = new System.Windows.Forms.ComboBox();
this.label6 = new System.Windows.Forms.Label();
this.S5 = new System.Windows.Forms.CheckBox();
this.label7 = new System.Windows.Forms.Label();
this.S6 = new System.Windows.Forms.CheckBox();
this.label8 = new System.Windows.Forms.Label();
this.S7 = new System.Windows.Forms.CheckBox();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.RS7 = new System.Windows.Forms.CheckBox();
this.RS6 = new System.Windows.Forms.CheckBox();
this.RS5 = new System.Windows.Forms.CheckBox();
this.RS4 = new System.Windows.Forms.ComboBox();
this.RS3 = new System.Windows.Forms.ComboBox();
this.RS2 = new System.Windows.Forms.ComboBox();
this.RS1 = new System.Windows.Forms.ComboBox();
this.RS0 = new System.Windows.Forms.TextBox();
this.label9 = new System.Windows.Forms.Label();
this.label10 = new System.Windows.Forms.Label();
this.RTI = new System.Windows.Forms.TextBox();
this.ATI = new System.Windows.Forms.TextBox();
this.RSSI = new System.Windows.Forms.TextBox();
this.label11 = new System.Windows.Forms.Label();
this.label12 = new System.Windows.Forms.Label();
this.BUT_savesettings = new ArdupilotMega.MyButton();
this.BUT_getcurrent = new ArdupilotMega.MyButton();
this.lbl_status = new ArdupilotMega.MyLabel();
this.BUT_upload = new ArdupilotMega.MyButton();
this.SuspendLayout();
//
// Progressbar
//
this.Progressbar.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.Progressbar.Location = new System.Drawing.Point(12, 368);
this.Progressbar.Name = "Progressbar";
this.Progressbar.Size = new System.Drawing.Size(294, 36);
this.Progressbar.TabIndex = 2;
//
// S1
//
this.S1.FormattingEnabled = true;
this.S1.Items.AddRange(new object[] {
"115",
"111",
"57",
"38",
"19",
"9",
"4",
"2",
"1"});
this.S1.Location = new System.Drawing.Point(87, 103);
this.S1.Name = "S1";
this.S1.Size = new System.Drawing.Size(80, 21);
this.S1.TabIndex = 4;
this.toolTip1.SetToolTip(this.S1, "Serial Baud Rate 57 = 57600");
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(15, 111);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(32, 13);
this.label1.TabIndex = 5;
this.label1.Text = "Baud";
//
// S0
//
this.S0.Location = new System.Drawing.Point(87, 77);
this.S0.Name = "S0";
this.S0.ReadOnly = true;
this.S0.Size = new System.Drawing.Size(80, 20);
this.S0.TabIndex = 7;
//
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(15, 84);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(39, 13);
this.label2.TabIndex = 8;
this.label2.Text = "Format";
//
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(15, 138);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(53, 13);
this.label3.TabIndex = 10;
this.label3.Text = "Air Speed";
//
// S2
//
this.S2.FormattingEnabled = true;
this.S2.Items.AddRange(new object[] {
"192",
"160",
"128",
"96",
"64",
"32",
"16"});
this.S2.Location = new System.Drawing.Point(87, 130);
this.S2.Name = "S2";
this.S2.Size = new System.Drawing.Size(80, 21);
this.S2.TabIndex = 9;
this.toolTip1.SetToolTip(this.S2, "the inter-radio data rate in rounded kbps. So 128 means");
//
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(15, 165);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(38, 13);
this.label4.TabIndex = 12;
this.label4.Text = "Net ID";
//
// S3
//
this.S3.FormattingEnabled = true;
this.S3.Items.AddRange(new object[] {
"1",
"2",
"3",
"4",
"5",
"6",
"7",
"8",
"9",
"10",
"11",
"12",
"13",
"14",
"15",
"16",
"17",
"18",
"19",
"20",
"21",
"22",
"23",
"24",
"25",
"26",
"27",
"28",
"29",
"30"});
this.S3.Location = new System.Drawing.Point(87, 157);
this.S3.Name = "S3";
this.S3.Size = new System.Drawing.Size(80, 21);
this.S3.TabIndex = 11;
this.toolTip1.SetToolTip(this.S3, "a 16 bit \'network ID\'. This is used to seed the frequency");
//
// label5
//
this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(15, 192);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(52, 13);
this.label5.TabIndex = 14;
this.label5.Text = "Tx Power";
//
// S4
//
this.S4.FormattingEnabled = true;
this.S4.Items.AddRange(new object[] {
"0",
"1",
"2",
"3",
"4",
"5",
"6",
"7",
"8",
"9",
"10",
"11",
"12",
"13",
"14",
"15",
"16",
"17",
"18",
"19",
"20"});
this.S4.Location = new System.Drawing.Point(87, 184);
this.S4.Name = "S4";
this.S4.Size = new System.Drawing.Size(80, 21);
this.S4.TabIndex = 13;
this.toolTip1.SetToolTip(this.S4, "the transmit power in dBm. 20dBm is 100mW. It is useful to");
//
// label6
//
this.label6.AutoSize = true;
this.label6.Location = new System.Drawing.Point(15, 219);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(28, 13);
this.label6.TabIndex = 16;
this.label6.Text = "ECC";
//
// S5
//
this.S5.Location = new System.Drawing.Point(87, 211);
this.S5.Name = "S5";
this.S5.Size = new System.Drawing.Size(80, 21);
this.S5.TabIndex = 15;
this.toolTip1.SetToolTip(this.S5, "to enable/disable the golay error correcting code. It defaults");
//
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(15, 246);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(44, 13);
this.label7.TabIndex = 18;
this.label7.Text = "Mavlink";
//
// S6
//
this.S6.Location = new System.Drawing.Point(87, 238);
this.S6.Name = "S6";
this.S6.Size = new System.Drawing.Size(80, 21);
this.S6.TabIndex = 17;
this.toolTip1.SetToolTip(this.S6, "enables/disables MAVLink packet framing. This tries to align");
//
// label8
//
this.label8.AutoSize = true;
this.label8.Location = new System.Drawing.Point(15, 273);
this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(68, 13);
this.label8.TabIndex = 20;
this.label8.Text = "Op Pre Send";
//
// S7
//
this.S7.Location = new System.Drawing.Point(87, 265);
this.S7.Name = "S7";
this.S7.Size = new System.Drawing.Size(80, 21);
this.S7.TabIndex = 19;
this.toolTip1.SetToolTip(this.S7, "enables/disables \"opportunistic resend\". When enabled the");
//
// RS7
//
this.RS7.Location = new System.Drawing.Point(201, 265);
this.RS7.Name = "RS7";
this.RS7.Size = new System.Drawing.Size(80, 21);
this.RS7.TabIndex = 29;
this.toolTip1.SetToolTip(this.RS7, "enables/disables \"opportunistic resend\". When enabled the");
//
// RS6
//
this.RS6.Location = new System.Drawing.Point(201, 238);
this.RS6.Name = "RS6";
this.RS6.Size = new System.Drawing.Size(80, 21);
this.RS6.TabIndex = 28;
this.toolTip1.SetToolTip(this.RS6, "enables/disables MAVLink packet framing. This tries to align");
//
// RS5
//
this.RS5.Location = new System.Drawing.Point(201, 211);
this.RS5.Name = "RS5";
this.RS5.Size = new System.Drawing.Size(80, 21);
this.RS5.TabIndex = 27;
this.toolTip1.SetToolTip(this.RS5, "to enable/disable the golay error correcting code. It defaults");
//
// RS4
//
this.RS4.FormattingEnabled = true;
this.RS4.Items.AddRange(new object[] {
"0",
"1",
"2",
"3",
"4",
"5",
"6",
"7",
"8",
"9",
"10",
"11",
"12",
"13",
"14",
"15",
"16",
"17",
"18",
"19",
"20"});
this.RS4.Location = new System.Drawing.Point(201, 184);
this.RS4.Name = "RS4";
this.RS4.Size = new System.Drawing.Size(80, 21);
this.RS4.TabIndex = 26;
this.toolTip1.SetToolTip(this.RS4, "the transmit power in dBm. 20dBm is 100mW. It is useful to");
//
// RS3
//
this.RS3.FormattingEnabled = true;
this.RS3.Items.AddRange(new object[] {
"1",
"2",
"3",
"4",
"5",
"6",
"7",
"8",
"9",
"10",
"11",
"12",
"13",
"14",
"15",
"16",
"17",
"18",
"19",
"20",
"21",
"22",
"23",
"24",
"25",
"26",
"27",
"28",
"29",
"30"});
this.RS3.Location = new System.Drawing.Point(201, 157);
this.RS3.Name = "RS3";
this.RS3.Size = new System.Drawing.Size(80, 21);
this.RS3.TabIndex = 25;
this.toolTip1.SetToolTip(this.RS3, "a 16 bit \'network ID\'. This is used to seed the frequency");
//
// RS2
//
this.RS2.FormattingEnabled = true;
this.RS2.Items.AddRange(new object[] {
"192",
"160",
"128",
"96",
"64",
"32",
"16"});
this.RS2.Location = new System.Drawing.Point(201, 130);
this.RS2.Name = "RS2";
this.RS2.Size = new System.Drawing.Size(80, 21);
this.RS2.TabIndex = 24;
this.toolTip1.SetToolTip(this.RS2, "the inter-radio data rate in rounded kbps. So 128 means");
//
// RS1
//
this.RS1.FormattingEnabled = true;
this.RS1.Items.AddRange(new object[] {
"115",
"111",
"57",
"38",
"19",
"9",
"4",
"2",
"1"});
this.RS1.Location = new System.Drawing.Point(201, 103);
this.RS1.Name = "RS1";
this.RS1.Size = new System.Drawing.Size(80, 21);
this.RS1.TabIndex = 22;
this.toolTip1.SetToolTip(this.RS1, "Serial Baud Rate 57 = 57600");
//
// RS0
//
this.RS0.Location = new System.Drawing.Point(201, 77);
this.RS0.Name = "RS0";
this.RS0.ReadOnly = true;
this.RS0.Size = new System.Drawing.Size(80, 20);
this.RS0.TabIndex = 23;
//
// label9
//
this.label9.AutoSize = true;
this.label9.Location = new System.Drawing.Point(108, 9);
this.label9.Name = "label9";
this.label9.Size = new System.Drawing.Size(33, 13);
this.label9.TabIndex = 30;
this.label9.Text = "Local";
//
// label10
//
this.label10.AutoSize = true;
this.label10.Location = new System.Drawing.Point(225, 9);
this.label10.Name = "label10";
this.label10.Size = new System.Drawing.Size(44, 13);
this.label10.TabIndex = 31;
this.label10.Text = "Remote";
//
// RTI
//
this.RTI.Location = new System.Drawing.Point(201, 25);
this.RTI.Name = "RTI";
this.RTI.ReadOnly = true;
this.RTI.Size = new System.Drawing.Size(80, 20);
this.RTI.TabIndex = 33;
//
// ATI
//
this.ATI.Location = new System.Drawing.Point(87, 25);
this.ATI.Name = "ATI";
this.ATI.ReadOnly = true;
this.ATI.Size = new System.Drawing.Size(80, 20);
this.ATI.TabIndex = 32;
//
// RSSI
//
this.RSSI.Location = new System.Drawing.Point(87, 51);
this.RSSI.Name = "RSSI";
this.RSSI.ReadOnly = true;
this.RSSI.Size = new System.Drawing.Size(194, 20);
this.RSSI.TabIndex = 34;
//
// label11
//
this.label11.AutoSize = true;
this.label11.Location = new System.Drawing.Point(15, 32);
this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(42, 13);
this.label11.TabIndex = 36;
this.label11.Text = "Version";
//
// label12
//
this.label12.AutoSize = true;
this.label12.Location = new System.Drawing.Point(15, 58);
this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(32, 13);
this.label12.TabIndex = 37;
this.label12.Text = "RSSI";
//
// BUT_savesettings
//
this.BUT_savesettings.Location = new System.Drawing.Point(99, 292);
this.BUT_savesettings.Name = "BUT_savesettings";
this.BUT_savesettings.Size = new System.Drawing.Size(75, 39);
this.BUT_savesettings.TabIndex = 21;
this.BUT_savesettings.Text = "Save Settings";
this.BUT_savesettings.UseVisualStyleBackColor = true;
this.BUT_savesettings.Click += new System.EventHandler(this.BUT_savesettings_Click);
//
// BUT_getcurrent
//
this.BUT_getcurrent.Location = new System.Drawing.Point(18, 292);
this.BUT_getcurrent.Name = "BUT_getcurrent";
this.BUT_getcurrent.Size = new System.Drawing.Size(75, 39);
this.BUT_getcurrent.TabIndex = 6;
this.BUT_getcurrent.Text = "Load Settings";
this.BUT_getcurrent.UseVisualStyleBackColor = true;
this.BUT_getcurrent.Click += new System.EventHandler(this.BUT_getcurrent_Click);
//
// lbl_status
//
this.lbl_status.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.lbl_status.BackColor = System.Drawing.SystemColors.ActiveCaption;
this.lbl_status.Location = new System.Drawing.Point(12, 340);
this.lbl_status.Name = "lbl_status";
this.lbl_status.resize = false;
this.lbl_status.Size = new System.Drawing.Size(294, 22);
this.lbl_status.TabIndex = 3;
//
// BUT_upload
//
this.BUT_upload.Location = new System.Drawing.Point(180, 292);
this.BUT_upload.Name = "BUT_upload";
this.BUT_upload.Size = new System.Drawing.Size(127, 39);
this.BUT_upload.TabIndex = 0;
this.BUT_upload.Text = "Upload Firmware (Local)";
this.BUT_upload.UseVisualStyleBackColor = true;
this.BUT_upload.Click += new System.EventHandler(this.BUT_upload_Click);
//
// _3DRradio
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(318, 416);
this.Controls.Add(this.label12);
this.Controls.Add(this.label11);
this.Controls.Add(this.RSSI);
this.Controls.Add(this.RTI);
this.Controls.Add(this.ATI);
this.Controls.Add(this.label10);
this.Controls.Add(this.label9);
this.Controls.Add(this.RS7);
this.Controls.Add(this.RS6);
this.Controls.Add(this.RS5);
this.Controls.Add(this.RS4);
this.Controls.Add(this.RS3);
this.Controls.Add(this.RS2);
this.Controls.Add(this.RS0);
this.Controls.Add(this.RS1);
this.Controls.Add(this.BUT_savesettings);
this.Controls.Add(this.label8);
this.Controls.Add(this.S7);
this.Controls.Add(this.label7);
this.Controls.Add(this.S6);
this.Controls.Add(this.label6);
this.Controls.Add(this.S5);
this.Controls.Add(this.label5);
this.Controls.Add(this.S4);
this.Controls.Add(this.label4);
this.Controls.Add(this.S3);
this.Controls.Add(this.label3);
this.Controls.Add(this.S2);
this.Controls.Add(this.label2);
this.Controls.Add(this.S0);
this.Controls.Add(this.BUT_getcurrent);
this.Controls.Add(this.label1);
this.Controls.Add(this.S1);
this.Controls.Add(this.lbl_status);
this.Controls.Add(this.Progressbar);
this.Controls.Add(this.BUT_upload);
this.MinimumSize = new System.Drawing.Size(334, 454);
this.Name = "_3DRradio";
this.Text = "3DRradio";
this.ResumeLayout(false);
this.PerformLayout();
}
#endregion
private MyButton BUT_upload;
private System.Windows.Forms.ProgressBar Progressbar;
private MyLabel lbl_status;
private System.Windows.Forms.ComboBox S1;
private System.Windows.Forms.Label label1;
private MyButton BUT_getcurrent;
private System.Windows.Forms.TextBox S0;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.Label label3;
private System.Windows.Forms.ComboBox S2;
private System.Windows.Forms.Label label4;
private System.Windows.Forms.ComboBox S3;
private System.Windows.Forms.Label label5;
private System.Windows.Forms.ComboBox S4;
private System.Windows.Forms.Label label6;
private System.Windows.Forms.CheckBox S5;
private System.Windows.Forms.Label label7;
private System.Windows.Forms.CheckBox S6;
private System.Windows.Forms.Label label8;
private System.Windows.Forms.CheckBox S7;
private MyButton BUT_savesettings;
private System.Windows.Forms.ToolTip toolTip1;
private System.Windows.Forms.CheckBox RS7;
private System.Windows.Forms.CheckBox RS6;
private System.Windows.Forms.CheckBox RS5;
private System.Windows.Forms.ComboBox RS4;
private System.Windows.Forms.ComboBox RS3;
private System.Windows.Forms.ComboBox RS2;
private System.Windows.Forms.TextBox RS0;
private System.Windows.Forms.ComboBox RS1;
private System.Windows.Forms.Label label9;
private System.Windows.Forms.Label label10;
private System.Windows.Forms.TextBox RTI;
private System.Windows.Forms.TextBox ATI;
private System.Windows.Forms.TextBox RSSI;
private System.Windows.Forms.Label label11;
private System.Windows.Forms.Label label12;
}
}

522
Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs Normal file
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@ -0,0 +1,522 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Net;
using System.IO;
namespace ArdupilotMega
{
public partial class _3DRradio : Form
{
public delegate void LogEventHandler(string message, int level = 0);
public delegate void ProgressEventHandler(double completed);
string firmwarefile = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "radio.hm_trp.hex";
public _3DRradio()
{
InitializeComponent();
}
bool getFirmware()
{
//https://raw.github.com/tridge/SiK/master/Firmware/dst/radio.hm_trp.hex
return Common.getFilefromNet("https://raw.github.com/tridge/SiK/master/Firmware/dst/radio.hm_trp.hex", firmwarefile);
}
void Sleep(int mstimeout)
{
DateTime endtime = DateTime.Now.AddMilliseconds(mstimeout);
while (DateTime.Now < endtime)
{
System.Threading.Thread.Sleep(1);
Application.DoEvents();
}
}
private void BUT_upload_Click(object sender, EventArgs e)
{
ArduinoSTK comPort = new ArduinoSTK();
string version = "";
uploader.Uploader uploader = new uploader.Uploader();
comPort.PortName = MainV2.comPort.BaseStream.PortName;
comPort.BaudRate = 115200;
comPort.Open();
bool bootloadermode = false;
try
{
uploader_ProgressEvent(0);
uploader_LogEvent("Trying Bootloader Mode");
uploader.port = comPort;
uploader.connect_and_sync();
uploader_LogEvent("In Bootloader Mode");
bootloadermode = true;
}
catch { uploader_LogEvent("Trying Firmware Mode"); bootloadermode = false; }
uploader.ProgressEvent += new ProgressEventHandler(uploader_ProgressEvent);
uploader.LogEvent += new LogEventHandler(uploader_LogEvent);
if (!bootloadermode)
{
comPort.BaudRate = 57600;
// clear buffer
comPort.DiscardInBuffer();
// setup a known enviroment
comPort.Write("\r\n");
// wait
Sleep(1000);
// send config string
comPort.Write("+++");
// wait
Sleep(1100);
// check for config responce "OK"
if (comPort.ReadExisting().Contains("OK"))
{
}
comPort.Write("\r\nATI\r\n");
Sleep(100);
version = comPort.ReadExisting();
}
if (version.Contains("on HM-TRP") || bootloadermode)
{
if (getFirmware())
{
uploader.IHex iHex = new uploader.IHex();
iHex.LogEvent += new LogEventHandler(iHex_LogEvent);
iHex.ProgressEvent += new ProgressEventHandler(iHex_ProgressEvent);
try
{
iHex.load(firmwarefile);
}
catch { MessageBox.Show("Bad Firmware File"); goto exit; }
if (!bootloadermode)
{
comPort.Write("AT&UPDATE\r\n");
string left = comPort.ReadExisting();
Console.WriteLine(left);
Sleep(700);
comPort.BaudRate = 115200;
}
try
{
uploader.upload(comPort, iHex);
}
catch (Exception ex) { MessageBox.Show("Upload Failed " + ex.Message); goto exit; }
}
else
{
MessageBox.Show("Failed to download new firmware");
}
}
else
{
MessageBox.Show("Failed to identify Radio");
}
exit:
if (comPort.IsOpen)
comPort.Close();
}
void iHex_ProgressEvent(double completed)
{
try
{
Progressbar.Value = (int)(completed * 100);
Application.DoEvents();
}
catch { }
}
void uploader_LogEvent(string message, int level = 0)
{
try
{
if (level == 0)
{
Console.Write(message);
lbl_status.Text = message;
Application.DoEvents();
}
}
catch { }
}
void iHex_LogEvent(string message, int level = 0)
{
try
{
if (level == 0)
{
lbl_status.Text = message;
Console.WriteLine(message);
Application.DoEvents();
}
}
catch { }
}
void uploader_ProgressEvent(double completed)
{
try
{
Progressbar.Value = (int)(completed * 100);
Application.DoEvents();
}
catch { }
}
private void BUT_getcurrent_Click(object sender, EventArgs e)
{
SerialPort comPort = new SerialPort();
comPort.PortName = MainV2.comPort.BaseStream.PortName;
comPort.BaudRate = 57600;
comPort.ReadTimeout = 4000;
comPort.Open();
lbl_status.Text = "Connecting";
if (doConnect(comPort))
{
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command ATI & RTI";
ATI.Text = doCommand(comPort, "ATI1");
RTI.Text = doCommand(comPort, "RTI1");
RSSI.Text = doCommand(comPort, "ATI7");
lbl_status.Text = "Doing Command ATI5";
string answer = doCommand(comPort, "ATI5");
Console.Write("Local\n" + answer);
string[] items = answer.Split('\n');
foreach (string item in items)
{
if (item.StartsWith("S"))
{
string[] values = item.Split(':', '=');
if (values.Length == 3)
{
Control[] controls = this.Controls.Find(values[0].Trim(), false);
if (controls.Length > 0)
{
if (controls[0].GetType() == typeof(CheckBox))
{
((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
}
else
{
controls[0].Text = values[2].Trim();
}
}
}
}
}
// remote
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command RTI5";
answer = doCommand(comPort, "RTI5");
Console.Write("Remote\n" + answer);
items = answer.Split('\n');
foreach (string item in items)
{
if (item.StartsWith("S"))
{
string[] values = item.Split(':', '=');
if (values.Length == 3)
{
Control[] controls = this.Controls.Find("R"+values[0].Trim(), false);
if (controls[0].GetType() == typeof(CheckBox))
{
((CheckBox)controls[0]).Checked = values[2].Trim() == "1";
}
else
{
controls[0].Text = values[2].Trim();
}
}
}
}
lbl_status.Text = "Done";
}
else
{
lbl_status.Text = "Fail";
MessageBox.Show("Failed to enter command mode");
}
comPort.WriteLine("ATZ");
comPort.Close();
}
string doCommand(SerialPort comPort, string cmd)
{
Sleep(100);
comPort.DiscardInBuffer();
comPort.Write(cmd + "\r\n");
string temp = comPort.ReadLine(); // echo
Sleep(500);
string ans = "";
while (comPort.BytesToRead > 0)
{
ans = ans + comPort.ReadLine() + "\n";
Sleep(50);
if (ans.Length > 500)
return "";
}
return ans;
}
bool doConnect(SerialPort comPort)
{
// clear buffer
comPort.DiscardOutBuffer();
comPort.DiscardInBuffer();
// setup a known enviroment
comPort.Write("\r\n");
// wait
Sleep(1100);
// send config string
comPort.Write("+++");
// wait
Sleep(1100);
// check for config responce "OK"
if (comPort.ReadExisting().Contains("OK"))
{
//return true;
}
else
{
// cleanup incase we are already in cmd mode
comPort.Write("\r\n");
}
string version = doCommand(comPort, "ATI");
Console.Write("Connect Version: "+version);
if (version.Contains("on HM-TRP"))
{
return true;
}
return false;
}
private void BUT_savesettings_Click(object sender, EventArgs e)
{
SerialPort comPort = new SerialPort();
comPort.PortName = MainV2.comPort.BaseStream.PortName;
comPort.BaudRate = 57600;
comPort.ReadTimeout = 4000;
comPort.Open();
lbl_status.Text = "Connecting";
if (doConnect(comPort))
{
comPort.DiscardInBuffer();
lbl_status.Text = "Doing Command";
// remote
string answer = doCommand(comPort, "RTI5");
Console.Write("Remote\n"+answer);
string[] items = answer.Split('\n');
foreach (string item in items)
{
if (item.StartsWith("S"))
{
string[] values = item.Split(':', '=');
if (values.Length == 3)
{
Control[] controls = this.Controls.Find("R"+values[0].Trim(), false);
if (controls.Length > 0)
{
if (controls[0].GetType() == typeof(CheckBox))
{
string value = ((CheckBox)controls[0]).Checked ? "1" : "0";
if (value != values[2].Trim())
{
string cmdanswer = doCommand(comPort, "RT" + values[0].Trim() + "=" + value + "\r");
if (cmdanswer.Contains("OK"))
{
}
else
{
MessageBox.Show("Set Command error");
}
}
}
else
{
if (controls[0].Text != values[2].Trim())
{
string cmdanswer = doCommand(comPort, "RT" + values[0].Trim() + "=" + controls[0].Text + "\r");
if (cmdanswer.Contains("OK"))
{
}
else
{
MessageBox.Show("Set Command error");
}
}
}
}
}
}
}
// write it
doCommand(comPort, "RT&W");
// return to normal mode
comPort.WriteLine("RTZ");
comPort.Write("\r\n");
Sleep(100);
comPort.DiscardInBuffer();
//local
answer = doCommand(comPort, "ATI5");
Console.Write("Local\n" + answer);
items = answer.Split('\n');
foreach (string item in items)
{
if (item.StartsWith("S"))
{
string[] values = item.Split(':', '=');
if (values.Length == 3)
{
Control[] controls = this.Controls.Find(values[0].Trim(), false);
if (controls.Length > 0)
{
if (controls[0].GetType() == typeof(CheckBox))
{
string value = ((CheckBox)controls[0]).Checked ? "1" : "0";
if (value != values[2].Trim())
{
string cmdanswer = doCommand(comPort, "AT" + values[0].Trim() + "=" + value + "\r");
if (cmdanswer.Contains("OK"))
{
}
else
{
MessageBox.Show("Set Command error");
}
}
}
else
{
if (controls[0].Text != values[2].Trim())
{
string cmdanswer = doCommand(comPort, "AT" + values[0].Trim() + "=" + controls[0].Text + "\r");
if (cmdanswer.Contains("OK"))
{
}
else
{
MessageBox.Show("Set Command error");
}
}
}
}
}
}
}
// write it
doCommand(comPort, "AT&W");
lbl_status.Text = "Done";
}
else
{
lbl_status.Text = "Fail";
MessageBox.Show("Failed to enter command mode");
}
// return to normal mode
comPort.WriteLine("ATZ");
comPort.Close();
}
}
}

123
Tools/ArdupilotMegaPlanner/Radio/3DRradio.resx Normal file
View File

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

147
Tools/ArdupilotMegaPlanner/Radio/IHex.cs Normal file
View File

@ -0,0 +1,147 @@
using System;
using System.Collections.Generic;
using System.IO;
namespace uploader
{
public class IHex : SortedList<UInt32, byte[]>
{
public event ArdupilotMega._3DRradio.LogEventHandler LogEvent;
public event ArdupilotMega._3DRradio.ProgressEventHandler ProgressEvent;
private SortedList<UInt32, UInt32> merge_index;
public IHex ()
{
merge_index = new SortedList<UInt32, UInt32> ();
}
public void load (string fromPath)
{
StreamReader sr = new StreamReader (fromPath);
UInt32 loadedSize = 0;
// discard anything we might previous have loaded
Clear ();
merge_index.Clear ();
log (string.Format ("reading from {0}\n", Path.GetFileName(fromPath)));
while (!sr.EndOfStream) {
string line = sr.ReadLine ();
// every line must start with a :
if (!line.StartsWith (":"))
throw new Exception ("invalid IntelHex file");
if (ProgressEvent != null)
ProgressEvent(sr.BaseStream.Position / (double)sr.BaseStream.Length);
// parse the record type and data length, assume ihex8
// ignore the checksum
byte length = Convert.ToByte (line.Substring (1, 2), 16);
UInt32 address = Convert.ToUInt32 (line.Substring (3, 4), 16);
byte rtype = Convert.ToByte (line.Substring (7, 2), 16);
// handle type zero (data) records
if (rtype == 0) {
byte[] b = new byte[length];
string hexbytes = line.Substring (9, length * 2);
// convert hex bytes
for (int i = 0; i < length; i++) {
b [i] = Convert.ToByte (hexbytes.Substring (i * 2, 2), 16);
}
log (string.Format ("ihex: 0x{0:X}: {1}\n", address, length), 1);
loadedSize += length;
// and add to the list of ranges
insert (address, b);
}
}
if (Count < 1)
throw new Exception ("no data in IntelHex file");
log (string.Format ("read {0} bytes from {1}\n", loadedSize, fromPath));
}
private void log (string message, int level = 0)
{
if (LogEvent != null)
LogEvent (message, level);
}
private void idx_record (UInt32 start, byte[] data)
{
UInt32 len = (UInt32)data.GetLength (0);
merge_index.Add (start + len, start);
}
private void idx_remove (UInt32 start, byte[] data)
{
UInt32 len = (UInt32)data.GetLength (0);
merge_index.Remove (start + len);
}
private bool idx_find (UInt32 start, out UInt32 other)
{
return merge_index.TryGetValue (start, out other);
}
public void insert (UInt32 key, byte[] data)
{
UInt32 other;
byte[] mergedata;
// value of the key that would come after this one
other = key;
other += (UInt32)data.GetLength (0);
// can we merge with the next block
if (TryGetValue (other, out mergedata)) {
int oldlen = data.GetLength (0);
// remove the next entry, we are going to merge with it
Remove (other);
// remove its index entry as well
idx_remove (other, mergedata);
log (string.Format ("ihex: merging {0:X}/{1} with next {2:X}/{3}\n",
key, data.GetLength (0),
other, mergedata.GetLength (0)), 1);
// resize the data array and append data from the next block
Array.Resize (ref data, data.GetLength (0) + mergedata.GetLength (0));
Array.Copy (mergedata, 0, data, oldlen, mergedata.GetLength (0));
}
// look up a possible adjacent preceding block in the merge index
if (idx_find (key, out other)) {
mergedata = this [other];
int oldlen = mergedata.GetLength (0);
Remove (other);
idx_remove (other, mergedata);
log (string.Format ("ihex: merging {0:X}/{1} with prev {2:X}/{3}\n",
key, data.GetLength (0),
other, mergedata.GetLength (0)), 1);
Array.Resize (ref mergedata, data.GetLength (0) + mergedata.GetLength (0));
Array.Copy (data, 0, mergedata, oldlen, data.GetLength (0));
key = other;
data = mergedata;
}
// add the merged block
Add (key, data);
idx_record (key, data);
log (string.Format ("ihex: adding {0:X}/{1}\n", key, data.GetLength (0)), 1);
}
}
}

441
Tools/ArdupilotMegaPlanner/Radio/Uploader.cs Normal file
View File

@ -0,0 +1,441 @@
using System;
using System.IO.Ports;
using System.Collections.Generic;
namespace uploader
{
public class Uploader
{
public event ArdupilotMega._3DRradio.LogEventHandler LogEvent;
public event ArdupilotMega._3DRradio.ProgressEventHandler ProgressEvent;
private int bytes_to_process;
private int bytes_processed;
public SerialPort port;
private enum Code : byte
{
// response codes
OK = 0x10,
FAILED = 0x11,
INSYNC = 0x12,
// protocol commands
EOC = 0x20,
GET_SYNC = 0x21,
GET_DEVICE = 0x22, // returns DEVICE_ID and FREQ bytes
CHIP_ERASE = 0x23,
LOAD_ADDRESS = 0x24,
PROG_FLASH = 0x25,
READ_FLASH = 0x26,
PROG_MULTI = 0x27,
READ_MULTI = 0x28,
REBOOT = 0x30,
// protocol constants
PROG_MULTI_MAX = 64, // maximum number of bytes in a PROG_MULTI command
READ_MULTI_MAX = 255, // largest read that can be requested
// device IDs XXX should come with the firmware image...
DEVICE_ID_RF50 = 0x4d,
DEVICE_ID_HM_TRP= 0x4e,
// frequency code bytes XXX should come with the firmware image...
FREQ_NONE = 0xf0,
FREQ_433 = 0x43,
FREQ_470 = 0x47,
FREQ_868 = 0x86,
FREQ_915 = 0x91,
};
public Uploader ()
{
}
/// <summary>
/// Upload the specified image_data.
/// </summary>
/// <param name='image_data'>
/// Image_data to be uploaded.
/// </param>
public void upload (SerialPort on_port, IHex image_data)
{
progress (0);
port = on_port;
try {
connect_and_sync ();
upload_and_verify (image_data);
cmdReboot ();
} catch (Exception e) {
if (port.IsOpen)
port.Close ();
throw e;
}
}
public void connect_and_sync ()
{
// configure the port
port.ReadTimeout = 2000; // must be longer than full flash erase time (~1s)
// synchronise with the bootloader
//
// The second sync attempt here is mostly laziness, though it does verify that we
// can send more than one packet.
//
for (int i = 0; i < 3; i++) {
if (cmdSync ())
break;
log (string.Format ("sync({0}) failed\n", i), 1);
}
if (!cmdSync ()) {
log ("FAIL: could not synchronise with the bootloader");
throw new Exception ("SYNC FAIL");
}
checkDevice ();
log ("connected to bootloader\n");
}
private void upload_and_verify (IHex image_data)
{
// erase the program area first
log ("erasing program flash\n");
cmdErase ();
// progress fractions
bytes_to_process = 0;
foreach (byte[] bytes in image_data.Values) {
bytes_to_process += bytes.Length;
}
bytes_to_process *= 2; // once to program, once to verify
bytes_processed = 0;
// program the flash blocks
log ("programming\n");
foreach (KeyValuePair<UInt32, byte[]> kvp in image_data) {
// move the program pointer to the base of this block
cmdSetAddress (kvp.Key);
log (string.Format ("prog 0x{0:X}/{1}\n", kvp.Key, kvp.Value.Length), 1);
upload_block_multi (kvp.Value);
}
// and read them back to verify that they were programmed
log ("verifying\n");
foreach (KeyValuePair<UInt32, byte[]> kvp in image_data) {
// move the program pointer to the base of this block
cmdSetAddress (kvp.Key);
log (string.Format ("verf 0x{0:X}/{1}\n", kvp.Key, kvp.Value.Length), 1);
verify_block_multi (kvp.Value);
bytes_processed += kvp.Value.GetLength (0);
progress ((double)bytes_processed / bytes_to_process);
}
log ("Success\n");
}
private void upload_block (byte[] data)
{
foreach (byte b in data) {
cmdProgram (b);
progress ((double)(++bytes_processed) / bytes_to_process);
}
}
private void upload_block_multi (byte[] data)
{
int offset = 0;
int to_send;
int length = data.GetLength (0);
// Chunk the block in units of no more than what the bootloader
// will program.
while (offset < length) {
to_send = length - offset;
if (to_send > (int)Code.PROG_MULTI_MAX)
to_send = (int)Code.PROG_MULTI_MAX;
log (string.Format ("multi {0}/{1}\n", offset, to_send), 1);
cmdProgramMulti (data, offset, to_send);
offset += to_send;
bytes_processed += to_send;
progress ((double)bytes_processed / bytes_to_process);
}
}
private void verify_block_multi (byte[] data)
{
int offset = 0;
int to_verf;
int length = data.GetLength (0);
// Chunk the block in units of no more than what the bootloader
// will read.
while (offset < length) {
to_verf = length - offset;
if (to_verf > (int)Code.READ_MULTI_MAX)
to_verf = (int)Code.READ_MULTI_MAX;
log (string.Format ("multi {0}/{1}\n", offset, to_verf), 1);
cmdVerifyMulti (data, offset, to_verf);
offset += to_verf;
bytes_processed += to_verf;
progress ((double)bytes_processed / bytes_to_process);
}
}
/// <summary>
/// Requests a sync reply.
/// </summary>
/// <returns>
/// True if in sync, false otherwise.
/// </returns>
private bool cmdSync ()
{
port.DiscardInBuffer ();
send (Code.GET_SYNC);
send (Code.EOC);
try {
getSync ();
} catch {
return false;
}
return true;
}
/// <summary>
/// Erases the device.
/// </summary>
private void cmdErase ()
{
send (Code.CHIP_ERASE);
send (Code.EOC);
getSync ();
}
/// <summary>
/// Set the address for the next program or read operation.
/// </summary>
/// <param name='address'>
/// Address to be set.
/// </param>
private void cmdSetAddress (UInt32 address)
{
send (Code.LOAD_ADDRESS);
send ((UInt16)address);
send (Code.EOC);
getSync ();
}
/// <summary>
/// Programs a byte and advances the program address by one.
/// </summary>
/// <param name='data'>
/// Data to program.
/// </param>
private void cmdProgram (byte data)
{
send (Code.PROG_FLASH);
send (data);
send (Code.EOC);
getSync ();
}
private void cmdProgramMulti (byte[] data, int offset, int length)
{
send (Code.PROG_MULTI);
send ((byte)length);
for (int i = 0; i < length; i++)
send (data [offset + i]);
send (Code.EOC);
getSync ();
}
/// <summary>
/// Verifies the byte at the current program address.
/// </summary>
/// <param name='data'>
/// Data expected to be found.
/// </param>
/// <exception cref='VerifyFail'>
/// Is thrown when the verify fail.
/// </exception>
private void cmdVerify (byte data)
{
send (Code.READ_FLASH);
send (Code.EOC);
if (recv () != data)
throw new Exception ("flash verification failed");
getSync ();
}
private void cmdVerifyMulti (byte[] data, int offset, int length)
{
send (Code.READ_MULTI);
send ((byte)length);
send (Code.EOC);
for (int i = 0; i < length; i++) {
if (recv () != data [offset + i]) {
log ("flash verification failed\n");
throw new Exception ("VERIFY FAIL");
}
}
getSync ();
}
private void cmdReboot ()
{
send (Code.REBOOT);
}
private void checkDevice ()
{
Code id, freq;
send (Code.GET_DEVICE);
send (Code.EOC);
id = (Code)recv ();
freq = (Code)recv ();
// XXX should be getting valid board/frequency data from firmware file
if ((id != Code.DEVICE_ID_HM_TRP) && (id != Code.DEVICE_ID_RF50))
throw new Exception ("bootloader device ID mismatch");
getSync ();
}
/// <summary>
/// Expect the two-byte synchronisation codes within the read timeout.
/// </summary>
/// <exception cref='NoSync'>
/// Is thrown if the wrong bytes are read.
/// <exception cref='TimeoutException'>
/// Is thrown if the read timeout expires.
/// </exception>
private void getSync ()
{
try {
Code c;
c = (Code)recv ();
if (c != Code.INSYNC) {
log (string.Format ("got {0:X} when expecting {1:X}\n", (int)c, (int)Code.INSYNC), 2);
throw new Exception ("BAD SYNC");
}
c = (Code)recv ();
if (c != Code.OK) {
log (string.Format ("got {0:X} when expecting {1:X}\n", (int)c, (int)Code.EOC), 2);
throw new Exception ("BAD STATUS");
}
} catch {
log ("FAIL: lost synchronisation with the bootloader\n");
throw new Exception ("SYNC LOST");
}
log ("in sync\n", 5);
}
/// <summary>
/// Send the specified code to the bootloader.
/// </summary>
/// <param name='code'>
/// Code to send.
/// </param>
private void send (Code code)
{
byte[] b = new byte[] { (byte)code };
log ("send ", 5);
foreach (byte x in b) {
log (string.Format (" {0:X}", x), 5);
}
log ("\n", 5);
port.Write (b, 0, 1);
}
/// <summary>
/// Send the specified byte to the bootloader.
/// </summary>
/// <param name='data'>
/// Data byte to send.
/// </param>
private void send (byte data)
{
byte[] b = new byte[] { data };
log ("send ", 5);
foreach (byte x in b) {
log (string.Format (" {0:X}", x), 5);
}
log ("\n", 5);
port.Write (b, 0, 1);
}
/// <summary>
/// Send the specified 16-bit value, LSB first.
/// </summary>
/// <param name='data'>
/// Data value to send.
/// </param>
private void send (UInt16 data)
{
byte[] b = new byte[2] { (byte)(data & 0xff), (byte)(data >> 8) };
log ("send ", 5);
foreach (byte x in b) {
log (string.Format (" {0:X}", x), 5);
}
log ("\n", 5);
port.Write (b, 0, 2);
}
/// <summary>
/// Receive a byte.
/// </summary>
private byte recv ()
{
byte b;
b = (byte)port.ReadByte ();
log (string.Format ("recv {0:X}\n", b), 5);
return b;
}
private void log (string message, int level = 0)
{
if (LogEvent != null)
LogEvent (message, level);
}
private void progress (double completed)
{
if (ProgressEvent != null)
ProgressEvent (completed);
}
}
}

2
Tools/ArdupilotMegaPlanner/SerialInput.cs
View File

@ -64,7 +64,7 @@ namespace ArdupilotMega
{
alt = (100 * MainV2.cs.multiplierdist).ToString("0");
}
if (DialogResult.Cancel == Common.InputBox("Enter Alt", "Enter Alt", ref alt))
if (DialogResult.Cancel == Common.InputBox("Enter Alt", "Enter Alt (relative to home alt)", ref alt))
return;
intalt = (int)(100 * MainV2.cs.multiplierdist);

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

Binary file not shown.