APM Planner 1.1.29

add sensor offsets add script note remove some old unused define code new setup for Aerosim-rc 3.83 - not released yet. fix some opengl linux exceptions fix italian
2012-01-27 16:01:28 +08:00 · 2012-01-27 16:01:28 +08:00 · 64f59e4dd5
parent a8b3d2f063
commit 64f59e4dd5
17 changed files with 540 additions and 1395 deletions
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
@ -253,6 +253,9 @@
    <Compile Include="Controls\XorPlus.Designer.cs">
      <DependentUpon>XorPlus.cs</DependentUpon>
    </Compile>
+    <Compile Include="GCSViews\Firmware.Designer.cs">
+      <DependentUpon>Firmware.cs</DependentUpon>
+    </Compile>
    <Compile Include="HIL\Utils.cs" />
    <Compile Include="ResEdit.cs">
      <SubType>Form</SubType>
@ -652,9 +655,6 @@
    <EmbeddedResource Include="GCSViews\Terminal.zh-Hans.resx">
      <DependentUpon>Terminal.cs</DependentUpon>
    </EmbeddedResource>
-    <EmbeddedResource Include="HUD.resx">
-      <DependentUpon>HUD.cs</DependentUpon>
-    </EmbeddedResource>
    <EmbeddedResource Include="JoystickSetup.resx">
      <DependentUpon>JoystickSetup.cs</DependentUpon>
      <SubType>Designer</SubType>
@ -733,9 +733,6 @@
    <None Include="arducopter-xplane.zip">
      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
    </None>
-    <None Include="defines.h">
-      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
-    </None>
    <None Include="m3u\networklink.kml">
      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
    </None>
--- a/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.Designer.cs
@ -39,6 +39,9 @@
            | System.Windows.Forms.AnchorStyles.Left) 
            | System.Windows.Forms.AnchorStyles.Right)));
            this.pictureBox1.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBox1.ErrorImage = global::ArdupilotMega.Properties.Resources.bg;
+            this.pictureBox1.Image = global::ArdupilotMega.Properties.Resources.bg;
+            this.pictureBox1.InitialImage = global::ArdupilotMega.Properties.Resources.bg;
            this.pictureBox1.Location = new System.Drawing.Point(0, 0);
            this.pictureBox1.Name = "pictureBox1";
            this.pictureBox1.Size = new System.Drawing.Size(170, 155);
@ -55,6 +58,7 @@
            this.label1.Name = "label1";
            this.label1.Size = new System.Drawing.Size(170, 13);
            this.label1.TabIndex = 1;
+            this.label1.Text = "None";
            this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
            // 
            // ImageLabel
--- a/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.cs
+++ b/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.cs
@ -9,7 +9,7 @@ using System.Windows.Forms;

 namespace ArdupilotMega
 {
-    public partial class ImageLabel : UserControl
+    public partial class ImageLabel :         UserControl
    {
        public new event EventHandler Click;

--- a/Tools/ArdupilotMegaPlanner/CurrentState.cs
+++ b/Tools/ArdupilotMegaPlanner/CurrentState.cs
@ -99,7 +99,14 @@ namespace ArdupilotMega
            get {
                try
                {
-                    return (int)((ch3out - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) / (float.Parse(MainV2.comPort.param["RC3_MAX"].ToString()) - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) * 100);
+                    if (MainV2.comPort.param.ContainsKey("RC3_MIN"))
+                    {
+                        return (int)((ch3out - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) / (float.Parse(MainV2.comPort.param["RC3_MAX"].ToString()) - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) * 100);
+                    }
+                    else
+                    {
+                        return 0;
+                    }
                }
                catch {
                    return 0;
@ -141,6 +148,24 @@ namespace ArdupilotMega
        public float battery_remaining { get { return _battery_remaining; } set { _battery_remaining = value / 1000; if (_battery_remaining < 0 || _battery_remaining > 100) _battery_remaining = 0; } }
        private float _battery_remaining;

+        // pressure
+        public float press_abs { get; set; }
+        public int press_temp { get; set; }
+
+        // sensor offsets
+        public int mag_ofs_x { get; set; }
+        public int mag_ofs_y { get; set; }
+        public int mag_ofs_z { get; set; }
+        public float mag_declination { get; set; }
+        public int raw_press { get; set; }
+        public int raw_temp { get; set; }
+        public float gyro_cal_x { get; set; }
+        public float gyro_cal_y { get; set; }
+        public float gyro_cal_z { get; set; }
+        public float accel_cal_x { get; set; }
+        public float accel_cal_y { get; set; }
+        public float accel_cal_z { get; set; }
+
        // HIL
        public int hilch1 { get; set; }
        public int hilch2 { get; set; }
@ -190,6 +215,7 @@ namespace ArdupilotMega
            ratestatus = 1;
            ratesensors = 3;
            raterc = 3;
+            datetime = DateTime.MinValue;
        }

        const float rad2deg = (float)(180 / Math.PI);
@ -229,6 +255,7 @@ namespace ArdupilotMega
                    int ind = logdata.IndexOf('\0');
                    if (ind != -1)
                        logdata = logdata.Substring(0, ind);
+
                    if (messages.Count > 5)
                    {
                        messages.RemoveAt(0);
@ -519,6 +546,51 @@ namespace ArdupilotMega
                    //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
                }				
 #endif
+
+                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE] != null)
+                {
+                    var pres = new ArdupilotMega.MAVLink.__mavlink_scaled_pressure_t();
+
+                    object temp = pres;
+
+                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE], ref temp, 6);
+
+                    pres = (MAVLink.__mavlink_scaled_pressure_t)(temp);
+
+                    press_abs = pres.press_abs;
+
+                    press_temp = pres.temperature;                  
+
+                }
+
+                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS] != null)
+                {
+                    var sensofs = new ArdupilotMega.MAVLink.__mavlink_sensor_offsets_t();
+
+                    object temp = sensofs;
+
+                    MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS], ref temp, 6);
+
+                    sensofs = (MAVLink.__mavlink_sensor_offsets_t)(temp);
+
+                    mag_ofs_x = sensofs.mag_ofs_x;
+                    mag_ofs_y = sensofs.mag_ofs_y;
+                    mag_ofs_z = sensofs.mag_ofs_z;
+                    mag_declination = sensofs.mag_declination;
+
+                    raw_press = sensofs.raw_press;
+                    raw_temp = sensofs.raw_temp;
+
+                    gyro_cal_x = sensofs.gyro_cal_x;
+                    gyro_cal_y = sensofs.gyro_cal_y;
+                    gyro_cal_z = sensofs.gyro_cal_z;
+
+                    accel_cal_x = sensofs.accel_cal_x;
+                    accel_cal_y = sensofs.accel_cal_y;
+                    accel_cal_z = sensofs.accel_cal_z;
+
+                }
+
                if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] != null)
                {
                    var att = new ArdupilotMega.MAVLink.__mavlink_attitude_t();
@ -819,6 +891,7 @@ namespace ArdupilotMega
            {
                if (bs != null)
                {
+                    //System.Diagnostics.Debug.WriteLine(DateTime.Now.Millisecond);
                    //Console.WriteLine(DateTime.Now.Millisecond);
                    bs.DataSource = this;
                    //Console.WriteLine(DateTime.Now.Millisecond + " 1 " + updatenow);
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.Designer.cs
@ -0,0 +1,249 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Text;
+using System.Windows.Forms;
+using System.Text.RegularExpressions;
+using System.IO.Ports;
+using System.IO;
+using System.Runtime.InteropServices;
+using System.Xml;
+using System.Net;
+
+namespace ArdupilotMega.GCSViews
+{
+    partial class Firmware : MyUserControl
+    {
+        
+                /// <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);
+        }
+        
+        
+        private ImageLabel pictureBoxAPM;
+        private ImageLabel pictureBoxQuad;
+        private ImageLabel pictureBoxHexa;
+        private ImageLabel pictureBoxTri;
+        private ImageLabel pictureBoxY6;
+        private System.Windows.Forms.Label lbl_status;
+        private System.Windows.Forms.ProgressBar progress;
+        private System.Windows.Forms.Label label2;
+        private ImageLabel pictureBoxHeli;
+        private MyButton BUT_setup;
+        private PictureBox pictureBoxHilimage;
+        private PictureBox pictureBoxAPHil;
+        private PictureBox pictureBoxACHil;
+        private PictureBox pictureBoxACHHil;
+        private ImageLabel pictureBoxOcta;
+        private Label label1;
+        private ImageLabel pictureBoxOctav;
+
+        private void InitializeComponent()
+        {
+            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Firmware));
+            this.pictureBoxAPM = new ArdupilotMega.ImageLabel();
+            this.pictureBoxQuad = new ArdupilotMega.ImageLabel();
+            this.pictureBoxHexa = new ArdupilotMega.ImageLabel();
+            this.pictureBoxTri = new ArdupilotMega.ImageLabel();
+            this.pictureBoxY6 = new ArdupilotMega.ImageLabel();
+            this.lbl_status = new System.Windows.Forms.Label();
+            this.progress = new System.Windows.Forms.ProgressBar();
+            this.label2 = new System.Windows.Forms.Label();
+            this.pictureBoxHeli = new ArdupilotMega.ImageLabel();
+            this.BUT_setup = new ArdupilotMega.MyButton();
+            this.pictureBoxHilimage = new System.Windows.Forms.PictureBox();
+            this.pictureBoxAPHil = new System.Windows.Forms.PictureBox();
+            this.pictureBoxACHil = new System.Windows.Forms.PictureBox();
+            this.pictureBoxACHHil = new System.Windows.Forms.PictureBox();
+            this.pictureBoxOcta = new ArdupilotMega.ImageLabel();
+            this.pictureBoxOctav = new ArdupilotMega.ImageLabel();
+            this.label1 = new System.Windows.Forms.Label();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).BeginInit();
+            this.SuspendLayout();
+            // 
+            // pictureBoxAPM
+            // 
+            this.pictureBoxAPM.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxAPM.Image = null;
+            resources.ApplyResources(this.pictureBoxAPM, "pictureBoxAPM");
+            this.pictureBoxAPM.Name = "pictureBoxAPM";
+            this.pictureBoxAPM.TabStop = false;
+            this.pictureBoxAPM.Click += new System.EventHandler(this.pictureBoxAPM_Click);
+            // 
+            // pictureBoxQuad
+            // 
+            this.pictureBoxQuad.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxQuad.Image = null;
+            resources.ApplyResources(this.pictureBoxQuad, "pictureBoxQuad");
+            this.pictureBoxQuad.Name = "pictureBoxQuad";
+            this.pictureBoxQuad.TabStop = false;
+            this.pictureBoxQuad.Click += new System.EventHandler(this.pictureBoxQuad_Click);
+            // 
+            // pictureBoxHexa
+            // 
+            this.pictureBoxHexa.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxHexa.Image = null;
+            resources.ApplyResources(this.pictureBoxHexa, "pictureBoxHexa");
+            this.pictureBoxHexa.Name = "pictureBoxHexa";
+            this.pictureBoxHexa.TabStop = false;
+            this.pictureBoxHexa.Click += new System.EventHandler(this.pictureBoxHexa_Click);
+            // 
+            // pictureBoxTri
+            // 
+            this.pictureBoxTri.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxTri.Image = null;
+            resources.ApplyResources(this.pictureBoxTri, "pictureBoxTri");
+            this.pictureBoxTri.Name = "pictureBoxTri";
+            this.pictureBoxTri.TabStop = false;
+            this.pictureBoxTri.Click += new System.EventHandler(this.pictureBoxTri_Click);
+            // 
+            // pictureBoxY6
+            // 
+            this.pictureBoxY6.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxY6.Image = null;
+            resources.ApplyResources(this.pictureBoxY6, "pictureBoxY6");
+            this.pictureBoxY6.Name = "pictureBoxY6";
+            this.pictureBoxY6.TabStop = false;
+            this.pictureBoxY6.Click += new System.EventHandler(this.pictureBoxY6_Click);
+            // 
+            // lbl_status
+            // 
+            resources.ApplyResources(this.lbl_status, "lbl_status");
+            this.lbl_status.Name = "lbl_status";
+            // 
+            // progress
+            // 
+            resources.ApplyResources(this.progress, "progress");
+            this.progress.Name = "progress";
+            this.progress.Step = 1;
+            // 
+            // label2
+            // 
+            resources.ApplyResources(this.label2, "label2");
+            this.label2.Name = "label2";
+            // 
+            // pictureBoxHeli
+            // 
+            this.pictureBoxHeli.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxHeli.Image = null;
+            resources.ApplyResources(this.pictureBoxHeli, "pictureBoxHeli");
+            this.pictureBoxHeli.Name = "pictureBoxHeli";
+            this.pictureBoxHeli.TabStop = false;
+            this.pictureBoxHeli.Click += new System.EventHandler(this.pictureBoxHeli_Click);
+            // 
+            // BUT_setup
+            // 
+            resources.ApplyResources(this.BUT_setup, "BUT_setup");
+            this.BUT_setup.Name = "BUT_setup";
+            this.BUT_setup.UseVisualStyleBackColor = true;
+            this.BUT_setup.Click += new System.EventHandler(this.BUT_setup_Click);
+            // 
+            // pictureBoxHilimage
+            // 
+            this.pictureBoxHilimage.Image = global::ArdupilotMega.Properties.Resources.hil;
+            resources.ApplyResources(this.pictureBoxHilimage, "pictureBoxHilimage");
+            this.pictureBoxHilimage.Name = "pictureBoxHilimage";
+            this.pictureBoxHilimage.TabStop = false;
+            // 
+            // pictureBoxAPHil
+            // 
+            this.pictureBoxAPHil.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxAPHil.Image = global::ArdupilotMega.Properties.Resources.hilplane;
+            resources.ApplyResources(this.pictureBoxAPHil, "pictureBoxAPHil");
+            this.pictureBoxAPHil.Name = "pictureBoxAPHil";
+            this.pictureBoxAPHil.TabStop = false;
+            this.pictureBoxAPHil.Click += new System.EventHandler(this.pictureBoxAPHil_Click);
+            // 
+            // pictureBoxACHil
+            // 
+            this.pictureBoxACHil.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxACHil.Image = global::ArdupilotMega.Properties.Resources.hilquad;
+            resources.ApplyResources(this.pictureBoxACHil, "pictureBoxACHil");
+            this.pictureBoxACHil.Name = "pictureBoxACHil";
+            this.pictureBoxACHil.TabStop = false;
+            this.pictureBoxACHil.Click += new System.EventHandler(this.pictureBoxACHil_Click);
+            // 
+            // pictureBoxACHHil
+            // 
+            this.pictureBoxACHHil.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxACHHil.Image = global::ArdupilotMega.Properties.Resources.hilheli;
+            resources.ApplyResources(this.pictureBoxACHHil, "pictureBoxACHHil");
+            this.pictureBoxACHHil.Name = "pictureBoxACHHil";
+            this.pictureBoxACHHil.TabStop = false;
+            this.pictureBoxACHHil.Click += new System.EventHandler(this.pictureBoxACHHil_Click);
+            // 
+            // pictureBoxOcta
+            // 
+            this.pictureBoxOcta.Image = null;
+            resources.ApplyResources(this.pictureBoxOcta, "pictureBoxOcta");
+            this.pictureBoxOcta.Name = "pictureBoxOcta";
+            this.pictureBoxOcta.TabStop = false;
+            this.pictureBoxOcta.Click += new System.EventHandler(this.pictureBoxOcta_Click);
+            // 
+            // pictureBoxOctav
+            // 
+            this.pictureBoxOctav.Image = null;
+            resources.ApplyResources(this.pictureBoxOctav, "pictureBoxOctav");
+            this.pictureBoxOctav.Name = "pictureBoxOctav";
+            this.pictureBoxOctav.TabStop = false;
+            this.pictureBoxOctav.Click += new System.EventHandler(this.pictureBoxOctav_Click);
+            // 
+            // label1
+            // 
+            resources.ApplyResources(this.label1, "label1");
+            this.label1.Name = "label1";
+            // 
+            // Firmware
+            // 
+            resources.ApplyResources(this, "$this");
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.label1);
+            this.Controls.Add(this.BUT_setup);
+            this.Controls.Add(this.label2);
+            this.Controls.Add(this.lbl_status);
+            this.Controls.Add(this.progress);
+            this.Controls.Add(this.pictureBoxACHHil);
+            this.Controls.Add(this.pictureBoxACHil);
+            this.Controls.Add(this.pictureBoxAPHil);
+            this.Controls.Add(this.pictureBoxHilimage);
+            this.Controls.Add(this.pictureBoxOctav);
+            this.Controls.Add(this.pictureBoxOcta);
+            this.Controls.Add(this.pictureBoxHeli);
+            this.Controls.Add(this.pictureBoxY6);
+            this.Controls.Add(this.pictureBoxTri);
+            this.Controls.Add(this.pictureBoxHexa);
+            this.Controls.Add(this.pictureBoxQuad);
+            this.Controls.Add(this.pictureBoxAPM);
+            this.MinimumSize = new System.Drawing.Size(1008, 461);
+            this.Name = "Firmware";
+            this.Load += new System.EventHandler(this.Firmware_Load);
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).EndInit();
+            this.ResumeLayout(false);
+            this.PerformLayout();
+
+        }
+
+    }
+}
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
@ -14,230 +14,11 @@ using System.Net;

 namespace ArdupilotMega.GCSViews
 {
-    class Firmware : MyUserControl
+    partial class Firmware : MyUserControl
    {
-        private ImageLabel pictureBoxAPM;
-        private ImageLabel pictureBoxQuad;
-        private ImageLabel pictureBoxHexa;
-        private ImageLabel pictureBoxTri;
-        private ImageLabel pictureBoxY6;
-        private System.Windows.Forms.Label lbl_status;
-        private System.Windows.Forms.ProgressBar progress;
-        private System.Windows.Forms.Label label2;
-        private ImageLabel pictureBoxHeli;
-        private MyButton BUT_setup;
-        private PictureBox pictureBoxHilimage;
-        private PictureBox pictureBoxAPHil;
-        private PictureBox pictureBoxACHil;
-        private PictureBox pictureBoxACHHil;
-        private ImageLabel pictureBoxOcta;
-        private Label label1;
-        private ImageLabel pictureBoxOctav;
-
-        private void InitializeComponent()
-        {
-            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Firmware));
-            this.pictureBoxAPM = new ArdupilotMega.ImageLabel();
-            this.pictureBoxQuad = new ArdupilotMega.ImageLabel();
-            this.pictureBoxHexa = new ArdupilotMega.ImageLabel();
-            this.pictureBoxTri = new ArdupilotMega.ImageLabel();
-            this.pictureBoxY6 = new ArdupilotMega.ImageLabel();
-            this.lbl_status = new System.Windows.Forms.Label();
-            this.progress = new System.Windows.Forms.ProgressBar();
-            this.label2 = new System.Windows.Forms.Label();
-            this.pictureBoxHeli = new ArdupilotMega.ImageLabel();
-            this.BUT_setup = new ArdupilotMega.MyButton();
-            this.pictureBoxHilimage = new System.Windows.Forms.PictureBox();
-            this.pictureBoxAPHil = new System.Windows.Forms.PictureBox();
-            this.pictureBoxACHil = new System.Windows.Forms.PictureBox();
-            this.pictureBoxACHHil = new System.Windows.Forms.PictureBox();
-            this.pictureBoxOcta = new ArdupilotMega.ImageLabel();
-            this.pictureBoxOctav = new ArdupilotMega.ImageLabel();
-            this.label1 = new System.Windows.Forms.Label();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).BeginInit();
-            this.SuspendLayout();
-            // 
-            // pictureBoxAPM
-            // 
-            this.pictureBoxAPM.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxAPM.Image = global::ArdupilotMega.Properties.Resources.APM_airframes_001;
-            resources.ApplyResources(this.pictureBoxAPM, "pictureBoxAPM");
-            this.pictureBoxAPM.Name = "pictureBoxAPM";
-            this.pictureBoxAPM.TabStop = false;
-            this.pictureBoxAPM.Click += new System.EventHandler(this.pictureBoxAPM_Click);
-            // 
-            // pictureBoxQuad
-            // 
-            this.pictureBoxQuad.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxQuad.Image = ((System.Drawing.Image)(resources.GetObject("pictureBoxQuad.Image")));
-            resources.ApplyResources(this.pictureBoxQuad, "pictureBoxQuad");
-            this.pictureBoxQuad.Name = "pictureBoxQuad";
-            this.pictureBoxQuad.TabStop = false;
-            this.pictureBoxQuad.Click += new System.EventHandler(this.pictureBoxQuad_Click);
-            // 
-            // pictureBoxHexa
-            // 
-            this.pictureBoxHexa.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxHexa.Image = global::ArdupilotMega.Properties.Resources.hexa;
-            resources.ApplyResources(this.pictureBoxHexa, "pictureBoxHexa");
-            this.pictureBoxHexa.Name = "pictureBoxHexa";
-            this.pictureBoxHexa.TabStop = false;
-            this.pictureBoxHexa.Click += new System.EventHandler(this.pictureBoxHexa_Click);
-            // 
-            // pictureBoxTri
-            // 
-            this.pictureBoxTri.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxTri.Image = global::ArdupilotMega.Properties.Resources.tri;
-            resources.ApplyResources(this.pictureBoxTri, "pictureBoxTri");
-            this.pictureBoxTri.Name = "pictureBoxTri";
-            this.pictureBoxTri.TabStop = false;
-            this.pictureBoxTri.Click += new System.EventHandler(this.pictureBoxTri_Click);
-            // 
-            // pictureBoxY6
-            // 
-            this.pictureBoxY6.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxY6.Image = global::ArdupilotMega.Properties.Resources.y6;
-            resources.ApplyResources(this.pictureBoxY6, "pictureBoxY6");
-            this.pictureBoxY6.Name = "pictureBoxY6";
-            this.pictureBoxY6.TabStop = false;
-            this.pictureBoxY6.Click += new System.EventHandler(this.pictureBoxY6_Click);
-            // 
-            // lbl_status
-            // 
-            resources.ApplyResources(this.lbl_status, "lbl_status");
-            this.lbl_status.Name = "lbl_status";
-            // 
-            // progress
-            // 
-            resources.ApplyResources(this.progress, "progress");
-            this.progress.Name = "progress";
-            this.progress.Step = 1;
-            // 
-            // label2
-            // 
-            resources.ApplyResources(this.label2, "label2");
-            this.label2.Name = "label2";
-            // 
-            // pictureBoxHeli
-            // 
-            this.pictureBoxHeli.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxHeli.Image = global::ArdupilotMega.Properties.Resources.APM_airframes_08;
-            resources.ApplyResources(this.pictureBoxHeli, "pictureBoxHeli");
-            this.pictureBoxHeli.Name = "pictureBoxHeli";
-            this.pictureBoxHeli.TabStop = false;
-            this.pictureBoxHeli.Click += new System.EventHandler(this.pictureBoxHeli_Click);
-            // 
-            // BUT_setup
-            // 
-            resources.ApplyResources(this.BUT_setup, "BUT_setup");
-            this.BUT_setup.Name = "BUT_setup";
-            this.BUT_setup.UseVisualStyleBackColor = true;
-            this.BUT_setup.Click += new System.EventHandler(this.BUT_setup_Click);
-            // 
-            // pictureBoxHilimage
-            // 
-            this.pictureBoxHilimage.Image = global::ArdupilotMega.Properties.Resources.hil;
-            resources.ApplyResources(this.pictureBoxHilimage, "pictureBoxHilimage");
-            this.pictureBoxHilimage.Name = "pictureBoxHilimage";
-            this.pictureBoxHilimage.TabStop = false;
-            // 
-            // pictureBoxAPHil
-            // 
-            this.pictureBoxAPHil.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxAPHil.Image = global::ArdupilotMega.Properties.Resources.hilplane;
-            resources.ApplyResources(this.pictureBoxAPHil, "pictureBoxAPHil");
-            this.pictureBoxAPHil.Name = "pictureBoxAPHil";
-            this.pictureBoxAPHil.TabStop = false;
-            this.pictureBoxAPHil.Click += new System.EventHandler(this.pictureBoxAPHil_Click);
-            // 
-            // pictureBoxACHil
-            // 
-            this.pictureBoxACHil.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxACHil.Image = global::ArdupilotMega.Properties.Resources.hilquad;
-            resources.ApplyResources(this.pictureBoxACHil, "pictureBoxACHil");
-            this.pictureBoxACHil.Name = "pictureBoxACHil";
-            this.pictureBoxACHil.TabStop = false;
-            this.pictureBoxACHil.Click += new System.EventHandler(this.pictureBoxACHil_Click);
-            // 
-            // pictureBoxACHHil
-            // 
-            this.pictureBoxACHHil.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxACHHil.Image = global::ArdupilotMega.Properties.Resources.hilheli;
-            resources.ApplyResources(this.pictureBoxACHHil, "pictureBoxACHHil");
-            this.pictureBoxACHHil.Name = "pictureBoxACHHil";
-            this.pictureBoxACHHil.TabStop = false;
-            this.pictureBoxACHHil.Click += new System.EventHandler(this.pictureBoxACHHil_Click);
-            // 
-            // pictureBoxOcta
-            // 
-            this.pictureBoxOcta.Image = global::ArdupilotMega.Properties.Resources.octo;
-            resources.ApplyResources(this.pictureBoxOcta, "pictureBoxOcta");
-            this.pictureBoxOcta.Name = "pictureBoxOcta";
-            this.pictureBoxOcta.TabStop = false;
-            this.pictureBoxOcta.Click += new System.EventHandler(this.pictureBoxOcta_Click);
-            // 
-            // pictureBoxOctav
-            // 
-            this.pictureBoxOctav.Image = global::ArdupilotMega.Properties.Resources.octov;
-            resources.ApplyResources(this.pictureBoxOctav, "pictureBoxOctav");
-            this.pictureBoxOctav.Name = "pictureBoxOctav";
-            this.pictureBoxOctav.TabStop = false;
-            this.pictureBoxOctav.Click += new System.EventHandler(this.pictureBoxOctav_Click);
-            // 
-            // label1
-            // 
-            resources.ApplyResources(this.label1, "label1");
-            this.label1.Name = "label1";
-            // 
-            // Firmware
-            // 
-            resources.ApplyResources(this, "$this");
-            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.Controls.Add(this.label1);
-            this.Controls.Add(this.pictureBoxOctav);
-            this.Controls.Add(this.pictureBoxOcta);
-            this.Controls.Add(this.pictureBoxACHHil);
-            this.Controls.Add(this.pictureBoxACHil);
-            this.Controls.Add(this.pictureBoxAPHil);
-            this.Controls.Add(this.pictureBoxHilimage);
-            this.Controls.Add(this.BUT_setup);
-            this.Controls.Add(this.pictureBoxHeli);
-            this.Controls.Add(this.label2);
-            this.Controls.Add(this.lbl_status);
-            this.Controls.Add(this.progress);
-            this.Controls.Add(this.pictureBoxY6);
-            this.Controls.Add(this.pictureBoxTri);
-            this.Controls.Add(this.pictureBoxHexa);
-            this.Controls.Add(this.pictureBoxQuad);
-            this.Controls.Add(this.pictureBoxAPM);
-            this.MinimumSize = new System.Drawing.Size(1008, 461);
-            this.Name = "Firmware";
-            this.Load += new System.EventHandler(this.FirmwareVisual_Load);
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).EndInit();
-            this.ResumeLayout(false);
-            this.PerformLayout();
-
-        }

        protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
        {
-            if (keyData == (Keys.Control | Keys.B))
-            {
-                findfirmware("AP-trunk");
-                return true;
-            }
-            if (keyData == (Keys.Control | Keys.A))
-            {
-                findfirmware("AC2-QUADHIL");
-                return true;
-            }
-
            if (keyData == (Keys.Control | Keys.C))
            {
                OpenFileDialog fd = new OpenFileDialog();
@ -265,26 +46,31 @@ namespace ArdupilotMega.GCSViews
            public int k_format_version;
        }

-        public enum FRAMETYPES
-        {
-            NONE,
-            TRI,
-            QUAD,
-            HEXA,
-            Y6,
-            APM,
-            APMHIL,
-            HELI
-        }
-
        public Firmware()
        {
            InitializeComponent();
+
            WebRequest.DefaultWebProxy.Credentials = System.Net.CredentialCache.DefaultCredentials;
+
+            this.pictureBoxAPM.Image = ArdupilotMega.Properties.Resources.APM_airframes_001;
+            this.pictureBoxQuad.Image = ArdupilotMega.Properties.Resources.quad;
+            this.pictureBoxHexa.Image = ArdupilotMega.Properties.Resources.hexa;
+            this.pictureBoxTri.Image = ArdupilotMega.Properties.Resources.tri;
+            this.pictureBoxY6.Image = ArdupilotMega.Properties.Resources.y6;
+            this.pictureBoxHeli.Image = ArdupilotMega.Properties.Resources.APM_airframes_08;
+            this.pictureBoxHilimage.Image = ArdupilotMega.Properties.Resources.hil;
+            this.pictureBoxAPHil.Image = ArdupilotMega.Properties.Resources.hilplane;
+            this.pictureBoxACHil.Image = ArdupilotMega.Properties.Resources.hilquad;
+            this.pictureBoxACHHil.Image = ArdupilotMega.Properties.Resources.hilheli;
+            this.pictureBoxOcta.Image = ArdupilotMega.Properties.Resources.octo;
+            this.pictureBoxOctav.Image = ArdupilotMega.Properties.Resources.octov;
+
        }

-        private void FirmwareVisual_Load(object sender, EventArgs e)
+        internal void Firmware_Load(object sender, EventArgs e)
        {
+            Console.WriteLine("FW load");
+
            string url = "";
            string url2560 = "";
            string url2560_2 = "";
@ -292,6 +78,8 @@ namespace ArdupilotMega.GCSViews
            string desc = "";
            int k_format_version = 0;

+            softwares.Clear();
+
            software temp = new software();

            try
@ -357,6 +145,7 @@ namespace ArdupilotMega.GCSViews

            }
            catch (Exception ex) { MessageBox.Show("Failed to get Firmware List : " + ex.Message); }
+            Console.WriteLine("FW load done");
        }

        void updateDisplayName(software temp)
@ -435,7 +224,7 @@ namespace ArdupilotMega.GCSViews
                }
                return;
            }
-            else if (items.Count == 2)
+            else if (items.Count == 2 && false)
            {
                XorPlus select = new XorPlus();
                MainV2.fixtheme(select);
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx
@ -144,634 +144,6 @@
  <data name="&gt;&gt;pictureBoxAPM.ZOrder" xml:space="preserve">
    <value>16</value>
  </data>
-  <data name="pictureBoxQuad.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
-    <value>
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-        BsCAMCAip5Wl6w8//U6SvmXbyKCfZn0ZnXv+ZqF1cyKgp92YPTRhRjtuqSNvbgyVjnURTT0X543zBgNg
-        QBjAgePAwQAY8DFwLkKierbUdVw+qRPZ8baHUp85rWhVdCnnhRCOuBmy68ZJUcYUuy3sioB+74OvmmfZ
-        GruWaguxTdgmMLAHAwwQSgIGwEAfAyciVVrwIAKROr3ar/FSdE7RP3fo2TYqqJSrUpVLYlSk6Z4fcVNE
-        TAR0qqibGx+lod242OcfLjwWS8qBZy+rB4x/puOPYDIVDMZ6UceNXnTkyRGXKdOr2widCJKXOjRROrsK
-        856N1E1F7ETYlKo8d3vNOmKpRQqqF5yauPmtWtzqXr0P9gB7AAbAwDYM4KwgcWAADNyFAZNeFamaolj/
-        riif0rmKBIrUeYRmE7Hr6ukeW3KnNKwInn6K3omM7fq58/Tv/e673nOtQDY37v6HFieItOmbU+xrGhLN
-        ZCsznDWEDQwMxQAOHAcOBsDAPgxstouaKyq3i/QoEqb0q+rQRLT086N2PhHb979FDHW9SKLuJ8I2ZR3g
-        PiLnb19G/zec+FAnznltY2Wf8ebvOHgwAAaEgQOb1jOkKXVPuX0EZ+jftcBAZGjXb+6o2pD39nu/2aig
-        UrroHWMABsDAXgzsPQFjgjEFA2DAw8Cx3U7LRLHmqhEbQoZKPEfpYhdJtIs5RJaxy4wBGAADgzAw6CSM
-        CkYVDICBHga0rZTagph05JQtNkokZ/veWalbV+dnF5Cohg97zBiAATAQhIGgkzEyGFkwAAY8DChqpEUF
-        5oDMfWVvOxZFLhXB1EHqFF3CnoKBsRiAxMH6wQAYGIuBQ7vzAmTuu9uJ3BbyptWxpE7RvbG6x/WNYwgA
-        NA6AsbMArmcm6WHgNTLXes2cv82YjbxB3rC5+F0wkAwDyW6EM8eZgwEwYDFw6KdZ1ShXZCbHlaH7atdi
-        /q76QPV6cwsW1M+uG48zIm/oBzYSDKTGACSOGQEYAANTYUDpQm1Z9bFfNzd30+AYIhZ6jQiqiKoIqzts
-        r7fT1Eab+0EEwAAYcBiYynhzX4gBGAADPgZO/Lo5t/9oyYROEbf+vq+WsJ53BlbRSHSAMQADYGBSDEx6
-        c4wYRhwMgIEeBhSdO7U90TZRK+0EoZ5pS+6YMCT6pho/7e7Qi7ip1YpW6R6Dd/AOBsDAnBiAxDFLAANg
-        YCkMGEInAuTvX6oonUidyJJI01K1dIq0KVLotvjaMM7uf1zdXL7f/aOI29GcBptnQRDAABjwMbCU8ea5
-        EAcwAAb6GBAh0gKAt+xigA1vcvucilApYue21RoSPbvrHBFE3cuRNfW6c33cdpA2kU6RT/DLGIABMLA4
-        BhZ/AYwhzgAMgIEdGFBd2Un3uydi9+LmyQc+sfL/t6J3Il9Dfn4qdNv9unu9Z9OjIpSkSHHU+EkwkC0G
-        sn0xHDuOHQyAgTvInciVI3gieapJu6/f86tfP9j2s+TMnGOJoa7TT/fSjwgbzhqfCAaKwkBRL4tTx6mD
-        ATAABsAAGAADYOAlBiBxzDrAABgAA2AADIABMFAgBhBagUJjBsIsFAyAATAABsAAGIDEQeLAABgAA2AA
-        DIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAA
-        GIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj
-        9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AA
-        DIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAA
-        GIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj
-        9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AA
-        DIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAA
-        GIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj
-        9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AA
-        DIABMFAgBhBagUJj9sXsCwyAATAABsAAGIDEQeLAABgAA2AADIABMFAgBhBagUJj9sXsCwyAATAABsAA
-        GIDEQeLAABgAA2AADIABMFAgBv5/FOw4h5UG/3QAAAAASUVORK5CYII=
-</value>
-  </data>
  <data name="pictureBoxQuad.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
  </data>
@ -896,7 +268,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;lbl_status.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>3</value>
  </data>
  <data name="progress.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
@ -920,7 +292,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;progress.ZOrder" xml:space="preserve">
-    <value>11</value>
+    <value>4</value>
  </data>
  <data name="label2.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
@ -950,7 +322,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;label2.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>2</value>
  </data>
  <data name="pictureBoxHeli.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
@ -974,7 +346,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;pictureBoxHeli.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>11</value>
  </data>
  <data name="BUT_setup.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
@ -1001,7 +373,10 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;BUT_setup.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>1</value>
+  </data>
+  <data name="pictureBoxHilimage.ImageLocation" xml:space="preserve">
+    <value />
  </data>
  <data name="pictureBoxHilimage.Location" type="System.Drawing.Point, System.Drawing">
    <value>10, 362</value>
@ -1025,7 +400,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;pictureBoxHilimage.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>8</value>
  </data>
  <data name="pictureBoxAPHil.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
@ -1052,7 +427,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;pictureBoxAPHil.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>7</value>
  </data>
  <data name="pictureBoxACHil.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
@ -1079,7 +454,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;pictureBoxACHil.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>6</value>
  </data>
  <data name="pictureBoxACHHil.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
    <value>NoControl</value>
@ -1106,7 +481,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;pictureBoxACHHil.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>5</value>
  </data>
  <data name="pictureBoxOcta.Location" type="System.Drawing.Point, System.Drawing">
    <value>696, 176</value>
@ -1127,7 +502,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;pictureBoxOcta.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>10</value>
  </data>
  <data name="pictureBoxOctav.Location" type="System.Drawing.Point, System.Drawing">
    <value>696, 0</value>
@ -1148,7 +523,7 @@
    <value>$this</value>
  </data>
  <data name="&gt;&gt;pictureBoxOctav.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>9</value>
  </data>
  <data name="label1.AutoSize" type="System.Boolean, mscorlib">
    <value>True</value>
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
@ -81,7 +81,9 @@ namespace ArdupilotMega.GCSViews
        protected override void Dispose(bool disposing)
        {
            threadrun = 0;
+            MainV2.comPort.logreadmode = false;
            MainV2.config["FlightSplitter"] = MainH.SplitterDistance.ToString();
+            System.Threading.Thread.Sleep(100);
            base.Dispose(disposing);
        }

@ -295,7 +297,9 @@ namespace ArdupilotMega.GCSViews

                if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
                {
-                    this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
+                    if (threadrun == 0) { return; }
+
+                        this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
 {
    try
    {
@ -319,7 +323,7 @@ namespace ArdupilotMega.GCSViews
                    int act = (int)(MainV2.comPort.lastlogread - logplayback).TotalMilliseconds;

                    if (act > 9999 || act < 0)
-                        act = 1;
+                        act = 0;

                    int ts = 0;
                    try
@ -330,6 +334,8 @@ namespace ArdupilotMega.GCSViews
                    if (ts > 0)
                        System.Threading.Thread.Sleep(ts);

+                    if (threadrun == 0) { return; }
+
                    tracklast = tracklast.AddMilliseconds(ts - act);
                    tunning = tunning.AddMilliseconds(ts - act);

@ -1320,7 +1326,7 @@ namespace ArdupilotMega.GCSViews
            Form selectform = new Form()
            {
                Name = "select",
-                Width = 750,
+                Width = 50,
                Height = 250,
                Text = "Graph This"
            };
@ -1400,6 +1406,8 @@ namespace ArdupilotMega.GCSViews
                {
                    x += 100;
                    y = 10;
+
+                    selectform.Width = x + 100;
                }
            }
            MainV2.fixtheme(selectform);
@ -1596,6 +1604,16 @@ namespace ArdupilotMega.GCSViews
        void ScriptStart()
        {
            string myscript = @"
+# cs.???? = currentstate, any variable on the status tab in the planner can be used.
+# Script = options are 
+# Script.Sleep(ms)
+# Script.ChangeParam(name,value)
+# Script.GetParam(name)
+# Script.ChangeMode(mode) - same as displayed in mode setup screen 'AUTO'
+# Script.WaitFor(string,timeout)
+# Script.SendRC(channel,pwm,sendnow)
+# 
+
 print 'Start Script'
 for chan in range(1,9):
    Script.SendRC(chan,1500,False)
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
@ -33,7 +33,7 @@ namespace ArdupilotMega.GCSViews
        bool sethome = false;
        bool polygongridmode = false;
        Hashtable param = new Hashtable();
-        public static Hashtable hashdefines = new Hashtable();
+
        public static List<PointLatLngAlt> pointlist = new List<PointLatLngAlt>(); // used to calc distance
        static public Object thisLock = new Object();
        private TextBox textBox1;
@ -85,7 +85,7 @@ namespace ArdupilotMega.GCSViews
                            System.Diagnostics.Debug.WriteLine(matchs[i].Groups[1].Value.ToString() + " = " + matchs[i].Groups[2].Value.ToString() + " = " + num.ToString());
                            try
                            {
-                                hashdefines.Add(matchs[i].Groups[1].Value.ToString(), num);
+                             //   hashdefines.Add(matchs[i].Groups[1].Value.ToString(), num);
                            }
                            catch (Exception) { }
                        }
@ -95,10 +95,10 @@ namespace ArdupilotMega.GCSViews
                sr.Close();


-                if (!hashdefines.ContainsKey("WP_START_BYTE"))
+               // if (!hashdefines.ContainsKey("WP_START_BYTE"))
                {
                    MessageBox.Show("Your Ardupilot Mega project defines.h is Invalid");
-                    return false;
+                    //return false;
                }
            }
            catch (Exception)
@ -514,12 +514,6 @@ namespace ArdupilotMega.GCSViews

            Up.Image = global::ArdupilotMega.Properties.Resources.up;
            Down.Image = global::ArdupilotMega.Properties.Resources.down;
-
-            hashdefines.Clear();
-            if (File.Exists(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "defines.h"))
-            {
-                readdefines(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "defines.h");
-            }
        }

        void updateCMDParams()
@ -868,24 +862,6 @@ namespace ArdupilotMega.GCSViews
                    }
                }
            }
-
-            DataGridViewTextBoxCell cell1;
-            cell1 = Commands.Rows[selectedrow].Cells[1] as DataGridViewTextBoxCell;
-
-            byte res;
-            if (byte.TryParse(cell1.Value.ToString(), out res))
-            {
-
-            }
-            else
-            {
-                try
-                {
-                    cell1.Value = (byte)(int)hashdefines[cell1.Value.ToString().ToUpper().Trim()];
-                }
-                catch { }
-            }
-
        }

        /// <summary>
@ -1499,21 +1475,21 @@ namespace ArdupilotMega.GCSViews
                    }
                }

-                string hold_alt = ((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist).ToString("0");
+                string hold_alt = ((int)((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist)).ToString();

-                if (hold_alt != "-1")
+                if (!hold_alt.Equals("-1"))
                {
                    TXT_DefaultAlt.Text = hold_alt;
                }

-                TXT_WPRad.Text = ((float)param["WP_RADIUS"] * MainV2.cs.multiplierdist).ToString("0");
+                TXT_WPRad.Text = ((int)((float)param["WP_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
                try
                {
-                    TXT_loiterrad.Text = ((float)param["LOITER_RADIUS"] * MainV2.cs.multiplierdist).ToString("0");
+                    TXT_loiterrad.Text = ((int)((float)param["LOITER_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
                }
                catch
                {
-                    TXT_loiterrad.Text = ((float)param["WP_LOITER_RAD"] * MainV2.cs.multiplierdist).ToString("0");
+                    TXT_loiterrad.Text = ((int)((float)param["WP_LOITER_RAD"] * MainV2.cs.multiplierdist)).ToString();
                }
                CHK_holdalt.Checked = Convert.ToBoolean((float)param["ALT_HOLD_RTL"] > 0);

--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
@ -190,8 +190,23 @@ namespace ArdupilotMega.GCSViews
            // Fuel (gas & jet models)
            public float Model_fFuelConsumed;            // l
            public float Model_fFuelTankCapacity;        // l
+
+            // Ver > 3.81
+            // Screen size
+            public short Win_nScreenSizeDX; public short Win_nScreenSizeDY; // Screen Size, used to resize and reposition simulator window
+
+            // Model Orientation Matrix
+            public float Model_fAxisRight_x; public float Model_fAxisRight_y; public float Model_fAxisRight_z;
+            public float Model_fAxisFront_x; public float Model_fAxisFront_y; public float Model_fAxisFront_z;
+            public float Model_fAxisUp_x; public float Model_fAxisUp_y; public float Model_fAxisUp_z;
+
+            // Model data in body frame coordinates (X=Right, Y=Front, Z=Up)
+            public float Model_fVel_Body_X; public float Model_fVel_Body_Y; public float Model_fVel_Body_Z;    // m/s    Model velocity in body coordinates
+            public float Model_fAngVel_Body_X; public float Model_fAngVel_Body_Y; public float Model_fAngVel_Body_Z; // rad/s  Model angular velocity in body coordinates
+            public float Model_fAccel_Body_X; public float Model_fAccel_Body_Y; public float Model_fAccel_Body_Z;  // m/s/s  Model acceleration in body coordinates
        };

+
        ~Simulation()
        {
            if (threadrun == 1)
@ -558,7 +573,7 @@ namespace ArdupilotMega.GCSViews
                            RECVprocess(udpdata, recv, comPort);
                        }
                    }
-                    catch (Exception ex) { //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
+                    catch { //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
                    }
                }
                if (MavLink != null && MavLink.Client != null && MavLink.Client.Connected && MavLink.Available > 0)
@ -885,7 +900,7 @@ namespace ArdupilotMega.GCSViews
                //stream.Write(data, 0, receviedbytes);
                //stream.Close();
            }
-            else if (receviedbytes == 582)
+            else if (receviedbytes == 658)
            {
                aeroin = new TDataFromAeroSimRC();

@ -902,19 +917,16 @@ namespace ArdupilotMega.GCSViews
                //Console.WriteLine("degs r {0:0.000} p {1:0.000} y {2:0.000} rates {3:0.000} {4:0.000} {5:0.000}", att.roll * -rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelZ * rad2deg);

                //Console.WriteLine("mine2 {0} {1} {2} ", answer.Item1 , answer.Item2 , answer.Item3 );
-                

+                //StreamWriter SW = new StreamWriter("aerosim.txt",true);

-                var answer = HIL.Utils.EarthRatesToBodyRatesMine(att.roll * rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelZ * rad2deg);
-                Console.WriteLine("\n{0:0.000} {1:0.000} {2:0.000} ", answer.Item1 * deg2rad, answer.Item2 * deg2rad, answer.Item3 * deg2rad);
+                //SW.WriteLine(aeroin.Model_fRoll + "," + aeroin.Model_fPitch + "," + aeroin.Model_fHeading + "," + aeroin.Model_fAngVelX + "," + aeroin.Model_fAngVelY + "," + aeroin.Model_fAngVelZ);

-//                att.pitchspeed = (float)answer.Item1 * -deg2rad;
-  //              att.rollspeed = (float)answer.Item2 * -deg2rad;
-    //            att.yawspeed = (float)answer.Item3 * -deg2rad;
+                //SW.Close();

-                //att.pitchspeed = (float)(Math.Cos(att.yaw) * aeroin.Model_fAngVelX - Math.Sin(att.yaw) * aeroin.Model_fAngVelY);
-                //att.rollspeed = (float)(Math.Sin(att.yaw) * aeroin.Model_fAngVelX + Math.Cos(att.yaw) * aeroin.Model_fAngVelY);
-//                att.yawspeed = (float)-aeroin.Model_fAngVelZ * deg2rad;
+                att.pitchspeed = (float)aeroin.Model_fAngVel_Body_X;
+                att.rollspeed = (float)aeroin.Model_fAngVel_Body_Y;
+                att.yawspeed = (float)-aeroin.Model_fAngVel_Body_Z;


 #if MAVLINK10
@ -922,18 +934,18 @@ namespace ArdupilotMega.GCSViews
 				#else
 				imu.usec = ((ulong)DateTime.Now.ToBinary());
 				#endif
-                imu.xgyro = (short)(aeroin.Model_fAngVelX * 1000); // roll - yes
+                imu.xgyro = (short)(aeroin.Model_fAngVel_Body_X * 1000); // roll - yes
                //imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
-                imu.ygyro = (short)(aeroin.Model_fAngVelY * 1000); // pitch - yes
+                imu.ygyro = (short)(aeroin.Model_fAngVel_Body_Y * 1000); // pitch - yes
                //imu.ymag = (short)(Math.Cos(head * deg2rad) * 1000);
-                imu.zgyro = (short)(aeroin.Model_fAngVelZ * 1000);
+                imu.zgyro = (short)(aeroin.Model_fAngVel_Body_Z * 1000);
                //imu.zmag = 0;

                YLScsDrawing.Drawing3d.Vector3d accel3D = HIL.QuadCopter.RPY_to_XYZ(att.roll, att.pitch, 0, -9.8); //DATA[18][2]

-                imu.xacc = (Int16)((accel3D.X + aeroin.Model_fAccelX) * 1000); // pitch
-                imu.yacc = (Int16)((accel3D.Y + aeroin.Model_fAccelY) * 1000); // roll
-                imu.zacc = (Int16)((accel3D.Z + aeroin.Model_fAccelZ) * 1000);
+                imu.xacc = (Int16)((accel3D.X + aeroin.Model_fAccel_Body_X) * 1000); // pitch
+                imu.yacc = (Int16)((accel3D.Y + aeroin.Model_fAccel_Body_Y) * 1000); // roll
+                imu.zacc = (Int16)((accel3D.Z + aeroin.Model_fAccel_Body_Z) * 1000);

 //                Console.WriteLine("x {0} y {1} z {2}", imu.xacc, imu.yacc, imu.zacc);

@ -1443,7 +1455,7 @@ namespace ArdupilotMega.GCSViews
                    Array.Copy(BitConverter.GetBytes((double)(collective_out)), 0, AeroSimRC, 24, 8);
                }

-                if (CHK_quad.Checked && false)
+                if (CHK_quad.Checked)
                {
                    //MainV2.cs.ch1out = 1100; 
                    //MainV2.cs.ch2out = 1100;
@ -1461,6 +1473,10 @@ namespace ArdupilotMega.GCSViews
                    Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch4out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 16, 8);// motor 3 = back
                    Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch2out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 24, 8);// motor 4 = left

+                }
+                else
+                {
+
                }

                try
@ -1596,20 +1612,12 @@ namespace ArdupilotMega.GCSViews

        private void RAD_softXplanes_CheckedChanged(object sender, EventArgs e)
        {
-            if (RAD_softXplanes.Checked && RAD_softFlightGear.Checked)
-            {
-                RAD_softFlightGear.Checked = false;
-                RAD_aerosimrc.Checked = false;
-            }
+
        }

        private void RAD_softFlightGear_CheckedChanged(object sender, EventArgs e)
        {
-            if (RAD_softFlightGear.Checked && RAD_softXplanes.Checked)
-            {
-                RAD_softXplanes.Checked = false;
-                RAD_aerosimrc.Checked = false;
-            }
+
        }

        private void CHKREV_roll_CheckedChanged(object sender, EventArgs e)
@ -2067,11 +2075,7 @@ namespace ArdupilotMega.GCSViews

        private void RAD_aerosimrc_CheckedChanged(object sender, EventArgs e)
        {
-            if (RAD_aerosimrc.Checked && RAD_softXplanes.Checked)
-            {
-                RAD_softXplanes.Checked = false;
-                RAD_softFlightGear.Checked = false;
-            }
+
        }

        private void RAD_JSBSim_CheckedChanged(object sender, EventArgs e)
--- a/Tools/ArdupilotMegaPlanner/HIL/Utils.cs
+++ b/Tools/ArdupilotMegaPlanner/HIL/Utils.cs
@ -79,16 +79,16 @@ namespace ArdupilotMega.HIL
        }

        public static Tuple<double, double, double> EarthRatesToBodyRatesRyan(double roll, double pitch, double yaw,
-                         double rollRate, double pitchRate, double yawRate)
+                         double x, double y, double z)
        {
            // thanks to ryan beall

            var phi = radians(roll);
            var theta = radians(pitch);
-            var psi = radians(yaw);
-            var Po = radians(pitchRate);
-            var Ro = radians(yawRate);
-            var Qo = radians(rollRate);
+            var psi = radians((360 - yaw) * 1.0);
+            var Po = radians(x);
+            var Qo = radians(y);
+            var Ro = radians(-z);

            var P = Po * cos(psi) * cos(theta) - Ro * sin(theta) + Qo * cos(theta) * sin(psi);

@ -96,6 +96,12 @@ namespace ArdupilotMega.HIL

            var R = Po * (sin(phi) * sin(psi) + cos(phi) * cos(psi) * sin(theta)) - Qo * (cos(psi) * sin(phi) - cos(phi) * sin(psi) * sin(theta)) + Ro * cos(phi) * cos(theta);

+
+//            P = 0;
+            //Q = 0;
+            //R = 0;
+
+
            return new Tuple<double, double, double>(degrees(P), degrees(Q), degrees(R));
        }

--- a/Tools/ArdupilotMegaPlanner/HUD.cs
+++ b/Tools/ArdupilotMegaPlanner/HUD.cs
@ -42,6 +42,8 @@ namespace hud

        public bool opengl { get { return base.UseOpenGL; } set { base.UseOpenGL = value; } }

+        bool started = false;
+
        public HUD()
        {
            if (this.DesignMode)
@ -50,12 +52,12 @@ namespace hud
                //return;
            }

-            InitializeComponent();
+            //InitializeComponent();

            graphicsObject = this;
            graphicsObjectGDIP = Graphics.FromImage(objBitmap);
        }
-
+        /*
        private void InitializeComponent()
        {
            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(HUD));
@ -68,33 +70,33 @@ namespace hud
            resources.ApplyResources(this, "$this");
            this.ResumeLayout(false);

-        }
+        }*/

-        float _roll;
-        float _navroll;
-        float _pitch;
-        float _navpitch;
-        float _heading;
-        float _targetheading;
-        float _alt;
-        float _targetalt;
-        float _groundspeed;
-        float _airspeed;
-        float _targetspeed;
-        float _batterylevel;
-        float _batteryremaining;
-        float _gpsfix;
-        float _gpshdop;
-        float _disttowp;
-        float _groundcourse;
-        float _xtrack_error;
-        float _turnrate;
-        float _verticalspeed;
-        float _linkqualitygcs;
+        float _roll = 0;
+        float _navroll = 0;
+        float _pitch = 0;
+        float _navpitch = 0;
+        float _heading = 0;
+        float _targetheading = 0;
+        float _alt = 0;
+        float _targetalt = 0;
+        float _groundspeed = 0;
+        float _airspeed = 0;
+        float _targetspeed = 0;
+        float _batterylevel = 0;
+        float _batteryremaining = 0;
+        float _gpsfix = 0;
+        float _gpshdop = 0;
+        float _disttowp = 0;
+        float _groundcourse = 0;
+        float _xtrack_error = 0;
+        float _turnrate = 0;
+        float _verticalspeed = 0;
+        float _linkqualitygcs = 0;
        DateTime _datetime;
        string _mode = "Manual";
-        int _wpno;
-
+        int _wpno = 0;
+        
        [System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
        public float roll { get { return _roll; } set { if (_roll != value) { _roll = value; this.Invalidate(); } } }
        [System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
@ -146,6 +148,7 @@ namespace hud

        [System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
        public int status { get; set; }
+        
        int statuslast = 0;
        DateTime armedtimer = DateTime.MinValue;

@ -180,9 +183,6 @@ namespace hud

        protected override void OnLoad(EventArgs e)
        {
-            if (this.DesignMode) 
-                return;
-
            if (opengl)
            {
                try
@ -236,12 +236,17 @@ namespace hud
                }
                catch { }
            }
+
+            started = true;
        }

        protected override void OnPaint(PaintEventArgs e)
        {
            //GL.Enable(EnableCap.AlphaTest)

+            if (!started)
+                return;
+
            if (this.DesignMode)
            {
                e.Graphics.Clear(this.BackColor);
@ -691,14 +696,14 @@ namespace hud

                graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);

-                graphicsObject.RotateTransform(-roll);
+                graphicsObject.RotateTransform(-_roll);

                int fontsize = this.Height / 30; // = 10
                int fontoffset = fontsize - 10;

                float every5deg = -this.Height / 60;

-                float pitchoffset = -pitch * every5deg;
+                float pitchoffset = -_pitch * every5deg;

                int halfwidth = this.Width / 2;
                int halfheight = this.Height / 2;
@ -742,7 +747,7 @@ namespace hud
                graphicsObject.SetClip(new Rectangle(0, this.Height / 14, this.Width, this.Height - this.Height / 14));

                graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
-                graphicsObject.RotateTransform(-roll);
+                graphicsObject.RotateTransform(-_roll);

                // draw armed

@ -776,7 +781,7 @@ namespace hud
                for (int a = -90; a <= 90; a += 5)
                {
                    // limit to 40 degrees
-                    if (a >= pitch - 34 && a <= pitch + 25)
+                    if (a >= _pitch - 34 && a <= _pitch + 25)
                    {
                        if (a % 10 == 0)
                        {
@ -804,7 +809,7 @@ namespace hud

                graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2 + this.Height / 14);

-                graphicsObject.RotateTransform(-roll);
+                graphicsObject.RotateTransform(-_roll);

                Point[] pointlist = new Point[3];

@ -816,7 +821,7 @@ namespace hud
                pointlist[1] = new Point(-lengthlong, -lengthlong - extra);
                pointlist[2] = new Point(lengthlong, -lengthlong - extra);

-                if (Math.Abs(roll) > 45)
+                if (Math.Abs(_roll) > 45)
                {
                    redPen.Width = 10;
                }
@ -870,30 +875,30 @@ namespace hud
                graphicsObject.DrawLine(whitePen, headbg.Left + 5, headbg.Bottom - 5, headbg.Width - 5, headbg.Bottom - 5);

                float space = (headbg.Width - 10) / 60.0f;
-                int start = (int)Math.Round((heading - 30),1);
+                int start = (int)Math.Round((_heading - 30),1);

                // draw for outside the 60 deg
-                if (targetheading < start)
+                if (_targetheading < start)
                {
                    greenPen.Width = 6;
                    graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * 0, headbg.Bottom, headbg.Left + 5 + space * (0), headbg.Top);
                }
-                if (targetheading > heading + 30)
+                if (_targetheading > _heading + 30)
                {
                    greenPen.Width = 6;
                    graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * 60, headbg.Bottom, headbg.Left + 5 + space * (60), headbg.Top);
                }

-                for (int a = start; a <= heading + 30; a += 1)
+                for (int a = start; a <= _heading + 30; a += 1)
                {
                    // target heading
-                    if (((int)(a + 360) % 360) == (int)targetheading)
+                    if (((int)(a + 360) % 360) == (int)_targetheading)
                    {
                        greenPen.Width = 6;
                        graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * (a - start), headbg.Bottom, headbg.Left + 5 + space * (a - start), headbg.Top);
                    }

-                    if (((int)(a + 360) % 360) == (int)groundcourse)
+                    if (((int)(a + 360) % 360) == (int)_groundcourse)
                    {
                        blackPen.Width = 6;
                        graphicsObject.DrawLine(blackPen, headbg.Left + 5 + space * (a - start), headbg.Bottom, headbg.Left + 5 + space * (a - start), headbg.Top);
@ -940,7 +945,7 @@ namespace hud
                float xtspace = this.Width / 10.0f / 3.0f;
                int pad = 10;

-                float myxtrack_error = xtrack_error;
+                float myxtrack_error = _xtrack_error;

                myxtrack_error = Math.Min(myxtrack_error, 40);
                myxtrack_error = Math.Max(myxtrack_error, -40);
@ -977,7 +982,7 @@ namespace hud

                graphicsObject.DrawLine(whitePen, this.Width / 10 + xtspace * 2 - xtspace / 2, headbg.Bottom + this.Height / 10 + 10, this.Width / 10 + xtspace * 2 - xtspace / 2 + xtspace, headbg.Bottom + this.Height / 10 + 10);

-                float myturnrate = turnrate;
+                float myturnrate = _turnrate;
                float trwidth = (this.Width / 10 + xtspace * 2 - xtspace / 2) - (this.Width / 10 - xtspace * 2 - xtspace / 2);

                float range = 12;
@ -1023,21 +1028,21 @@ namespace hud

                int viewrange = 26;

-                float speed = airspeed;
+                float speed = _airspeed;
                if (speed == 0)
-                    speed = groundspeed;
+                    speed = _groundspeed;

                space = (scrollbg.Height) / (float)viewrange;
                start = ((int)speed - viewrange / 2);

-                if (start > targetspeed)
+                if (start > _targetspeed)
                {
                    greenPen.Color = Color.FromArgb(128, greenPen.Color);
                    greenPen.Width = 6;
                    graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top, scrollbg.Left + scrollbg.Width, scrollbg.Top);
                    greenPen.Color = Color.FromArgb(255, greenPen.Color);
                }
-                if ((speed + viewrange / 2) < targetspeed)
+                if ((speed + viewrange / 2) < _targetspeed)
                {
                    greenPen.Color = Color.FromArgb(128, greenPen.Color);
                    greenPen.Width = 6;
@ -1047,7 +1052,7 @@ namespace hud

                for (int a = (int)start; a <= (speed + viewrange / 2); a += 1)
                {
-                    if (a == (int)targetspeed && targetspeed != 0)
+                    if (a == (int)_targetspeed && _targetspeed != 0)
                    {
                        greenPen.Width = 6;
                        graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * (a - start), scrollbg.Left + scrollbg.Width, scrollbg.Top - space * (a - start));
@ -1068,8 +1073,8 @@ namespace hud

                // extra text data

-                drawstring(graphicsObject, "AS " + airspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + 5);
-                drawstring(graphicsObject, "GS " + groundspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);
+                drawstring(graphicsObject, "AS " + _airspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + 5);
+                drawstring(graphicsObject, "GS " + _groundspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);

                //drawstring(e,, new Font("Arial", fontsize + 2), whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);

@ -1099,16 +1104,16 @@ namespace hud
                viewrange = 26;

                space = (scrollbg.Height) / (float)viewrange;
-                start = ((int)alt - viewrange / 2);
+                start = ((int)_alt - viewrange / 2);

-                if (start > targetalt)
+                if (start > _targetalt)
                {
                    greenPen.Color = Color.FromArgb(128, greenPen.Color);
                    greenPen.Width = 6;
                    graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top, scrollbg.Left + scrollbg.Width, scrollbg.Top);
                    greenPen.Color = Color.FromArgb(255, greenPen.Color);
                }
-                if ((alt + viewrange / 2) < targetalt)
+                if ((_alt + viewrange / 2) < _targetalt)
                {
                    greenPen.Color = Color.FromArgb(128, greenPen.Color);
                    greenPen.Width = 6;
@ -1116,9 +1121,9 @@ namespace hud
                    greenPen.Color = Color.FromArgb(255, greenPen.Color);
                }

-                for (int a = (int)start; a <= (alt + viewrange / 2); a += 1)
+                for (int a = (int)start; a <= (_alt + viewrange / 2); a += 1)
                {
-                    if (a == Math.Round(targetalt) && targetalt != 0)
+                    if (a == Math.Round(_targetalt) && _targetalt != 0)
                    {
                        greenPen.Width = 6;
                        graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * (a - start), scrollbg.Left + scrollbg.Width, scrollbg.Top - space * (a - start));
@ -1148,10 +1153,10 @@ namespace hud

                viewrange = 12;

-                verticalspeed = Math.Min(viewrange / 2, verticalspeed);
-                verticalspeed = Math.Max(viewrange / -2, verticalspeed);
+                _verticalspeed = Math.Min(viewrange / 2, _verticalspeed);
+                _verticalspeed = Math.Max(viewrange / -2, _verticalspeed);

-                float scaledvalue = verticalspeed / -viewrange * (scrollbg.Bottom - scrollbg.Top);
+                float scaledvalue = _verticalspeed / -viewrange * (scrollbg.Bottom - scrollbg.Top);

                float linespace = (float)1 / -viewrange * (scrollbg.Bottom - scrollbg.Top);

@ -1199,53 +1204,53 @@ namespace hud
                graphicsObject.ResetTransform();
                graphicsObject.TranslateTransform(0, this.Height / 2);

-                drawstring(graphicsObject, ((int)alt).ToString("0"), font, 10, Brushes.AliceBlue, scrollbg.Left + 10, -9);
+                drawstring(graphicsObject, ((int)_alt).ToString("0"), font, 10, Brushes.AliceBlue, scrollbg.Left + 10, -9);
                graphicsObject.ResetTransform();

                // mode and wp dist and wp

-                drawstring(graphicsObject, mode, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + 5);
-                drawstring(graphicsObject, (int)disttowp + ">" + wpno, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + fontsize + 2 + 10);
+                drawstring(graphicsObject, _mode, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + 5);
+                drawstring(graphicsObject, (int)_disttowp + ">" + _wpno, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + fontsize + 2 + 10);

                graphicsObject.DrawLine(greenPen, scrollbg.Left - 5, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20, scrollbg.Left - 5, scrollbg.Top - (int)(fontsize) - 2 - 20);
                graphicsObject.DrawLine(greenPen, scrollbg.Left - 10, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 15, scrollbg.Left - 10, scrollbg.Top - (int)(fontsize) - 2 - 20);
                graphicsObject.DrawLine(greenPen, scrollbg.Left - 15, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 10, scrollbg.Left - 15, scrollbg.Top - (int)(fontsize ) - 2 - 20);

-                drawstring(graphicsObject, linkqualitygcs.ToString("0") + "%", font, fontsize, whiteBrush, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20);
-                if (linkqualitygcs == 0)
+                drawstring(graphicsObject, _linkqualitygcs.ToString("0") + "%", font, fontsize, whiteBrush, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20);
+                if (_linkqualitygcs == 0)
                {
                    graphicsObject.DrawLine(redPen, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20, scrollbg.Left + 50, scrollbg.Top - (int)(fontsize * 2.2) - 2);

                    graphicsObject.DrawLine(redPen, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2, scrollbg.Left + 50, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20);
                }
-                drawstring(graphicsObject, datetime.ToString("HH:mm:ss"), font, fontsize, whiteBrush, scrollbg.Left - 20, scrollbg.Top - fontsize - 2 - 20);
+                drawstring(graphicsObject, _datetime.ToString("HH:mm:ss"), font, fontsize, whiteBrush, scrollbg.Left - 20, scrollbg.Top - fontsize - 2 - 20);


                // battery

                graphicsObject.ResetTransform();

-                drawstring(graphicsObject, resources.GetString("Bat"), font, fontsize + 2, whiteBrush, fontsize, this.Height - 30 - fontoffset);
-                drawstring(graphicsObject, batterylevel.ToString("0.00v"), font, fontsize + 2, whiteBrush, fontsize * 4, this.Height - 30 - fontoffset);
-                drawstring(graphicsObject, batteryremaining.ToString("0%"), font, fontsize + 2, whiteBrush, fontsize * 9, this.Height - 30 - fontoffset);
+                drawstring(graphicsObject, "Bat", font, fontsize + 2, whiteBrush, fontsize, this.Height - 30 - fontoffset);
+                drawstring(graphicsObject, _batterylevel.ToString("0.00v"), font, fontsize + 2, whiteBrush, fontsize * 4, this.Height - 30 - fontoffset);
+                drawstring(graphicsObject, _batteryremaining.ToString("0%"), font, fontsize + 2, whiteBrush, fontsize * 9, this.Height - 30 - fontoffset);

                // gps

                string gps = "";

-                if (gpsfix == 0)
+                if (_gpsfix == 0)
                {
                    gps = ("GPS: No GPS");
                }
-                else if (gpsfix == 1)
+                else if (_gpsfix == 1)
                {
                    gps = ("GPS: No Fix");
                }
-                else if (gpsfix == 2)
+                else if (_gpsfix == 2)
                {
                    gps = ("GPS: 3D Fix");
                }
-                else if (gpsfix == 3)
+                else if (_gpsfix == 3)
                {
                    gps = ("GPS: 3D Fix");
                }
@ -1462,8 +1467,7 @@ namespace hud
                return;

            pth.Reset();
-
-
+            
            if (text != null)
                pth.AddString(text, font.FontFamily, 0, fontsize + 5, new Point((int)x, (int)y), StringFormat.GenericTypographic);

@ -1471,8 +1475,12 @@ namespace hud
            // this uses lots of cpu time

            //e.SmoothingMode = SmoothingMode.HighSpeed;
+
+            if (e == null || P == null || pth == null || pth.PointCount == 0)
+                return;
            
-            e.DrawPath(P, pth);
+            if (!ArdupilotMega.MainV2.MONO)
+                e.DrawPath(P, pth);

            //Draw the face

@ -1507,7 +1515,7 @@ namespace hud

        protected override void OnResize(EventArgs e)
        {
-            if (DesignMode)
+            if (DesignMode || !started)
                return;
            this.Height = (int)(this.Width / 1.333f);
            base.OnResize(e);
--- a/Tools/ArdupilotMegaPlanner/MainV2.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.cs
@ -591,11 +591,11 @@ namespace ArdupilotMega

            temp.Dock = DockStyle.Fill;

-            MyView.Controls.Add(temp);
-
            temp.ForeColor = Color.White;

            temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
+
+            MyView.Controls.Add(temp);
        }

        private void MenuTerminal_Click(object sender, EventArgs e)
@ -1109,6 +1109,8 @@ namespace ArdupilotMega

                            GCSViews.FlightData.myhud.Invalidate();
                        }
+
+                        GC.Collect();
                    }

                    if (speechenable && talk != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
@ -1127,7 +1129,10 @@ namespace ArdupilotMega
                    }

                    if (!comPort.BaseStream.IsOpen || givecomport == true)
+                    {
+                        System.Threading.Thread.Sleep(100);
                        continue;
+                    }

                    if (heatbeatsend.Second != DateTime.Now.Second)
                    {
--- a/Tools/ArdupilotMegaPlanner/Program.cs
+++ b/Tools/ArdupilotMegaPlanner/Program.cs
@ -29,22 +29,6 @@ namespace ArdupilotMega

            //Common.linearRegression();

-            var answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 0, 0, 5, 0);
-            Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1 , answer.Item2 , answer.Item3);
-
-            answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 45, 0, 5, 0);
-            Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1, answer.Item2, answer.Item3);
-
-            answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 90, 0, 5, 0);
-            Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1, answer.Item2, answer.Item3);
-
-            answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 135, 0, 5, 0);
-            Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1, answer.Item2, answer.Item3);
-
-            //Console.ReadLine();
-
-            //return;
-
            Application.EnableVisualStyles();
            Application.SetCompatibleTextRenderingDefault(false);
            try
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.1.28")]
+[assembly: AssemblyFileVersion("1.1.29")]
 [assembly: NeutralResourcesLanguageAttribute("")]
--- a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
+++ b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
@ -284,6 +284,9 @@ namespace ArdupilotMega.Setup

        private void tabControl1_SelectedIndexChanged(object sender, EventArgs e)
        {
+            int monosux = 0;
+            monosux *= 5;
+
            if (tabControl1.SelectedTab == tabRadioIn)
            {
                startup = true;
--- a/Tools/ArdupilotMegaPlanner/bin/Release/defines.h
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/defines.h
@ -1,346 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-
-// Internal defines, don't edit and expect things to work
-// -------------------------------------------------------
-
-#define DEBUG 0
-#define LOITER_RANGE 30 // for calculating power outside of loiter radius
-
-// GPS baud rates
-// --------------
-#define NO_GPS		38400
-#define NMEA_GPS	38400
-#define EM406_GPS	57600
-#define UBLOX_GPS	38400
-#define ARDU_IMU	38400
-#define MTK_GPS		38400
-#define SIM_GPS		38400
-
-// GPS type codes - use the names, not the numbers
-#define GPS_PROTOCOL_NONE	-1
-#define GPS_PROTOCOL_NMEA	0
-#define GPS_PROTOCOL_SIRF	1
-#define GPS_PROTOCOL_UBLOX	2
-#define GPS_PROTOCOL_IMU	3
-#define GPS_PROTOCOL_MTK	4
-
-// Radio channels
-// Note channels are from 0!  
-//
-// XXX these should be CH_n defines from RC.h at some point.
-#define CH_ROLL 0
-#define CH_PITCH 1
-#define CH_THROTTLE 2
-#define CH_RUDDER 3
-#define CH_1 0
-#define CH_2 1
-#define CH_3 2
-#define CH_4 3
-#define CH_5 4
-#define CH_6 5
-#define CH_7 6
-#define CH_8 7
-
-#define WP_START_BYTE 0x130	// where in memory home WP is stored + all other WP
-#define WP_SIZE 14
-
-// GCS enumeration
-#define GCS_PROTOCOL_STANDARD	0	// standard APM protocol
-#define GCS_PROTOCOL_SPECIAL	1	// special test protocol (?)
-#define GCS_PROTOCOL_LEGACY		2	// legacy ArduPilot protocol
-#define GCS_PROTOCOL_XPLANE		3	// X-Plane HIL simulation
-#define GCS_PROTOCOL_IMU		4	// ArdiPilot IMU output
-#define GCS_PROTOCOL_JASON		5	// Jason's special secret GCS protocol
-#define GCS_PROTOCOL_DEBUGTERMINAL		6	// Text-based interactive GCS
-#define GCS_PROTOCOL_NONE		-1	// No GCS output
-
-// PID enumeration
-// ---------------
-#define CASE_SERVO_ROLL 0
-#define CASE_SERVO_PITCH 1
-#define CASE_SERVO_RUDDER 2
-#define CASE_NAV_ROLL 3
-#define CASE_NAV_PITCH_ASP 4
-#define CASE_NAV_PITCH_ALT 5
-#define CASE_TE_THROTTLE 6
-#define CASE_ALT_THROTTLE 7
-
-// Feedforward cases
-// ----------------
-#define CASE_PITCH_COMP 0
-#define CASE_RUDDER_MIX 1
-#define CASE_P_TO_T 2
-#define CASE_T_TO_P 3
-
-// Auto Pilot modes
-// ----------------
-#define MANUAL 0
-#define CIRCLE 1			 // When flying sans GPS, and we loose the radio, just circle
-#define STABILIZE 2
-
-#define FLY_BY_WIRE_A 5		// Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle
-#define FLY_BY_WIRE_B 6		// Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed
-							// Fly By Wire B = Fly By Wire A if you have AIRSPEED_SENSOR 0
-#define AUTO 10
-#define RTL 11
-#define LOITER 12
-#define TAKEOFF 13
-#define LAND 14
-
-
-// Command IDs - Must
-#define CMD_BLANK 0x00 // there is no command stored in the mem location requested
-#define CMD_WAYPOINT 0x10
-#define CMD_LOITER 0x11
-#define CMD_LOITER_N_TURNS 0x12
-#define CMD_LOITER_TIME 0x13
-#define CMD_RTL 0x14
-#define CMD_LAND 0x15
-#define CMD_TAKEOFF 0x16
-
-// Command IDs - May
-#define CMD_DELAY 0x20
-#define CMD_CLIMB 0x21 // NOT IMPLEMENTED
-#define CMD_LAND_OPTIONS 0x22			// pitch in deg, airspeed  m/s, throttle %, track WP 1 or 0 
-
-// Command IDs - Now
-//#define CMD_AP_MODE 0x30
-#define CMD_RESET_INDEX 0x31
-#define CMD_GOTO_INDEX 0x32	// NOT IMPLEMENTED
-#define CMD_GETVAR_INDEX 0x33
-#define CMD_SENDVAR_INDEX 0x34
-#define CMD_TELEMETRY 0x35
-
-#define CMD_THROTTLE_CRUISE 0x40
-#define CMD_AIRSPEED_CRUISE 0x41
-#define CMD_RESET_HOME 0x44
-
-#define CMD_KP_GAIN 0x60
-#define CMD_KI_GAIN 0x61
-#define CMD_KD_GAIN 0x62
-#define CMD_KI_MAX 0x63
-#define CMD_KFF_GAIN 0x64
-
-#define CMD_RADIO_TRIM 0x70
-#define CMD_RADIO_MAX 0x71
-#define CMD_RADIO_MIN 0x72
-#define CMD_RADIO_MIN 0x72
-#define CMD_ELEVON_TRIM 0x73
-
-#define CMD_INDEX 0x75   // sets the current Must index
-#define CMD_REPEAT 0x80
-#define CMD_RELAY 0x81
-#define CMD_SERVO 0x82	// move servo N to PWM value
-
-//repeating events
-#define NO_REPEAT 0
-#define CH_4_TOGGLE 1
-#define CH_5_TOGGLE 2
-#define CH_6_TOGGLE 3
-#define CH_7_TOGGLE 4
-#define RELAY_TOGGLE 5
-#define STOP_REPEAT 10
-
-//  GCS Message ID's
-#define MSG_ACKNOWLEDGE 0x00
-#define MSG_HEARTBEAT 0x01
-#define MSG_ATTITUDE 0x02
-#define MSG_LOCATION 0x03
-#define MSG_PRESSURE 0x04
-#define MSG_STATUS_TEXT 0x05
-#define MSG_PERF_REPORT 0x06
-#define MSG_COMMAND 0x22
-#define MSG_VALUE 0x32
-#define MSG_PID 0x42
-#define MSG_TRIMS 0x50
-#define MSG_MINS 0x51
-#define MSG_MAXS 0x52
-#define MSG_IMU_OUT 0x53
-
-#define SEVERITY_LOW 1
-#define SEVERITY_MEDIUM 2
-#define SEVERITY_HIGH 3
-#define SEVERITY_CRITICAL 4
-
-//  Logging parameters
-#define LOG_ATTITUDE_MSG		0x01
-#define LOG_GPS_MSG				0x02
-#define LOG_MODE_MSG			0X03
-#define LOG_CONTROL_TUNING_MSG	0X04
-#define LOG_NAV_TUNING_MSG		0X05
-#define LOG_PERFORMANCE_MSG		0X06
-#define LOG_RAW_MSG				0x07
-#define LOG_CMD_MSG				0x08
-#define LOG_STARTUP_MSG			0x09
-#define TYPE_AIRSTART_MSG		0x00
-#define TYPE_GROUNDSTART_MSG	0x01
-
-#define MASK_LOG_ATTITUDE_FAST 0
-#define MASK_LOG_ATTITUDE_MED 2
-#define MASK_LOG_GPS 4
-#define MASK_LOG_PM 8
-#define MASK_LOG_CTUN 16
-#define MASK_LOG_NTUN 32
-#define MASK_LOG_MODE 64
-#define MASK_LOG_RAW 128
-#define MASK_LOG_CMD 256
-
-// Yaw modes
-#define YAW_MODE_COORDINATE_TURNS 0
-#define YAW_MODE_HOLD_HEADING 1
-#define YAW_MODE_SLIP 2
-
-// Waypoint Modes
-// ----------------
-#define ABS_WP 0
-#define REL_WP 1
-
-// Command Queues
-// ---------------
-#define COMMAND_MUST 0
-#define COMMAND_MAY 1 
-#define COMMAND_NOW 2 
-
-// Events
-// ------
-#define EVENT_WILL_REACH_WAYPOINT 1
-#define EVENT_SET_NEW_WAYPOINT_INDEX 2
-#define EVENT_LOADED_WAYPOINT 3
-#define EVENT_LOOP 4
-
-//GPS_fix
-#define VALID_GPS 0x00
-#define BAD_GPS 0x01
-#define FAILED_GPS 0x03
-
-
-
-#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO
-
-#define	AIRSPEED_CH 7			// The external ADC channel for the airspeed sensor
-#define BATTERY_PIN1 0		        // These are the pins for the voltage dividers
-#define BATTERY_PIN2 1
-#define BATTERY_PIN3 2
-#define BATTERY_PIN4 3
-#define RELAY_PIN 47
-
-// Hardware Parameters
-#define SLIDE_SWITCH_PIN 40
-#define PUSHBUTTON_PIN 41
-
-#define A_LED_PIN 37			//36 = B,	37 = A,	35 = C
-#define B_LED_PIN 36
-#define C_LED_PIN 35
-
-#define HOLD_ALT_ABOVE_HOME 8 // bitmask value
-
-// IMU Parameters
-
-#define ADC_CONSTRAINT 900
-#define TRUE 1
-#define FALSE 0
-#define ADC_WARM_CYCLES 200
-#define SPEEDFILT 400			// centimeters/second
-
-#define GYRO_TEMP_CH 3			// The ADC channel reading the gyro temperature
-
-// ADC : Voltage reference 3.3v / 12bits(4096 steps) => 0.8mV/ADC step
-// ADXL335 Sensitivity(from datasheet) => 330mV/g, 0.8mV/ADC step => 330/0.8 = 412
-// Tested value : 418
-#define GRAVITY 418 //this equivalent to 1G in the raw data coming from the accelerometer 
-#define Accel_Scale(x) x*(GRAVITY/9.81)//Scaling the raw data of the accel to actual acceleration in meters for seconds square
-
-#define ToRad(x) (x*0.01745329252)	// *pi/180
-#define ToDeg(x) (x*57.2957795131)	// *180/pi
-
-// IDG500 Sensitivity (from datasheet) => 2.0mV/º/s, 0.8mV/ADC step => 0.8/3.33 = 0.4
-// Tested values : 0.4026, ?, 0.4192
-#define Gyro_Gain_X 0.4 //X axis Gyro gain
-#define Gyro_Gain_Y 0.41 //Y axis Gyro gain
-#define Gyro_Gain_Z 0.41 //Z axis Gyro gain
-#define Gyro_Scaled_X(x) x*ToRad(Gyro_Gain_X) //Return the scaled ADC raw data of the gyro in radians for second
-#define Gyro_Scaled_Y(x) x*ToRad(Gyro_Gain_Y) //Return the scaled ADC raw data of the gyro in radians for second
-#define Gyro_Scaled_Z(x) x*ToRad(Gyro_Gain_Z) //Return the scaled ADC raw data of the gyro in radians for second
-
-#define Kp_ROLLPITCH 0.0014	 		// Pitch&Roll Drift Correction Proportional Gain
-#define Ki_ROLLPITCH 0.0000003 		// Pitch&Roll Drift Correction Integrator Gain
-#define Kp_YAW 0.8		 			// Yaw Drift Correction Porportional Gain	
-#define Ki_YAW 0.00004 				// Yaw Drift CorrectionIntegrator Gain
-
-/*For debugging purposes*/
-#define OUTPUTMODE 1	//If value = 1 will print the corrected data, 0 will print uncorrected data of the gyros (with drift), 2 Accel only data
-
-
-#define EEPROM_MAX_ADDR		4096
-
-// Radio setup
-#define EE_TRIM 0x00
-#define EE_MIN 0x10
-#define EE_MAX 0x20
-#define EE_ELEVON1_TRIM 0x30
-#define EE_ELEVON2_TRIM 0x32
-
-// user gains
-#define EE_XTRACK_GAIN 0x34
-#define EE_XTRACK_ANGLE 0x36
-#define EE_ALT_MIX 0x3B
-#define EE_HEAD_MAX 0x38
-#define EE_PITCH_MAX 0x39
-#define EE_PITCH_MIN 0x3A
-#define EE_KP 0x40
-#define EE_KI 0x60
-#define EE_KD 0x80
-#define EE_IMAX 0xA0
-#define EE_KFF 0xC0
-#define EE_AN_OFFSET 0xE0
-#define EE_PITCH_TARGET 0x127
-
-//mission specific
-#define EE_CONFIG 0X0F8
-#define EE_WP_MODE 0x0F9
-#define EE_YAW_MODE 0x0FA	// not used
-#define EE_WP_TOTAL 0x0FB
-#define EE_WP_INDEX 0x0FC
-#define EE_WP_RADIUS 0x0FD
-#define EE_LOITER_RADIUS 0x0FE
-#define EE_ALT_HOLD_HOME 0x0FF
-
-// user configs
-#define EE_AIRSPEED_CRUISE 0x103
-#define EE_AIRSPEED_RATIO 0x104
-#define EE_AIRSPEED_FBW_MIN 0x108
-#define EE_AIRSPEED_FBW_MAX 0x109
-#define EE_THROTTLE_MIN 0x10A
-#define EE_THROTTLE_CRUISE 0x10B
-#define EE_THROTTLE_MAX 0x10C
-#define EE_THROTTLE_FAILSAFE 0x10D
-#define EE_THROTTLE_FS_VALUE 0x10E
-#define EE_THROTTLE_FAILSAFE_ACTION 0x110
-#define EE_FLIGHT_MODE_CHANNEL 0x112
-#define EE_AUTO_TRIM 0x113
-#define EE_LOG_BITMASK 0x114
-#define EE_REVERSE_SWITCH 0x120
-#define EE_FLIGHT_MODES 0x121
-
-// sensors
-#define EE_ABS_PRESS_GND 0x116
-#define EE_GND_TEMP 0x11A
-#define EE_GND_ALT 0x11C
-#define EE_AP_OFFSET 0x11E
-
-// log
-#define EE_LAST_LOG_PAGE 0xE00
-#define EE_LAST_LOG_NUM 0xE02
-#define EE_LOG_1_START 0xE04
-
-// bits in log_bitmask
-#define LOGBIT_ATTITUDE_FAST	(1<<0)
-#define LOGBIT_ATTITUDE_MED		(1<<1)
-#define LOGBIT_GPS				(1<<2)
-#define LOGBIT_PM				(1<<3)
-#define LOGBIT_CTUN				(1<<4)
-#define LOGBIT_NTUN				(1<<5)
-#define LOGBIT_MODE				(1<<6)
-#define LOGBIT_RAW				(1<<7)
-#define LOGBIT_CMD				(1<<8)
-