From 64f59e4dd57b03eef6cfaba89f6928c1480e1c6d Mon Sep 17 00:00:00 2001 From: Michael Oborne Date: Fri, 27 Jan 2012 16:01:28 +0800 Subject: [PATCH] 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 --- .../ArdupilotMegaPlanner/ArdupilotMega.csproj | 9 +- .../Controls/ImageLabel.Designer.cs | 4 + .../Controls/ImageLabel.cs | 2 +- Tools/ArdupilotMegaPlanner/CurrentState.cs | 75 +- .../GCSViews/Firmware.Designer.cs | 249 +++++++ .../ArdupilotMegaPlanner/GCSViews/Firmware.cs | 257 +------ .../GCSViews/Firmware.resx | 653 +----------------- .../GCSViews/FlightData.cs | 24 +- .../GCSViews/FlightPlanner.cs | 42 +- .../GCSViews/Simulation.cs | 70 +- Tools/ArdupilotMegaPlanner/HIL/Utils.cs | 16 +- Tools/ArdupilotMegaPlanner/HUD.cs | 158 +++-- Tools/ArdupilotMegaPlanner/MainV2.cs | 9 +- Tools/ArdupilotMegaPlanner/Program.cs | 16 - .../Properties/AssemblyInfo.cs | 2 +- Tools/ArdupilotMegaPlanner/Setup/Setup.cs | 3 + .../bin/Release/defines.h | 346 ---------- 17 files changed, 540 insertions(+), 1395 deletions(-) create mode 100644 Tools/ArdupilotMegaPlanner/GCSViews/Firmware.Designer.cs delete mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/defines.h diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj index 26159003fd..ca896af5e0 100644 --- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj +++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj @@ -253,6 +253,9 @@ XorPlus.cs + + Firmware.cs + Form @@ -652,9 +655,6 @@ Terminal.cs - - HUD.cs - JoystickSetup.cs Designer @@ -733,9 +733,6 @@ Always - - Always - Always diff --git a/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.Designer.cs b/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.Designer.cs index 40a6038712..dfa1e43a2d 100644 --- 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 diff --git a/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.cs b/Tools/ArdupilotMegaPlanner/Controls/ImageLabel.cs index 4bed18b5fd..2e9637b0d1 100644 --- 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; diff --git a/Tools/ArdupilotMegaPlanner/CurrentState.cs b/Tools/ArdupilotMegaPlanner/CurrentState.cs index 5276a64649..c502e71910 100644 --- 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); diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.Designer.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.Designer.cs new file mode 100644 index 0000000000..fa56951ee9 --- /dev/null +++ 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 + { + + /// + /// Required designer variable. + /// + private System.ComponentModel.IContainer components = null; + + /// + /// Clean up any resources being used. + /// + /// true if managed resources should be disposed; otherwise, false. + 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(); + + } + + } +} \ No newline at end of file diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs index 7f61c9d4d0..f3a3d9adf2 100644 --- 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); diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx index 30b5ae19dd..2f436fe289 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx +++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx @@ -144,634 +144,6 @@ 16 - - - iVBORw0KGgoAAAANSUhEUgAAAnEAAAJxCAYAAAAtjeQ4AAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8 - YQUAAAAJcEhZcwAAFxEAABcRAcom8z8AAAAZdEVYdFNvZnR3YXJlAEFkb2JlIEltYWdlUmVhZHlxyWU8 - AACRnUlEQVR4Xu29TY9lx3WuyZ+Q/0D5B3yRc8NATg30IGc24ElOPPGkE/DIgAel2e2RcmAYFxDUSBu4 - hC+ghuhGU22ojb6lFnVNSRRuyVKXRZlg8wolumxSMsmqrGLlxzm936iIo6hd5+TZETv23vHxbOC4ZOb+ - jPWutd5Ya8WKN9br9Rv8GAMwAAbAABgAA2AADJSFAQgcJBYMgAEwAAbAABgAAwViAKEVKDRmSmXNlJAX - 8gIDYAAMgIEpMACJg8SBATAABsAAGAADYKBADCC0AoU2BZvnnswSwQAYAANgAAyUhQFIHCQODIABMAAG - wAAYAAMFYgChFSg0ZkplzZSQF/ICA2AADICBKTAAiYPEgQEwAAbAABgAA2CgQAwgtAKFNgWb557MEsEA - GAADYAAMlIUBSBwkDgyAATAABsAAGAADBWIAoRUoNGZKZc2UkBfyAgNgAAyAgSkwAImDxIEBMAAGwAAY - 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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) diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs index 949283bc5b..1e0723f1f9 100644 --- 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 pointlist = new List(); // 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 { } - } - } /// @@ -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); diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs index 8b8c1e57e4..97dd323d1e 100644 --- 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) diff --git a/Tools/ArdupilotMegaPlanner/HIL/Utils.cs b/Tools/ArdupilotMegaPlanner/HIL/Utils.cs index aa00b6c8cd..4d55cd86c3 100644 --- a/Tools/ArdupilotMegaPlanner/HIL/Utils.cs +++ b/Tools/ArdupilotMegaPlanner/HIL/Utils.cs @@ -79,16 +79,16 @@ namespace ArdupilotMega.HIL } public static Tuple 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(degrees(P), degrees(Q), degrees(R)); } diff --git a/Tools/ArdupilotMegaPlanner/HUD.cs b/Tools/ArdupilotMegaPlanner/HUD.cs index bad8ef9f75..cce7c32b16 100644 --- 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); diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs index 53a043d344..d7d0a6def3 100644 --- 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) { diff --git a/Tools/ArdupilotMegaPlanner/Program.cs b/Tools/ArdupilotMegaPlanner/Program.cs index 3228bf1047..9cd29cbabe 100644 --- 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 diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs index d27e06aa12..7ac34587f4 100644 --- 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("")] diff --git a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs index 0c780b62a5..570d36fc41 100644 --- 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; diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/defines.h b/Tools/ArdupilotMegaPlanner/bin/Release/defines.h deleted file mode 100644 index 74760c243c..0000000000 --- a/Tools/ArdupilotMegaPlanner/bin/Release/defines.h +++ /dev/null @@ -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) -