From 6797510236325440d3639e9ca7a0907baf410224 Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
Date: Sun, 9 Oct 2011 21:30:28 +0800
Subject: [PATCH] planner quick hil fix gains 4500 4500 4500 500 and reverse
 rudder

---
 .gitignore                                    | 11 +++++++-
 .../GCSViews/Simulation.cs                    | 28 +++++++++++++++----
 .../Release/ArdupilotMegaPlanner.application  |  2 +-
 3 files changed, 34 insertions(+), 7 deletions(-)

diff --git a/.gitignore b/.gitignore
index e282838e79..9cf00281e4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,4 +7,13 @@ CMakeFiles
 CMakeCache.txt
 cmake_install.cmake
 build
-/Tools/ArdupilotMegaPlanner/bin/Release/gmapcache
\ No newline at end of file
+/Tools/ArdupilotMegaPlanner/bin/Release/gmapcache
+/Tools/ArdupilotMegaPlanner/APMPlannerXplanes/APMPlannerXplanes/Debug
+/Tools/ArdupilotMegaPlanner/CustomImages
+/Tools/ArdupilotMegaPlanner/Updater/obj
+/Tools/ArdupilotMegaPlanner/Updater/bin
+/Tools/ArdupilotMegaPlanner/bin/Debug
+/Tools/ArdupilotMegaPlanner/bin/APM Planner.app
+/Tools/ArdupilotMegaPlanner/obj
+/Tools/ArdupilotMegaPlanner/resedit/bin
+/Tools/ArdupilotMegaPlanner/resedit/obj
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
index dcc99f45be..407721b827 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
@@ -26,6 +26,7 @@ namespace ArdupilotMega.GCSViews
         EndPoint Remote = (EndPoint)(new IPEndPoint(IPAddress.Any, 0));
         byte[] udpdata = new byte[113 * 9 + 5]; // 113 types - 9 items per type (index+8) + 5 byte header
         float[][] DATA = new float[113][];
+        TDataFromAeroSimRC aeroin = new TDataFromAeroSimRC();
         DateTime now = DateTime.Now;
         DateTime lastgpsupdate = DateTime.Now;
         List<string> position = new List<string>();
@@ -836,7 +837,7 @@ namespace ArdupilotMega.GCSViews
             }
             else if (receviedbytes == 582)
             {
-                TDataFromAeroSimRC aeroin = new TDataFromAeroSimRC();
+                aeroin = new TDataFromAeroSimRC();
 
                 object temp = aeroin;
 
@@ -1154,7 +1155,7 @@ namespace ArdupilotMega.GCSViews
                 throttle_out = 1;
                 rudder_out = (float)MainV2.cs.hilch4 / -ruddergain;
 
-                collective_out = (float)(MainV2.cs.hilch3 - 1000) / throttlegain;
+                collective_out = (float)(MainV2.cs.hilch3 - 1500) / throttlegain;
             }
             else
             {
@@ -1164,7 +1165,7 @@ namespace ArdupilotMega.GCSViews
                 throttle_out = ((float)MainV2.cs.hilch3 + 5000) / throttlegain;
                 rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
             }
-
+            /*
             if ((roll_out == -1 || roll_out == 1) && (pitch_out == -1 || pitch_out == 1))
             {
                 this.Invoke((MethodInvoker)delegate
@@ -1176,7 +1177,7 @@ namespace ArdupilotMega.GCSViews
                     catch { }
                 });
             }
-
+            */
             // Limit min and max
             roll_out = Constrain(roll_out, -1, 1);
             pitch_out = Constrain(pitch_out, -1, 1);
@@ -1207,7 +1208,14 @@ namespace ArdupilotMega.GCSViews
                     else { list3.Clear(); }
                     if (CHKgraphthrottle.Checked)
                     {
-                        list4.Add(time, throttle_out);
+                        if (heli)
+                        {
+                            list4.Add(time, collective_out);
+                        }
+                        else
+                        {
+                            list4.Add(time, throttle_out);
+                        }
                     }
                     else { list4.Clear(); }
                 }
@@ -1223,6 +1231,11 @@ namespace ArdupilotMega.GCSViews
                     {
                         updateScreenDisplay(lastfdmdata.latitude, lastfdmdata.longitude, lastfdmdata.altitude * .3048, lastfdmdata.phi, lastfdmdata.theta, lastfdmdata.psi, lastfdmdata.psi, roll_out, pitch_out, rudder_out, throttle_out);
                     }
+
+                    if (RAD_aerosimrc.Checked)
+                    {
+                        updateScreenDisplay(aeroin.Model_fLatitude * deg2rad, aeroin.Model_fLongitude * deg2rad, aeroin.Model_fPosZ, aeroin.Model_fRoll, aeroin.Model_fPitch, aeroin.Model_fHeading, aeroin.Model_fHeading, roll_out, pitch_out, rudder_out, throttle_out);
+                    }
                 }
             }
             catch (Exception e) { Console.WriteLine("Error updateing screen stuff " + e.ToString()); }
@@ -1240,6 +1253,11 @@ namespace ArdupilotMega.GCSViews
                 Array.Copy(BitConverter.GetBytes((double)(rudder_out * REV_rudder)), 0, AeroSimRC, 16, 8);
                 Array.Copy(BitConverter.GetBytes((double)(throttle_out)), 0, AeroSimRC, 24, 8);
 
+                if (heli)
+                {
+                    Array.Copy(BitConverter.GetBytes((double)(collective_out)), 0, AeroSimRC, 24, 8);
+                }
+
                 try
                 {
                     SimulatorRECV.SendTo(AeroSimRC, Remote);
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
index 17a69fd7ac..ab5abf9620 100644
--- a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
@@ -11,7 +11,7 @@
           <dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
         </dsig:Transforms>
         <dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
-        <dsig:DigestValue>KL2GgPg3v0nfw+58LySJfeIHyEM=</dsig:DigestValue>
+        <dsig:DigestValue>JxmjTgyhsfYjYCKuWvibXDaws3I=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>