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Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach

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This commit is contained in:
Adam M Rivera 2012-04-23 00:03:37 -05:00
commit 692bbee233
50 changed files with 3962 additions and 1040 deletions
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17
ArduCopter/ArduCopter.pde
View File

@ -199,7 +199,11 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
#endif
#ifdef OPTFLOW_ENABLED
AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_OpticalFlow_ADNS3080_APM2 optflow(OPTFLOW_CS_PIN);
#else
AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
#endif
#else
AP_OpticalFlow optflow;
#endif
@ -484,6 +488,12 @@ static const float radius_of_earth = 6378100; // meters
// Used by Mavlink for unknow reasons
static const float gravity = 9.81; // meters/ sec^2
// Unions for getting byte values
union float_int{
int32_t int_value;
float float_value;
} float_int;
////////////////////////////////////////////////////////////////////////////////
// Location & Navigation
@ -2060,10 +2070,6 @@ static void tuning(){
switch(g.radio_tuning){
case CH6_DAMP:
g.stabilize_d.set(tuning_value);
break;
case CH6_RATE_KD:
g.pid_rate_roll.kD(tuning_value);
g.pid_rate_pitch.kD(tuning_value);
@ -2079,6 +2085,7 @@ static void tuning(){
g.pi_stabilize_pitch.kI(tuning_value);
break;
case CH6_DAMP:
case CH6_STABILIZE_KD:
g.stabilize_d = tuning_value;
break;

44
ArduCopter/Attitude.pde
View File

@ -586,9 +586,11 @@ static int32_t
get_of_roll(int32_t control_roll)
{
#ifdef OPTFLOW_ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
static float tot_x_cm = 0; // total distance from target
static uint32_t last_of_roll_update = 0;
int32_t new_roll = 0;
int32_t p,i,d;
// check if new optflow data available
if( optflow.last_update != last_of_roll_update) {
@ -599,17 +601,35 @@ get_of_roll(int32_t control_roll)
// only stop roll if caller isn't modifying roll
if( control_roll == 0 && current_loc.alt < 1500) {
new_roll = g.pid_optflow_roll.get_pid(-tot_x_cm, 1.0); // we could use the last update time to calculate the time change
p = g.pid_optflow_roll.get_p(-tot_x_cm);
i = g.pid_optflow_roll.get_i(-tot_x_cm,1.0); // we could use the last update time to calculate the time change
d = g.pid_optflow_roll.get_d(-tot_x_cm,1.0);
new_roll = p+i+d;
}else{
g.pid_optflow_roll.reset_I();
tot_x_cm = 0;
p = 0; // for logging
i = 0;
d = 0;
}
// limit amount of change and maximum angle
of_roll = constrain(new_roll, (of_roll-20), (of_roll+20));
#if LOGGING_ENABLED == ENABLED
// log output if PID logging is on and we are tuning the rate P, I or D gains
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
log_counter++;
if( log_counter >= 5 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
log_counter = 0;
Log_Write_PID(CH6_OPTFLOW_KP, tot_x_cm, p, i, d, of_roll, tuning_value);
}
}
#endif // LOGGING_ENABLED == ENABLED
}
// limit max angle
of_roll = constrain(of_roll, -1000, 1000);
return control_roll+of_roll;
#else
return control_roll;
@ -620,9 +640,11 @@ static int32_t
get_of_pitch(int32_t control_pitch)
{
#ifdef OPTFLOW_ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
static float tot_y_cm = 0; // total distance from target
static uint32_t last_of_pitch_update = 0;
int32_t new_pitch = 0;
int32_t p,i,d;
// check if new optflow data available
if( optflow.last_update != last_of_pitch_update ) {
@ -633,18 +655,36 @@ get_of_pitch(int32_t control_pitch)
// only stop roll if caller isn't modifying pitch
if( control_pitch == 0 && current_loc.alt < 1500 ) {
new_pitch = g.pid_optflow_pitch.get_pid(tot_y_cm, 1.0); // we could use the last update time to calculate the time change
p = g.pid_optflow_pitch.get_p(tot_y_cm);
i = g.pid_optflow_pitch.get_i(tot_y_cm, 1.0); // we could use the last update time to calculate the time change
d = g.pid_optflow_pitch.get_d(tot_y_cm, 1.0);
new_pitch = p + i + d;
}else{
tot_y_cm = 0;
g.pid_optflow_pitch.reset_I();
p = 0; // for logging
i = 0;
d = 0;
}
// limit amount of change
of_pitch = constrain(new_pitch, (of_pitch-20), (of_pitch+20));
#if LOGGING_ENABLED == ENABLED
// log output if PID logging is on and we are tuning the rate P, I or D gains
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
log_counter++;
if( log_counter >= 5 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
log_counter = 0;
Log_Write_PID(CH6_OPTFLOW_KP+100, tot_y_cm, p, i, d, of_pitch, tuning_value);
}
}
#endif // LOGGING_ENABLED == ENABLED
}
// limit max angle
of_pitch = constrain(of_pitch, -1000, 1000);
return control_pitch+of_pitch;
#else
return control_pitch;

58
ArduCopter/Log.pde
View File

@ -43,6 +43,19 @@ const struct Menu::command log_menu_commands[] PROGMEM = {
{"disable", select_logs}
};
static int32_t get_int(float f)
{
float_int.float_value = f;
return float_int.int_value;
}
static float get_float(int32_t i)
{
float_int.int_value = i;
return float_int.float_value;
}
// A Macro to create the Menu
MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
@ -278,26 +291,21 @@ static void Log_Write_Raw()
Vector3f accel = imu.get_accel();
//Vector3f accel_filt = imu.get_accel_filtered();
gyro *= t7; // Scale up for storage as long integers
accel *= t7;
//gyro *= t7; // Scale up for storage as long integers
//accel *= t7;
//accel_filt *= t7;
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_RAW_MSG);
DataFlash.WriteLong(gyro.x);
DataFlash.WriteLong(gyro.y);
DataFlash.WriteLong(gyro.z);
DataFlash.WriteLong(get_int(gyro.x));
DataFlash.WriteLong(get_int(gyro.y));
DataFlash.WriteLong(get_int(gyro.z));
//DataFlash.WriteLong(accels_rot.x * t7);
//DataFlash.WriteLong(accels_rot.y * t7);
//DataFlash.WriteLong(accels_rot.z * t7);
DataFlash.WriteLong(accel.x);
DataFlash.WriteLong(accel.y);
DataFlash.WriteLong(accel.z);
DataFlash.WriteLong(get_int(accel.x));
DataFlash.WriteLong(get_int(accel.y));
DataFlash.WriteLong(get_int(accel.z));
DataFlash.WriteByte(END_BYTE);
}
@ -308,9 +316,9 @@ static void Log_Read_Raw()
float logvar;
Serial.printf_P(PSTR("RAW,"));
for (int y = 0; y < 6; y++) {
logvar = (float)DataFlash.ReadLong() / t7;
logvar = get_float(DataFlash.ReadLong());
Serial.print(logvar);
Serial.print(",");
Serial.print(", ");
}
Serial.println(" ");
}
@ -764,7 +772,13 @@ static void Log_Read_Startup()
static void Log_Write_Data(int8_t _type, float _data)
{
Log_Write_Data(_type, (int32_t)(_data * 1000));
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DATA_MSG);
DataFlash.WriteByte(_type);
DataFlash.WriteByte(1);
DataFlash.WriteLong(get_int(_data));
DataFlash.WriteByte(END_BYTE);
}
static void Log_Write_Data(int8_t _type, int32_t _data)
@ -773,6 +787,7 @@ static void Log_Write_Data(int8_t _type, int32_t _data)
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_DATA_MSG);
DataFlash.WriteByte(_type);
DataFlash.WriteByte(0);
DataFlash.WriteLong(_data);
DataFlash.WriteByte(END_BYTE);
}
@ -781,8 +796,15 @@ static void Log_Write_Data(int8_t _type, int32_t _data)
static void Log_Read_Data()
{
int8_t temp1 = DataFlash.ReadByte();
int32_t temp2 = DataFlash.ReadLong();
Serial.printf_P(PSTR("DATA: %d, %ld\n"), temp1, temp2);
int8_t temp2 = DataFlash.ReadByte();
if(temp2 == 1){
float temp3 = get_float(DataFlash.ReadLong());
Serial.printf_P(PSTR("DATA: %d, %1.6f\n"), temp1, temp3);
}else{
int32_t temp3 = DataFlash.ReadLong();
Serial.printf_P(PSTR("DATA: %d, %ld\n"), temp1, temp3);
}
}
// Write an PID packet. Total length : 28 bytes

8
ArduCopter/config.h
View File

@ -112,7 +112,11 @@
// default RC speed in Hz if INSTANT_PWM is not used
#ifndef RC_FAST_SPEED
# define RC_FAST_SPEED 490
# if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# else
# define RC_FAST_SPEED 490
# endif
#endif
// LED and IO Pins
@ -140,7 +144,7 @@
# define PUSHBUTTON_PIN (-1)
# define CLI_SLIDER_ENABLED DISABLED
# define USB_MUX_PIN 23
# define OPTFLOW_CS_PIN A6
# define OPTFLOW_CS_PIN A3
# define BATTERY_PIN_1 1
# define CURRENT_PIN_1 2
#endif

4
ArduCopter/defines.h
View File

@ -146,7 +146,7 @@
// Attitude
#define CH6_STABILIZE_KP 1
#define CH6_STABILIZE_KI 2
#define CH6_STABILIZE_KD 29
#define CH6_STABILIZE_KD 29 // duplicate with CH6_DAMP
#define CH6_YAW_KP 3
#define CH6_YAW_KI 24
// Rate
@ -173,7 +173,7 @@
// altitude controller
#define CH6_THR_HOLD_KP 14
#define CH6_Z_GAIN 15
#define CH6_DAMP 16
#define CH6_DAMP 16 // duplicate with CH6_YAW_RATE_KD
// optical flow controller
#define CH6_OPTFLOW_KP 17

14
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
View File

@ -152,7 +152,7 @@
</Reference>
<Reference Include="Microsoft.DirectX.DirectInput, Version=1.0.2902.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35">
<SpecificVersion>False</SpecificVersion>
<Private>True</Private>
<Private>False</Private>
</Reference>
<Reference Include="Microsoft.Dynamic">
</Reference>
@ -240,6 +240,12 @@
<Compile Include="Controls\BackstageView\BackStageViewMenuPanel.cs">
<SubType>Component</SubType>
</Compile>
<Compile Include="Controls\ConnectionControl.cs">
<SubType>UserControl</SubType>
</Compile>
<Compile Include="Controls\ConnectionControl.Designer.cs">
<DependentUpon>ConnectionControl.cs</DependentUpon>
</Compile>
<Compile Include="Controls\ConfigPanel.cs">
<SubType>Form</SubType>
</Compile>
@ -256,6 +262,9 @@
<Compile Include="Controls\ProgressReporterDialogue.designer.cs">
<DependentUpon>ProgressReporterDialogue.cs</DependentUpon>
</Compile>
<Compile Include="Controls\ToolStripConnectionControl.cs">
<SubType>Component</SubType>
</Compile>
<Compile Include="GCSViews\ConfigurationView\ConfigAccelerometerCalibrationQuad.cs">
<SubType>UserControl</SubType>
</Compile>
@ -561,6 +570,9 @@
<EmbeddedResource Include="Controls\BackstageView\BackstageView.resx">
<DependentUpon>BackstageView.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Controls\ConnectionControl.resx">
<DependentUpon>ConnectionControl.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="Controls\ConfigPanel.resx">
<DependentUpon>ConfigPanel.cs</DependentUpon>
</EmbeddedResource>

12
Tools/ArdupilotMegaPlanner/Common.cs
View File

@ -105,8 +105,9 @@ namespace ArdupilotMega
float cog = -1;
float target = -1;
float nav_bearing = -1;
public GMapControl MainMap;
public GMapMarkerPlane(PointLatLng p, float heading, float cog, float nav_bearing,float target)
public GMapMarkerPlane(PointLatLng p, float heading, float cog, float nav_bearing,float target, GMapControl map)
: base(p)
{
this.heading = heading;
@ -114,6 +115,7 @@ namespace ArdupilotMega
this.target = target;
this.nav_bearing = nav_bearing;
Size = SizeSt;
MainMap = map;
}
public override void OnRender(Graphics g)
@ -137,7 +139,11 @@ namespace ArdupilotMega
float desired_lead_dist = 100;
float alpha = (desired_lead_dist / MainV2.cs.radius) * rad2deg;
double width = (MainMap.Manager.GetDistance(MainMap.FromLocalToLatLng(0, 0), MainMap.FromLocalToLatLng(MainMap.Width, 0)) * 1000.0);
double m2pixelwidth = MainMap.Width / width;
float alpha = ((desired_lead_dist * (float)m2pixelwidth) / MainV2.cs.radius) * rad2deg;
if (MainV2.cs.radius < 0)
{
@ -663,7 +669,7 @@ namespace ArdupilotMega
while (dataStream.CanRead && bytes > 0)
{
Application.DoEvents();
log.Info(saveto + " " + bytes);
log.Debug(saveto + " " + bytes);
int len = dataStream.Read(buf1, 0, buf1.Length);
bytes -= len;
fs.Write(buf1, 0, len);

88
Tools/ArdupilotMegaPlanner/Controls/ConnectionControl.Designer.cs generated Normal file
View File

@ -0,0 +1,88 @@
namespace ArdupilotMega.Controls
{
partial class ConnectionControl
{
/// <summary>
/// Required designer variable.
/// </summary>
private System.ComponentModel.IContainer components = null;
/// <summary>
/// Clean up any resources being used.
/// </summary>
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
protected override void Dispose(bool disposing)
{
if (disposing && (components != null))
{
components.Dispose();
}
base.Dispose(disposing);
}
#region Component Designer generated code
/// <summary>
/// Required method for Designer support - do not modify
/// the contents of this method with the code editor.
/// </summary>
private void InitializeComponent()
{
this.cmb_Baud = new System.Windows.Forms.ComboBox();
this.cmb_ConnectionType = new System.Windows.Forms.ComboBox();
this.cmb_Connection = new System.Windows.Forms.ComboBox();
this.SuspendLayout();
//
// cmb_Baud
//
this.cmb_Baud.FormattingEnabled = true;
this.cmb_Baud.Location = new System.Drawing.Point(130, 12);
this.cmb_Baud.Name = "cmb_Baud";
this.cmb_Baud.Size = new System.Drawing.Size(70, 21);
this.cmb_Baud.TabIndex = 0;
this.cmb_Baud.Items.AddRange(new object[] {
"4800",
"9600",
"14400",
"19200",
"28800",
"38400",
"57600",
"115200"});
//
// cmb_ConnectionType
//
this.cmb_ConnectionType.FormattingEnabled = true;
this.cmb_ConnectionType.Location = new System.Drawing.Point(79, 39);
this.cmb_ConnectionType.Name = "cmb_ConnectionType";
this.cmb_ConnectionType.Size = new System.Drawing.Size(121, 21);
this.cmb_ConnectionType.TabIndex = 1;
//
// cmb_Connection
//
this.cmb_Connection.FormattingEnabled = true;
this.cmb_Connection.Location = new System.Drawing.Point(3, 12);
this.cmb_Connection.Name = "cmb_Connection";
this.cmb_Connection.Size = new System.Drawing.Size(121, 21);
this.cmb_Connection.TabIndex = 2;
//
// ConnectionControl
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.Controls.Add(this.cmb_Connection);
this.Controls.Add(this.cmb_ConnectionType);
this.Controls.Add(this.cmb_Baud);
this.Name = "ConnectionControl";
this.Size = new System.Drawing.Size(211, 75);
this.ResumeLayout(false);
}
#endregion
private System.Windows.Forms.ComboBox cmb_Baud;
private System.Windows.Forms.ComboBox cmb_ConnectionType;
private System.Windows.Forms.ComboBox cmb_Connection;
}
}

23
Tools/ArdupilotMegaPlanner/Controls/ConnectionControl.cs Normal file
View File

@ -0,0 +1,23 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Linq;
using System.Text;
using System.Windows.Forms;
namespace ArdupilotMega.Controls
{
public partial class ConnectionControl : UserControl
{
public ConnectionControl()
{
InitializeComponent();
}
public ComboBox CMB_baudrate { get { return this.cmb_Baud; } }
public ComboBox CMB_serialport { get { return this.cmb_Connection; } }
public ComboBox TOOL_APMFirmware { get { return this.cmb_ConnectionType; } }
}
}

120
Tools/ArdupilotMegaPlanner/Controls/ConnectionControl.resx Normal file
View File

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

120
Tools/ArdupilotMegaPlanner/Controls/ConnectionToolStripItem.resx Normal file
View File

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

17
Tools/ArdupilotMegaPlanner/Controls/ToolStripConnectionControl.cs Normal file
View File

@ -0,0 +1,17 @@
using System.Windows.Forms;
namespace ArdupilotMega.Controls
{
public class ToolStripConnectionControl : ToolStripControlHost
{
// Call the base constructor passing in a MonthCalendar instance.
public ToolStripConnectionControl()
: base(new ConnectionControl())
{
}
public ConnectionControl ConnectionControl
{
get { return Control as ConnectionControl; }
}
}
}

33
Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
View File

@ -47,34 +47,34 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2>
<name>ArduCopter V2.5.3 Quad</name>
<name>ArduCopter V2.5.4 Quad</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
</desc>
<format_version>117</format_version>
<format_version>118</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2>
<name>ArduCopter V2.5.3 Tri</name>
<name>ArduCopter V2.5.4 Tri</name>
<desc>
#define FRAME_CONFIG TRI_FRAME
</desc>
<format_version>117</format_version>
<format_version>118</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
<name>ArduCopter V2.5.3 Hexa X</name>
<name>ArduCopter V2.5.4 Hexa X</name>
<desc>
#define FRAME_CONFIG HEXA_FRAME
</desc>
<format_version>117</format_version>
<format_version>118</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
@ -91,34 +91,33 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex</url2560-2>
<name>ArduCopter V2.5.3 Octa V</name>
<name>ArduCopter V2.5.4 Octa V</name>
<desc>
#define FRAME_CONFIG OCTA_FRAME
#define FRAME_ORIENTATION V_FRAME
</desc>
<format_version>117</format_version>
<format_version>118</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2>
<name>ArduCopter V2.5.3 Octa X</name>
<name>ArduCopter V2.5.4 Octa X</name>
<desc>
#define FRAME_CONFIG OCTA_FRAME
</desc>
<format_version>117</format_version>
<format_version>118</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560-2.hex</url2560-2>
<name>ArduCopter V2.5.3 Heli (2560 only)</name>
<name>ArduCopter V2.5.4 Heli (2560 only)</name>
<desc>
#define AUTO_RESET_LOITER 0
#define FRAME_CONFIG HELI_FRAME
#define INSTANT_PWM ENABLED
// DEFAULT PIDS
@ -156,13 +155,13 @@
#define NAV_LOITER_IMAX 10
</desc>
<format_version>117</format_version>
<format_version>118</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2>
<name>ArduCopter V2.5.3 Quad Hil</name>
<name>ArduCopter V2.5.4 Quad Hil</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION PLUS_FRAME
@ -172,13 +171,13 @@
</desc>
<format_version>117</format_version>
<format_version>118</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560-2.hex</url2560-2>
<name>ArduCopter V2.5.3 Heli Hil</name>
<name>ArduCopter V2.5.4 Heli Hil</name>
<desc>
#define HIL_MODE HIL_MODE_ATTITUDE
@ -224,6 +223,6 @@
</desc>
<format_version>117</format_version>
<format_version>118</format_version>
</Firmware>
</options>

8
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
View File

@ -69,7 +69,7 @@ namespace ArdupilotMega.GCSViews
XTRK_GAIN_SC1.Name = "XTRK_GAIN_SC";
// enable disable relevbant hardware tabs
if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
this.ConfigTabs.SuspendLayout();
ConfigTabs.SelectedIndex = 0;
@ -656,7 +656,7 @@ namespace ArdupilotMega.GCSViews
{
StreamWriter sw = new StreamWriter(sfd.OpenFile());
string input = DateTime.Now + " Frame : + | Arducopter Kit | Kit motors";
if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
input = DateTime.Now + " Plane: Skywalker";
}
@ -986,7 +986,7 @@ namespace ArdupilotMega.GCSViews
if (startup)
return;
MainV2.config["distunits"] = CMB_distunits.Text;
MainV2.instance.changeunits();
MainV2.instance.ChangeUnits();
}
private void CMB_speedunits_SelectedIndexChanged(object sender, EventArgs e)
@ -994,7 +994,7 @@ namespace ArdupilotMega.GCSViews
if (startup)
return;
MainV2.config["speedunits"] = CMB_speedunits.Text;
MainV2.instance.changeunits();
MainV2.instance.ChangeUnits();
}

9
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigPlanner.cs
View File

@ -237,8 +237,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
((MyButton)sender).Enabled = true;
startup = true;
// AR todo: fix this up
//Configuration_Load(null, null);
startup = false;
}
private void CHK_speechbattery_CheckedChanged(object sender, EventArgs e)
@ -276,7 +277,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
if (startup)
return;
MainV2.config["distunits"] = CMB_distunits.Text;
MainV2.instance.changeunits();
MainV2.instance.ChangeUnits();
}
private void CMB_speedunits_SelectedIndexChanged(object sender, EventArgs e)
@ -284,7 +285,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
if (startup)
return;
MainV2.config["speedunits"] = CMB_speedunits.Text;
MainV2.instance.changeunits();
MainV2.instance.ChangeUnits();
}
private void CMB_rateattitude_SelectedIndexChanged(object sender, EventArgs e)

2
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.cs
View File

@ -162,7 +162,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
{
StreamWriter sw = new StreamWriter(sfd.OpenFile());
string input = DateTime.Now + " Frame : + | Arducopter Kit | Kit motors";
if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
input = DateTime.Now + " Plane: Skywalker";
}

162
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigTradHeli.Designer.cs generated
View File

@ -31,21 +31,21 @@
this.components = new System.ComponentModel.Container();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(ConfigTradHeli));
this.groupBox5 = new System.Windows.Forms.GroupBox();
this.H1_ENABLE = new System.Windows.Forms.RadioButton();
this.H_SWASH_TYPE = new System.Windows.Forms.RadioButton();
this.CCPM = new System.Windows.Forms.RadioButton();
this.BUT_swash_manual = new ArdupilotMega.MyButton();
this.label41 = new System.Windows.Forms.Label();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.label46 = new System.Windows.Forms.Label();
this.label45 = new System.Windows.Forms.Label();
this.GYR_ENABLE = new System.Windows.Forms.CheckBox();
this.GYR_GAIN = new System.Windows.Forms.TextBox();
this.H_GYR_ENABLE = new System.Windows.Forms.CheckBox();
this.H_GYR_GAIN = new System.Windows.Forms.TextBox();
this.BUT_HS4save = new ArdupilotMega.MyButton();
this.label21 = new System.Windows.Forms.Label();
this.COL_MIN = new System.Windows.Forms.TextBox();
this.H_COL_MIN = new System.Windows.Forms.TextBox();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.COL_MID = new System.Windows.Forms.TextBox();
this.COL_MAX = new System.Windows.Forms.TextBox();
this.H_COL_MID = new System.Windows.Forms.TextBox();
this.H_COL_MAX = new System.Windows.Forms.TextBox();
this.BUT_0collective = new ArdupilotMega.MyButton();
this.groupBox2 = new System.Windows.Forms.GroupBox();
this.label24 = new System.Windows.Forms.Label();
@ -60,17 +60,17 @@
this.label37 = new System.Windows.Forms.Label();
this.label36 = new System.Windows.Forms.Label();
this.label26 = new System.Windows.Forms.Label();
this.PIT_MAX = new System.Windows.Forms.TextBox();
this.H_PIT_MAX = new System.Windows.Forms.TextBox();
this.label25 = new System.Windows.Forms.Label();
this.ROL_MAX = new System.Windows.Forms.TextBox();
this.H_ROL_MAX = new System.Windows.Forms.TextBox();
this.label23 = new System.Windows.Forms.Label();
this.label22 = new System.Windows.Forms.Label();
this.label20 = new System.Windows.Forms.Label();
this.label19 = new System.Windows.Forms.Label();
this.label18 = new System.Windows.Forms.Label();
this.SV3_POS = new System.Windows.Forms.TextBox();
this.SV2_POS = new System.Windows.Forms.TextBox();
this.SV1_POS = new System.Windows.Forms.TextBox();
this.H_SV3_POS = new System.Windows.Forms.TextBox();
this.H_SV2_POS = new System.Windows.Forms.TextBox();
this.H_SV1_POS = new System.Windows.Forms.TextBox();
this.HS3_REV = new System.Windows.Forms.CheckBox();
this.HS2_REV = new System.Windows.Forms.CheckBox();
this.HS1_REV = new System.Windows.Forms.CheckBox();
@ -97,19 +97,19 @@
//
// groupBox5
//
this.groupBox5.Controls.Add(this.H1_ENABLE);
this.groupBox5.Controls.Add(this.H_SWASH_TYPE);
this.groupBox5.Controls.Add(this.CCPM);
resources.ApplyResources(this.groupBox5, "groupBox5");
this.groupBox5.Name = "groupBox5";
this.groupBox5.TabStop = false;
//
// H1_ENABLE
// H_SWASH_TYPE
//
resources.ApplyResources(this.H1_ENABLE, "H1_ENABLE");
this.H1_ENABLE.Name = "H1_ENABLE";
this.H1_ENABLE.TabStop = true;
this.H1_ENABLE.UseVisualStyleBackColor = true;
this.H1_ENABLE.CheckedChanged += new System.EventHandler(this.H1_ENABLE_CheckedChanged);
resources.ApplyResources(this.H_SWASH_TYPE, "H_SWASH_TYPE");
this.H_SWASH_TYPE.Name = "H_SWASH_TYPE";
this.H_SWASH_TYPE.TabStop = true;
this.H_SWASH_TYPE.UseVisualStyleBackColor = true;
this.H_SWASH_TYPE.CheckedChanged += new System.EventHandler(this.H_SWASH_TYPE_CheckedChanged);
//
// CCPM
//
@ -134,8 +134,8 @@
//
this.groupBox3.Controls.Add(this.label46);
this.groupBox3.Controls.Add(this.label45);
this.groupBox3.Controls.Add(this.GYR_ENABLE);
this.groupBox3.Controls.Add(this.GYR_GAIN);
this.groupBox3.Controls.Add(this.H_GYR_ENABLE);
this.groupBox3.Controls.Add(this.H_GYR_GAIN);
resources.ApplyResources(this.groupBox3, "groupBox3");
this.groupBox3.Name = "groupBox3";
this.groupBox3.TabStop = false;
@ -150,18 +150,18 @@
resources.ApplyResources(this.label45, "label45");
this.label45.Name = "label45";
//
// GYR_ENABLE
// H_GYR_ENABLE
//
resources.ApplyResources(this.GYR_ENABLE, "GYR_ENABLE");
this.GYR_ENABLE.Name = "GYR_ENABLE";
this.GYR_ENABLE.UseVisualStyleBackColor = true;
this.GYR_ENABLE.CheckedChanged += new System.EventHandler(this.GYR_ENABLE__CheckedChanged);
resources.ApplyResources(this.H_GYR_ENABLE, "H_GYR_ENABLE");
this.H_GYR_ENABLE.Name = "H_GYR_ENABLE";
this.H_GYR_ENABLE.UseVisualStyleBackColor = true;
this.H_GYR_ENABLE.CheckedChanged += new System.EventHandler(this.GYR_ENABLE__CheckedChanged);
//
// GYR_GAIN
// H_GYR_GAIN
//
resources.ApplyResources(this.GYR_GAIN, "GYR_GAIN");
this.GYR_GAIN.Name = "GYR_GAIN";
this.GYR_GAIN.Validating += new System.ComponentModel.CancelEventHandler(this.GYR_GAIN__Validating);
resources.ApplyResources(this.H_GYR_GAIN, "H_GYR_GAIN");
this.H_GYR_GAIN.Name = "H_GYR_GAIN";
this.H_GYR_GAIN.Validating += new System.ComponentModel.CancelEventHandler(this.GYR_GAIN__Validating);
//
// BUT_HS4save
//
@ -175,36 +175,36 @@
resources.ApplyResources(this.label21, "label21");
this.label21.Name = "label21";
//
// COL_MIN
// H_COL_MIN
//
resources.ApplyResources(this.COL_MIN, "COL_MIN");
this.COL_MIN.Name = "COL_MIN";
resources.ApplyResources(this.H_COL_MIN, "H_COL_MIN");
this.H_COL_MIN.Name = "H_COL_MIN";
//
// groupBox1
//
this.groupBox1.Controls.Add(this.label41);
this.groupBox1.Controls.Add(this.label21);
this.groupBox1.Controls.Add(this.COL_MIN);
this.groupBox1.Controls.Add(this.COL_MID);
this.groupBox1.Controls.Add(this.COL_MAX);
this.groupBox1.Controls.Add(this.H_COL_MIN);
this.groupBox1.Controls.Add(this.H_COL_MID);
this.groupBox1.Controls.Add(this.H_COL_MAX);
this.groupBox1.Controls.Add(this.BUT_0collective);
resources.ApplyResources(this.groupBox1, "groupBox1");
this.groupBox1.Name = "groupBox1";
this.groupBox1.TabStop = false;
//
// COL_MID
// H_COL_MID
//
resources.ApplyResources(this.COL_MID, "COL_MID");
this.COL_MID.Name = "COL_MID";
this.COL_MID.Validating += new System.ComponentModel.CancelEventHandler(this.PWM_Validating);
resources.ApplyResources(this.H_COL_MID, "H_COL_MID");
this.H_COL_MID.Name = "H_COL_MID";
this.H_COL_MID.Validating += new System.ComponentModel.CancelEventHandler(this.PWM_Validating);
//
// COL_MAX
// H_COL_MAX
//
resources.ApplyResources(this.COL_MAX, "COL_MAX");
this.COL_MAX.Name = "COL_MAX";
this.COL_MAX.Enter += new System.EventHandler(this.COL_MAX__Enter);
this.COL_MAX.Leave += new System.EventHandler(this.COL_MAX__Leave);
this.COL_MAX.Validating += new System.ComponentModel.CancelEventHandler(this.PWM_Validating);
resources.ApplyResources(this.H_COL_MAX, "H_COL_MAX");
this.H_COL_MAX.Name = "H_COL_MAX";
this.H_COL_MAX.Enter += new System.EventHandler(this.COL_MAX__Enter);
this.H_COL_MAX.Leave += new System.EventHandler(this.COL_MAX__Leave);
this.H_COL_MAX.Validating += new System.ComponentModel.CancelEventHandler(this.PWM_Validating);
//
// BUT_0collective
//
@ -334,22 +334,22 @@
resources.ApplyResources(this.label26, "label26");
this.label26.Name = "label26";
//
// PIT_MAX
// H_PIT_MAX
//
resources.ApplyResources(this.PIT_MAX, "PIT_MAX");
this.PIT_MAX.Name = "PIT_MAX";
this.PIT_MAX.Validating += new System.ComponentModel.CancelEventHandler(this.PIT_MAX__Validating);
resources.ApplyResources(this.H_PIT_MAX, "H_PIT_MAX");
this.H_PIT_MAX.Name = "H_PIT_MAX";
this.H_PIT_MAX.Validating += new System.ComponentModel.CancelEventHandler(this.PIT_MAX__Validating);
//
// label25
//
resources.ApplyResources(this.label25, "label25");
this.label25.Name = "label25";
//
// ROL_MAX
// H_ROL_MAX
//
resources.ApplyResources(this.ROL_MAX, "ROL_MAX");
this.ROL_MAX.Name = "ROL_MAX";
this.ROL_MAX.Validating += new System.ComponentModel.CancelEventHandler(this.ROL_MAX__Validating);
resources.ApplyResources(this.H_ROL_MAX, "H_ROL_MAX");
this.H_ROL_MAX.Name = "H_ROL_MAX";
this.H_ROL_MAX.Validating += new System.ComponentModel.CancelEventHandler(this.ROL_MAX__Validating);
//
// label23
//
@ -376,23 +376,23 @@
resources.ApplyResources(this.label18, "label18");
this.label18.Name = "label18";
//
// SV3_POS
// H_SV3_POS
//
resources.ApplyResources(this.SV3_POS, "SV3_POS");
this.SV3_POS.Name = "SV3_POS";
this.SV3_POS.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_srvpos3_Validating);
resources.ApplyResources(this.H_SV3_POS, "H_SV3_POS");
this.H_SV3_POS.Name = "H_SV3_POS";
this.H_SV3_POS.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_srvpos3_Validating);
//
// SV2_POS
// H_SV2_POS
//
resources.ApplyResources(this.SV2_POS, "SV2_POS");
this.SV2_POS.Name = "SV2_POS";
this.SV2_POS.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_srvpos2_Validating);
resources.ApplyResources(this.H_SV2_POS, "H_SV2_POS");
this.H_SV2_POS.Name = "H_SV2_POS";
this.H_SV2_POS.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_srvpos2_Validating);
//
// SV1_POS
// H_SV1_POS
//
resources.ApplyResources(this.SV1_POS, "SV1_POS");
this.SV1_POS.Name = "SV1_POS";
this.SV1_POS.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_srvpos1_Validating);
resources.ApplyResources(this.H_SV1_POS, "H_SV1_POS");
this.H_SV1_POS.Name = "H_SV1_POS";
this.H_SV1_POS.Validating += new System.ComponentModel.CancelEventHandler(this.TXT_srvpos1_Validating);
//
// HS3_REV
//
@ -665,17 +665,17 @@
this.Controls.Add(this.label37);
this.Controls.Add(this.label36);
this.Controls.Add(this.label26);
this.Controls.Add(this.PIT_MAX);
this.Controls.Add(this.H_PIT_MAX);
this.Controls.Add(this.label25);
this.Controls.Add(this.ROL_MAX);
this.Controls.Add(this.H_ROL_MAX);
this.Controls.Add(this.label23);
this.Controls.Add(this.label22);
this.Controls.Add(this.label20);
this.Controls.Add(this.label19);
this.Controls.Add(this.label18);
this.Controls.Add(this.SV3_POS);
this.Controls.Add(this.SV2_POS);
this.Controls.Add(this.SV1_POS);
this.Controls.Add(this.H_SV3_POS);
this.Controls.Add(this.H_SV2_POS);
this.Controls.Add(this.H_SV1_POS);
this.Controls.Add(this.HS3_REV);
this.Controls.Add(this.HS2_REV);
this.Controls.Add(this.HS1_REV);
@ -707,21 +707,21 @@
#endregion
private System.Windows.Forms.GroupBox groupBox5;
private System.Windows.Forms.RadioButton H1_ENABLE;
private System.Windows.Forms.RadioButton H_SWASH_TYPE;
private System.Windows.Forms.RadioButton CCPM;
private MyButton BUT_swash_manual;
private System.Windows.Forms.Label label41;
private System.Windows.Forms.GroupBox groupBox3;
private System.Windows.Forms.Label label46;
private System.Windows.Forms.Label label45;
private System.Windows.Forms.CheckBox GYR_ENABLE;
private System.Windows.Forms.TextBox GYR_GAIN;
private System.Windows.Forms.CheckBox H_GYR_ENABLE;
private System.Windows.Forms.TextBox H_GYR_GAIN;
private MyButton BUT_HS4save;
private System.Windows.Forms.Label label21;
private System.Windows.Forms.TextBox COL_MIN;
private System.Windows.Forms.TextBox H_COL_MIN;
private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.TextBox COL_MID;
private System.Windows.Forms.TextBox COL_MAX;
private System.Windows.Forms.TextBox H_COL_MID;
private System.Windows.Forms.TextBox H_COL_MAX;
private MyButton BUT_0collective;
private System.Windows.Forms.GroupBox groupBox2;
private System.Windows.Forms.Label label24;
@ -736,17 +736,17 @@
private System.Windows.Forms.Label label37;
private System.Windows.Forms.Label label36;
private System.Windows.Forms.Label label26;
private System.Windows.Forms.TextBox PIT_MAX;
private System.Windows.Forms.TextBox H_PIT_MAX;
private System.Windows.Forms.Label label25;
private System.Windows.Forms.TextBox ROL_MAX;
private System.Windows.Forms.TextBox H_ROL_MAX;
private System.Windows.Forms.Label label23;
private System.Windows.Forms.Label label22;
private System.Windows.Forms.Label label20;
private System.Windows.Forms.Label label19;
private System.Windows.Forms.Label label18;
private System.Windows.Forms.TextBox SV3_POS;
private System.Windows.Forms.TextBox SV2_POS;
private System.Windows.Forms.TextBox SV1_POS;
private System.Windows.Forms.TextBox H_SV3_POS;
private System.Windows.Forms.TextBox H_SV2_POS;
private System.Windows.Forms.TextBox H_SV1_POS;
private System.Windows.Forms.CheckBox HS3_REV;
private System.Windows.Forms.CheckBox HS2_REV;
private System.Windows.Forms.CheckBox HS1_REV;

84
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigTradHeli.cs
View File

@ -22,65 +22,65 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
InitializeComponent();
}
private void H1_ENABLE_CheckedChanged(object sender, EventArgs e)
private void H_SWASH_TYPE_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
try
{
if (MainV2.comPort.param["H1_ENABLE"] == null)
if (MainV2.comPort.param["H_SWASH_TYPE"] == null)
{
CustomMessageBox.Show("Not Available on " + MainV2.cs.firmware.ToString());
}
else
{
MainV2.comPort.setParam("H1_ENABLE", ((RadioButton)sender).Checked == true ? 1 : 0);
MainV2.comPort.setParam("H_SWASH_TYPE", ((RadioButton)sender).Checked == true ? 1 : 0);
}
}
catch { CustomMessageBox.Show("Set H1_ENABLE Failed"); }
catch { CustomMessageBox.Show("Set H_SWASH_TYPE Failed"); }
}
private void BUT_swash_manual_Click(object sender, EventArgs e)
{
try
{
if (MainV2.comPort.param["HSV_MAN"].ToString() == "1")
if (MainV2.comPort.param["H_SV_MAN"].ToString() == "1")
{
MainV2.comPort.setParam("COL_MIN", int.Parse(COL_MIN.Text));
MainV2.comPort.setParam("COL_MAX", int.Parse(COL_MAX.Text));
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
MainV2.comPort.setParam("H_COL_MIN", int.Parse(H_COL_MIN.Text));
MainV2.comPort.setParam("H_COL_MAX", int.Parse(H_COL_MAX.Text));
MainV2.comPort.setParam("H_SV_MAN", 0); // randy request - last
BUT_swash_manual.Text = "Manual";
COL_MAX.Enabled = false;
COL_MID.Enabled = false;
COL_MIN.Enabled = false;
H_COL_MAX.Enabled = false;
H_COL_MID.Enabled = false;
H_COL_MIN.Enabled = false;
BUT_0collective.Enabled = false;
}
else
{
COL_MAX.Text = "1500";
COL_MIN.Text = "1500";
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
H_COL_MAX.Text = "1500";
H_COL_MIN.Text = "1500";
MainV2.comPort.setParam("H_SV_MAN", 1); // randy request
BUT_swash_manual.Text = "Save";
COL_MAX.Enabled = true;
COL_MID.Enabled = true;
COL_MIN.Enabled = true;
H_COL_MAX.Enabled = true;
H_COL_MID.Enabled = true;
H_COL_MIN.Enabled = true;
BUT_0collective.Enabled = true;
}
}
catch { CustomMessageBox.Show("Failed to set HSV_MAN"); }
catch { CustomMessageBox.Show("Failed to set H_SV_MAN"); }
}
private void BUT_HS4save_Click(object sender, EventArgs e)
{
try
{
if (MainV2.comPort.param["HSV_MAN"].ToString() == "1")
if (MainV2.comPort.param["H_SV_MAN"].ToString() == "1")
{
MainV2.comPort.setParam("HS4_MIN", int.Parse(HS4_MIN.Text));
MainV2.comPort.setParam("HS4_MAX", int.Parse(HS4_MAX.Text));
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
MainV2.comPort.setParam("H_SV_MAN", 0); // randy request - last
BUT_HS4save.Text = "Manual";
HS4_MAX.Enabled = false;
@ -90,7 +90,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
{
HS4_MIN.Text = "1500";
HS4_MAX.Text = "1500";
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
MainV2.comPort.setParam("H_SV_MAN", 1); // randy request
BUT_HS4save.Text = "Save";
@ -98,7 +98,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
HS4_MIN.Enabled = true;
}
}
catch { CustomMessageBox.Show("Failed to set HSV_MAN"); }
catch { CustomMessageBox.Show("Failed to set H_SV_MAN"); }
}
private void tabHeli_Click(object sender, EventArgs e)
@ -122,10 +122,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
{
try
{
if (int.Parse(COL_MIN.Text) > HS3.minline)
COL_MIN.Text = HS3.minline.ToString();
if (int.Parse(COL_MAX.Text) < HS3.maxline)
COL_MAX.Text = HS3.maxline.ToString();
if (int.Parse(H_COL_MIN.Text) > HS3.minline)
H_COL_MIN.Text = HS3.minline.ToString();
if (int.Parse(H_COL_MAX.Text) < HS3.maxline)
H_COL_MAX.Text = HS3.maxline.ToString();
}
catch { }
}
@ -194,10 +194,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
try
{
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
MainV2.comPort.setParam("H_SV_MAN", 1); // randy request
MainV2.comPort.setParam(((TextBox)sender).Name, test);
System.Threading.Thread.Sleep(100);
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
MainV2.comPort.setParam("H_SV_MAN", 0); // randy request - last
}
catch { CustomMessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
@ -217,10 +217,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
try
{
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
MainV2.comPort.setParam("H_SV_MAN", 1); // randy request
MainV2.comPort.setParam(((TextBox)sender).Name, test);
System.Threading.Thread.Sleep(100);
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
MainV2.comPort.setParam("H_SV_MAN", 0); // randy request - last
}
catch { CustomMessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
}
@ -239,10 +239,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
try
{
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
MainV2.comPort.setParam("H_SV_MAN", 1); // randy request
MainV2.comPort.setParam(((TextBox)sender).Name, test);
System.Threading.Thread.Sleep(100);
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
MainV2.comPort.setParam("H_SV_MAN", 0); // randy request - last
}
catch { CustomMessageBox.Show("Set " + ((TextBox)sender).Name + " failed"); }
}
@ -254,11 +254,11 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
try
{
MainV2.comPort.setParam("COL_MID", MainV2.cs.ch3in);
MainV2.comPort.setParam("H_COL_MID", MainV2.cs.ch3in);
COL_MID.Text = MainV2.comPort.param["COL_MID"].ToString();
H_COL_MID.Text = MainV2.comPort.param["H_COL_MID"].ToString();
}
catch { CustomMessageBox.Show("Set COL_MID_ failed"); }
catch { CustomMessageBox.Show("Set H_COL_MID failed"); }
}
private void HS1_REV_CheckedChanged(object sender, EventArgs e)
@ -379,7 +379,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
this.Enabled = true;
}
if (MainV2.comPort.param["GYR_ENABLE"] == null)
if (MainV2.comPort.param["H_GYR_ENABLE"] == null)
{
this.Enabled = false;
return;
@ -394,10 +394,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
startup = true;
try
{
if (MainV2.comPort.param.ContainsKey("H1_ENABLE"))
if (MainV2.comPort.param.ContainsKey("H_SWASH_TYPE"))
{
CCPM.Checked = MainV2.comPort.param["H1_ENABLE"].ToString() == "0" ? true : false;
H1_ENABLE.Checked = !CCPM.Checked;
CCPM.Checked = MainV2.comPort.param["H_SWASH_TYPE"].ToString() == "0" ? true : false;
H_SWASH_TYPE.Checked = !CCPM.Checked;
}
foreach (string value in MainV2.comPort.param.Keys)
@ -453,7 +453,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
}
catch { }
if (MainV2.comPort.param["HSV_MAN"] == null || MainV2.comPort.param["HSV_MAN"].ToString() == "0")
if (MainV2.comPort.param["H_SV_MAN"] == null || MainV2.comPort.param["H_SV_MAN"].ToString() == "0")
return;
if (HS3.minline == 0)
@ -477,8 +477,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
{
try
{
HS3.minline = int.Parse(COL_MIN.Text);
HS3.maxline = int.Parse(COL_MAX.Text);
HS3.minline = int.Parse(H_COL_MIN.Text);
HS3.maxline = int.Parse(H_COL_MAX.Text);
HS4.maxline = int.Parse(HS4_MIN.Text);
HS4.minline = int.Parse(HS4_MAX.Text);
}

236
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigTradHeli.resx
View File

@ -117,42 +117,36 @@
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<assembly alias="mscorlib" name="mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="H1_ENABLE.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="H1_ENABLE.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
</data>
<assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="H1_ENABLE.Location" type="System.Drawing.Point, System.Drawing">
<value>67, 19</value>
<data name="H_SWASH_TYPE.Location" type="System.Drawing.Point, System.Drawing">
<value>67, 15</value>
</data>
<data name="H1_ENABLE.Size" type="System.Drawing.Size, System.Drawing">
<value>39, 17</value>
<data name="H_SWASH_TYPE.Size" type="System.Drawing.Size, System.Drawing">
<value>42, 24</value>
</data>
<data name="H1_ENABLE.TabIndex" type="System.Int32, mscorlib">
<value>137</value>
<assembly alias="mscorlib" name="mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="H_SWASH_TYPE.TabIndex" type="System.Int32, mscorlib">
<value>0</value>
</data>
<data name="H1_ENABLE.Text" xml:space="preserve">
<data name="H_SWASH_TYPE.Text" xml:space="preserve">
<value>H1</value>
</data>
<data name="&gt;&gt;H1_ENABLE.Name" xml:space="preserve">
<value>H1_ENABLE</value>
<data name="&gt;&gt;H_SWASH_TYPE.Name" xml:space="preserve">
<value>H_SWASH_TYPE</value>
</data>
<data name="&gt;&gt;H1_ENABLE.Type" xml:space="preserve">
<data name="&gt;&gt;H_SWASH_TYPE.Type" xml:space="preserve">
<value>System.Windows.Forms.RadioButton, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;H1_ENABLE.Parent" xml:space="preserve">
<data name="&gt;&gt;H_SWASH_TYPE.Parent" xml:space="preserve">
<value>groupBox5</value>
</data>
<data name="&gt;&gt;H1_ENABLE.ZOrder" xml:space="preserve">
<data name="&gt;&gt;H_SWASH_TYPE.ZOrder" xml:space="preserve">
<value>0</value>
</data>
<data name="CCPM.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="CCPM.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
</data>
@ -223,7 +217,7 @@
<value>BUT_swash_manual</value>
</data>
<data name="&gt;&gt;BUT_swash_manual.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.1.4485.38897, Culture=neutral, PublicKeyToken=null</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.1.4494.24488, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_swash_manual.Parent" xml:space="preserve">
<value>$this</value>
@ -321,55 +315,55 @@
<data name="&gt;&gt;label45.ZOrder" xml:space="preserve">
<value>1</value>
</data>
<data name="GYR_ENABLE.AutoSize" type="System.Boolean, mscorlib">
<data name="H_GYR_ENABLE.AutoSize" type="System.Boolean, mscorlib">
<value>True</value>
</data>
<data name="GYR_ENABLE.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<data name="H_GYR_ENABLE.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
</data>
<data name="GYR_ENABLE.Location" type="System.Drawing.Point, System.Drawing">
<data name="H_GYR_ENABLE.Location" type="System.Drawing.Point, System.Drawing">
<value>57, 19</value>
</data>
<data name="GYR_ENABLE.Size" type="System.Drawing.Size, System.Drawing">
<data name="H_GYR_ENABLE.Size" type="System.Drawing.Size, System.Drawing">
<value>15, 14</value>
</data>
<data name="GYR_ENABLE.TabIndex" type="System.Int32, mscorlib">
<data name="H_GYR_ENABLE.TabIndex" type="System.Int32, mscorlib">
<value>118</value>
</data>
<data name="&gt;&gt;GYR_ENABLE.Name" xml:space="preserve">
<value>GYR_ENABLE</value>
<data name="&gt;&gt;H_GYR_ENABLE.Name" xml:space="preserve">
<value>H_GYR_ENABLE</value>
</data>
<data name="&gt;&gt;GYR_ENABLE.Type" xml:space="preserve">
<data name="&gt;&gt;H_GYR_ENABLE.Type" xml:space="preserve">
<value>System.Windows.Forms.CheckBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;GYR_ENABLE.Parent" xml:space="preserve">
<data name="&gt;&gt;H_GYR_ENABLE.Parent" xml:space="preserve">
<value>groupBox3</value>
</data>
<data name="&gt;&gt;GYR_ENABLE.ZOrder" xml:space="preserve">
<data name="&gt;&gt;H_GYR_ENABLE.ZOrder" xml:space="preserve">
<value>2</value>
</data>
<data name="GYR_GAIN.Location" type="System.Drawing.Point, System.Drawing">
<data name="H_GYR_GAIN.Location" type="System.Drawing.Point, System.Drawing">
<value>41, 35</value>
</data>
<data name="GYR_GAIN.Size" type="System.Drawing.Size, System.Drawing">
<data name="H_GYR_GAIN.Size" type="System.Drawing.Size, System.Drawing">
<value>47, 20</value>
</data>
<data name="GYR_GAIN.TabIndex" type="System.Int32, mscorlib">
<data name="H_GYR_GAIN.TabIndex" type="System.Int32, mscorlib">
<value>119</value>
</data>
<data name="GYR_GAIN.Text" xml:space="preserve">
<data name="H_GYR_GAIN.Text" xml:space="preserve">
<value>1000</value>
</data>
<data name="&gt;&gt;GYR_GAIN.Name" xml:space="preserve">
<value>GYR_GAIN</value>
<data name="&gt;&gt;H_GYR_GAIN.Name" xml:space="preserve">
<value>H_GYR_GAIN</value>
</data>
<data name="&gt;&gt;GYR_GAIN.Type" xml:space="preserve">
<data name="&gt;&gt;H_GYR_GAIN.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;GYR_GAIN.Parent" xml:space="preserve">
<data name="&gt;&gt;H_GYR_GAIN.Parent" xml:space="preserve">
<value>groupBox3</value>
</data>
<data name="&gt;&gt;GYR_GAIN.ZOrder" xml:space="preserve">
<data name="&gt;&gt;H_GYR_GAIN.ZOrder" xml:space="preserve">
<value>3</value>
</data>
<data name="groupBox3.Location" type="System.Drawing.Point, System.Drawing">
@ -415,7 +409,7 @@
<value>BUT_HS4save</value>
</data>
<data name="&gt;&gt;BUT_HS4save.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.1.4485.38897, Culture=neutral, PublicKeyToken=null</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.1.4494.24488, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_HS4save.Parent" xml:space="preserve">
<value>$this</value>
@ -453,85 +447,85 @@
<data name="&gt;&gt;label21.ZOrder" xml:space="preserve">
<value>1</value>
</data>
<data name="COL_MIN.Enabled" type="System.Boolean, mscorlib">
<data name="H_COL_MIN.Enabled" type="System.Boolean, mscorlib">
<value>False</value>
</data>
<data name="COL_MIN.Location" type="System.Drawing.Point, System.Drawing">
<data name="H_COL_MIN.Location" type="System.Drawing.Point, System.Drawing">
<value>18, 173</value>
</data>
<data name="COL_MIN.Size" type="System.Drawing.Size, System.Drawing">
<data name="H_COL_MIN.Size" type="System.Drawing.Size, System.Drawing">
<value>43, 20</value>
</data>
<data name="COL_MIN.TabIndex" type="System.Int32, mscorlib">
<data name="H_COL_MIN.TabIndex" type="System.Int32, mscorlib">
<value>119</value>
</data>
<data name="COL_MIN.Text" xml:space="preserve">
<data name="H_COL_MIN.Text" xml:space="preserve">
<value>1500</value>
</data>
<data name="&gt;&gt;COL_MIN.Name" xml:space="preserve">
<value>COL_MIN</value>
<data name="&gt;&gt;H_COL_MIN.Name" xml:space="preserve">
<value>H_COL_MIN</value>
</data>
<data name="&gt;&gt;COL_MIN.Type" xml:space="preserve">
<data name="&gt;&gt;H_COL_MIN.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;COL_MIN.Parent" xml:space="preserve">
<data name="&gt;&gt;H_COL_MIN.Parent" xml:space="preserve">
<value>groupBox1</value>
</data>
<data name="&gt;&gt;COL_MIN.ZOrder" xml:space="preserve">
<data name="&gt;&gt;H_COL_MIN.ZOrder" xml:space="preserve">
<value>2</value>
</data>
<data name="COL_MID.Enabled" type="System.Boolean, mscorlib">
<data name="H_COL_MID.Enabled" type="System.Boolean, mscorlib">
<value>False</value>
</data>
<data name="COL_MID.Location" type="System.Drawing.Point, System.Drawing">
<data name="H_COL_MID.Location" type="System.Drawing.Point, System.Drawing">
<value>17, 117</value>
</data>
<data name="COL_MID.Size" type="System.Drawing.Size, System.Drawing">
<data name="H_COL_MID.Size" type="System.Drawing.Size, System.Drawing">
<value>44, 20</value>
</data>
<data name="COL_MID.TabIndex" type="System.Int32, mscorlib">
<data name="H_COL_MID.TabIndex" type="System.Int32, mscorlib">
<value>117</value>
</data>
<data name="COL_MID.Text" xml:space="preserve">
<data name="H_COL_MID.Text" xml:space="preserve">
<value>1500</value>
</data>
<data name="&gt;&gt;COL_MID.Name" xml:space="preserve">
<value>COL_MID</value>
<data name="&gt;&gt;H_COL_MID.Name" xml:space="preserve">
<value>H_COL_MID</value>
</data>
<data name="&gt;&gt;COL_MID.Type" xml:space="preserve">
<data name="&gt;&gt;H_COL_MID.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;COL_MID.Parent" xml:space="preserve">
<data name="&gt;&gt;H_COL_MID.Parent" xml:space="preserve">
<value>groupBox1</value>
</data>
<data name="&gt;&gt;COL_MID.ZOrder" xml:space="preserve">
<data name="&gt;&gt;H_COL_MID.ZOrder" xml:space="preserve">
<value>3</value>
</data>
<data name="COL_MAX.Enabled" type="System.Boolean, mscorlib">
<data name="H_COL_MAX.Enabled" type="System.Boolean, mscorlib">
<value>False</value>
</data>
<data name="COL_MAX.Location" type="System.Drawing.Point, System.Drawing">
<data name="H_COL_MAX.Location" type="System.Drawing.Point, System.Drawing">
<value>18, 45</value>
</data>
<data name="COL_MAX.Size" type="System.Drawing.Size, System.Drawing">
<data name="H_COL_MAX.Size" type="System.Drawing.Size, System.Drawing">
<value>43, 20</value>
</data>
<data name="COL_MAX.TabIndex" type="System.Int32, mscorlib">
<data name="H_COL_MAX.TabIndex" type="System.Int32, mscorlib">
<value>115</value>
</data>
<data name="COL_MAX.Text" xml:space="preserve">
<data name="H_COL_MAX.Text" xml:space="preserve">
<value>1500</value>
</data>
<data name="&gt;&gt;COL_MAX.Name" xml:space="preserve">
<value>COL_MAX</value>
<data name="&gt;&gt;H_COL_MAX.Name" xml:space="preserve">
<value>H_COL_MAX</value>
</data>
<data name="&gt;&gt;COL_MAX.Type" xml:space="preserve">
<data name="&gt;&gt;H_COL_MAX.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;COL_MAX.Parent" xml:space="preserve">
<data name="&gt;&gt;H_COL_MAX.Parent" xml:space="preserve">
<value>groupBox1</value>
</data>
<data name="&gt;&gt;COL_MAX.ZOrder" xml:space="preserve">
<data name="&gt;&gt;H_COL_MAX.ZOrder" xml:space="preserve">
<value>4</value>
</data>
<data name="BUT_0collective.Enabled" type="System.Boolean, mscorlib">
@ -556,7 +550,7 @@
<value>BUT_0collective</value>
</data>
<data name="&gt;&gt;BUT_0collective.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.1.4485.38897, Culture=neutral, PublicKeyToken=null</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.1.4494.24488, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_0collective.Parent" xml:space="preserve">
<value>groupBox1</value>
@ -933,28 +927,28 @@
<data name="&gt;&gt;label26.ZOrder" xml:space="preserve">
<value>18</value>
</data>
<data name="PIT_MAX.Location" type="System.Drawing.Point, System.Drawing">
<data name="H_PIT_MAX.Location" type="System.Drawing.Point, System.Drawing">
<value>314, 362</value>
</data>
<data name="PIT_MAX.Size" type="System.Drawing.Size, System.Drawing">
<data name="H_PIT_MAX.Size" type="System.Drawing.Size, System.Drawing">
<value>47, 20</value>
</data>
<data name="PIT_MAX.TabIndex" type="System.Int32, mscorlib">
<data name="H_PIT_MAX.TabIndex" type="System.Int32, mscorlib">
<value>156</value>
</data>
<data name="PIT_MAX.Text" xml:space="preserve">
<data name="H_PIT_MAX.Text" xml:space="preserve">
<value>4500</value>
</data>
<data name="&gt;&gt;PIT_MAX.Name" xml:space="preserve">
<value>PIT_MAX</value>
<data name="&gt;&gt;H_PIT_MAX.Name" xml:space="preserve">
<value>H_PIT_MAX</value>
</data>
<data name="&gt;&gt;PIT_MAX.Type" xml:space="preserve">
<data name="&gt;&gt;H_PIT_MAX.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;PIT_MAX.Parent" xml:space="preserve">
<data name="&gt;&gt;H_PIT_MAX.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;PIT_MAX.ZOrder" xml:space="preserve">
<data name="&gt;&gt;H_PIT_MAX.ZOrder" xml:space="preserve">
<value>19</value>
</data>
<data name="label25.AutoSize" type="System.Boolean, mscorlib">
@ -987,28 +981,28 @@
<data name="&gt;&gt;label25.ZOrder" xml:space="preserve">
<value>20</value>
</data>
<data name="ROL_MAX.Location" type="System.Drawing.Point, System.Drawing">
<data name="H_ROL_MAX.Location" type="System.Drawing.Point, System.Drawing">
<value>314, 336</value>
</data>
<data name="ROL_MAX.Size" type="System.Drawing.Size, System.Drawing">
<data name="H_ROL_MAX.Size" type="System.Drawing.Size, System.Drawing">
<value>47, 20</value>
</data>
<data name="ROL_MAX.TabIndex" type="System.Int32, mscorlib">
<data name="H_ROL_MAX.TabIndex" type="System.Int32, mscorlib">
<value>154</value>
</data>
<data name="ROL_MAX.Text" xml:space="preserve">
<data name="H_ROL_MAX.Text" xml:space="preserve">
<value>4500</value>
</data>
<data name="&gt;&gt;ROL_MAX.Name" xml:space="preserve">
<value>ROL_MAX</value>
<data name="&gt;&gt;H_ROL_MAX.Name" xml:space="preserve">
<value>H_ROL_MAX</value>
</data>
<data name="&gt;&gt;ROL_MAX.Type" xml:space="preserve">
<data name="&gt;&gt;H_ROL_MAX.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;ROL_MAX.Parent" xml:space="preserve">
<data name="&gt;&gt;H_ROL_MAX.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;ROL_MAX.ZOrder" xml:space="preserve">
<data name="&gt;&gt;H_ROL_MAX.ZOrder" xml:space="preserve">
<value>21</value>
</data>
<data name="label23.AutoSize" type="System.Boolean, mscorlib">
@ -1161,76 +1155,76 @@
<data name="&gt;&gt;label18.ZOrder" xml:space="preserve">
<value>26</value>
</data>
<data name="SV3_POS.Location" type="System.Drawing.Point, System.Drawing">
<data name="H_SV3_POS.Location" type="System.Drawing.Point, System.Drawing">
<value>57, 314</value>
</data>
<data name="SV3_POS.Size" type="System.Drawing.Size, System.Drawing">
<data name="H_SV3_POS.Size" type="System.Drawing.Size, System.Drawing">
<value>39, 20</value>
</data>
<data name="SV3_POS.TabIndex" type="System.Int32, mscorlib">
<data name="H_SV3_POS.TabIndex" type="System.Int32, mscorlib">
<value>146</value>
</data>
<data name="SV3_POS.Text" xml:space="preserve">
<data name="H_SV3_POS.Text" xml:space="preserve">
<value>180</value>
</data>
<data name="&gt;&gt;SV3_POS.Name" xml:space="preserve">
<value>SV3_POS</value>
<data name="&gt;&gt;H_SV3_POS.Name" xml:space="preserve">
<value>H_SV3_POS</value>
</data>
<data name="&gt;&gt;SV3_POS.Type" xml:space="preserve">
<data name="&gt;&gt;H_SV3_POS.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;SV3_POS.Parent" xml:space="preserve">
<data name="&gt;&gt;H_SV3_POS.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;SV3_POS.ZOrder" xml:space="preserve">
<data name="&gt;&gt;H_SV3_POS.ZOrder" xml:space="preserve">
<value>27</value>
</data>
<data name="SV2_POS.Location" type="System.Drawing.Point, System.Drawing">
<data name="H_SV2_POS.Location" type="System.Drawing.Point, System.Drawing">
<value>57, 288</value>
</data>
<data name="SV2_POS.Size" type="System.Drawing.Size, System.Drawing">
<data name="H_SV2_POS.Size" type="System.Drawing.Size, System.Drawing">
<value>39, 20</value>
</data>
<data name="SV2_POS.TabIndex" type="System.Int32, mscorlib">
<data name="H_SV2_POS.TabIndex" type="System.Int32, mscorlib">
<value>145</value>
</data>
<data name="SV2_POS.Text" xml:space="preserve">
<data name="H_SV2_POS.Text" xml:space="preserve">
<value>60</value>
</data>
<data name="&gt;&gt;SV2_POS.Name" xml:space="preserve">
<value>SV2_POS</value>
<data name="&gt;&gt;H_SV2_POS.Name" xml:space="preserve">
<value>H_SV2_POS</value>
</data>
<data name="&gt;&gt;SV2_POS.Type" xml:space="preserve">
<data name="&gt;&gt;H_SV2_POS.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;SV2_POS.Parent" xml:space="preserve">
<data name="&gt;&gt;H_SV2_POS.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;SV2_POS.ZOrder" xml:space="preserve">
<data name="&gt;&gt;H_SV2_POS.ZOrder" xml:space="preserve">
<value>28</value>
</data>
<data name="SV1_POS.Location" type="System.Drawing.Point, System.Drawing">
<data name="H_SV1_POS.Location" type="System.Drawing.Point, System.Drawing">
<value>57, 262</value>
</data>
<data name="SV1_POS.Size" type="System.Drawing.Size, System.Drawing">
<data name="H_SV1_POS.Size" type="System.Drawing.Size, System.Drawing">
<value>39, 20</value>
</data>
<data name="SV1_POS.TabIndex" type="System.Int32, mscorlib">
<data name="H_SV1_POS.TabIndex" type="System.Int32, mscorlib">
<value>144</value>
</data>
<data name="SV1_POS.Text" xml:space="preserve">
<data name="H_SV1_POS.Text" xml:space="preserve">
<value>-60</value>
</data>
<data name="&gt;&gt;SV1_POS.Name" xml:space="preserve">
<value>SV1_POS</value>
<data name="&gt;&gt;H_SV1_POS.Name" xml:space="preserve">
<value>H_SV1_POS</value>
</data>
<data name="&gt;&gt;SV1_POS.Type" xml:space="preserve">
<data name="&gt;&gt;H_SV1_POS.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;SV1_POS.Parent" xml:space="preserve">
<data name="&gt;&gt;H_SV1_POS.Parent" xml:space="preserve">
<value>$this</value>
</data>
<data name="&gt;&gt;SV1_POS.ZOrder" xml:space="preserve">
<data name="&gt;&gt;H_SV1_POS.ZOrder" xml:space="preserve">
<value>29</value>
</data>
<data name="HS3_REV.AutoSize" type="System.Boolean, mscorlib">
@ -1360,7 +1354,7 @@
<value>HS4</value>
</data>
<data name="&gt;&gt;HS4.Type" xml:space="preserve">
<value>ArdupilotMega.HorizontalProgressBar2, ArdupilotMegaPlanner, Version=1.1.4485.38897, Culture=neutral, PublicKeyToken=null</value>
<value>ArdupilotMega.HorizontalProgressBar2, ArdupilotMegaPlanner, Version=1.1.4494.24488, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;HS4.Parent" xml:space="preserve">
<value>$this</value>
@ -1381,7 +1375,7 @@
<value>HS3</value>
</data>
<data name="&gt;&gt;HS3.Type" xml:space="preserve">
<value>ArdupilotMega.VerticalProgressBar2, ArdupilotMegaPlanner, Version=1.1.4485.38897, Culture=neutral, PublicKeyToken=null</value>
<value>ArdupilotMega.VerticalProgressBar2, ArdupilotMegaPlanner, Version=1.1.4494.24488, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;HS3.Parent" xml:space="preserve">
<value>$this</value>
@ -1411,7 +1405,7 @@
<value>Gservoloc</value>
</data>
<data name="&gt;&gt;Gservoloc.Type" xml:space="preserve">
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.1.4485.38897, Culture=neutral, PublicKeyToken=null</value>
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.1.4494.24488, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;Gservoloc.Parent" xml:space="preserve">
<value>$this</value>
@ -1576,6 +1570,6 @@
<value>ConfigTradHeli</value>
</data>
<data name="&gt;&gt;$this.Type" xml:space="preserve">
<value>ArdupilotMega.Controls.BackstageView.BackStageViewContentPanel, ArdupilotMegaPlanner, Version=1.1.4485.38897, Culture=neutral, PublicKeyToken=null</value>
<value>ArdupilotMega.Controls.BackstageView.BackStageViewContentPanel, ArdupilotMegaPlanner, Version=1.1.4494.24488, Culture=neutral, PublicKeyToken=null</value>
</data>
</root>

6
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Setup.Designer.cs generated
View File

@ -38,15 +38,15 @@
this.backstageView.Dock = System.Windows.Forms.DockStyle.Fill;
this.backstageView.Location = new System.Drawing.Point(0, 0);
this.backstageView.Name = "backstageView";
this.backstageView.Size = new System.Drawing.Size(823, 468);
this.backstageView.Size = new System.Drawing.Size(931, 468);
this.backstageView.TabIndex = 0;
//
// Setup
//
this.ClientSize = new System.Drawing.Size(823, 468);
this.ClientSize = new System.Drawing.Size(931, 468);
this.Controls.Add(this.backstageView);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.MinimumSize = new System.Drawing.Size(839, 506);
this.MinimumSize = new System.Drawing.Size(947, 506);
this.Name = "Setup";
this.Text = "Setup";
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Setup_FormClosing);

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

@ -267,7 +267,7 @@ namespace ArdupilotMega.GCSViews
continue;
}
if (!comPort.BaseStream.IsOpen)
lastdata = DateTime.MinValue;
lastdata = DateTime.Now;
// re-request servo data
if (!(lastdata.AddSeconds(8) > DateTime.Now) && comPort.BaseStream.IsOpen)
{
@ -479,7 +479,7 @@ namespace ArdupilotMega.GCSViews
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing));
routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, gMapControl1));
}
else
{

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

@ -550,7 +550,7 @@ namespace ArdupilotMega.GCSViews
{
reader.Read();
reader.ReadStartElement("CMD");
if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
reader.ReadToFollowing("APM");
}
@ -3047,7 +3047,7 @@ namespace ArdupilotMega.GCSViews
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing) { ToolTipText = MainV2.cs.alt.ToString("0"), ToolTipMode = MarkerTooltipMode.Always });
routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, MainMap) { ToolTipText = MainV2.cs.alt.ToString("0"), ToolTipMode = MarkerTooltipMode.Always });
}
else
{

8
Tools/ArdupilotMegaPlanner/Log.cs
View File

@ -209,8 +209,6 @@ namespace ArdupilotMega
sw.Close();
TextReader tr = new StreamReader(logfile);
MainV2.cs.firmware = MainV2.Firmwares.ArduPlane;
this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
{
TXT_seriallog.AppendText("Createing KML for " + logfile);
@ -373,8 +371,6 @@ namespace ArdupilotMega
if (position[positionindex] == null)
position[positionindex] = new List<Point3D>();
MainV2.cs.firmware = MainV2.Firmwares.ArduCopter2;
double alt = double.Parse(items[5], new System.Globalization.CultureInfo("en-US"));
position[positionindex].Add(new Point3D(double.Parse(items[4], new System.Globalization.CultureInfo("en-US")), double.Parse(items[3], new System.Globalization.CultureInfo("en-US")), alt));
@ -812,8 +808,6 @@ namespace ArdupilotMega
TextReader tr = new StreamReader(logfile);
MainV2.cs.firmware = MainV2.Firmwares.ArduPlane;
while (tr.Peek() != -1)
{
processLine(tr.ReadLine());
@ -887,8 +881,6 @@ namespace ArdupilotMega
{
TextReader tr = new StreamReader(logfile);
MainV2.cs.firmware = MainV2.Firmwares.ArduPlane;
while (tr.Peek() != -1)
{
processLine(tr.ReadLine());

2
Tools/ArdupilotMegaPlanner/LogBrowse.cs
View File

@ -157,7 +157,7 @@ namespace ArdupilotMega
{
reader.Read();
reader.ReadStartElement("LOGFORMAT");
if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
reader.ReadToFollowing("APM");
}

6
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -1027,8 +1027,9 @@ namespace ArdupilotMega
public void requestDatastream(byte id, byte hzrate)
{
double pps = 0;
/*
switch (id)
{
case (byte)MAVLink.MAV_DATA_STREAM.ALL:
@ -1117,8 +1118,9 @@ namespace ArdupilotMega
{
return;
}
*/
log.InfoFormat("Request stream {0} at {1} hz : currently {2}", Enum.Parse(typeof(MAV_DATA_STREAM), id.ToString()), hzrate, pps);
log.InfoFormat("Request stream {0} at {1} hz", Enum.Parse(typeof(MAV_DATA_STREAM), id.ToString()), hzrate);
getDatastream(id, hzrate);
}

169
Tools/ArdupilotMegaPlanner/MainV2.Designer.cs generated
View File

@ -29,23 +29,56 @@
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
this.MyView = new System.Windows.Forms.Panel();
this.MainMenu = new System.Windows.Forms.MenuStrip();
this.MenuFlightData = new System.Windows.Forms.ToolStripButton();
this.MenuFlightPlanner = new System.Windows.Forms.ToolStripButton();
this.MenuConfiguration = new System.Windows.Forms.ToolStripButton();
this.MenuSimulation = new System.Windows.Forms.ToolStripButton();
this.MenuFirmware = new System.Windows.Forms.ToolStripButton();
this.MenuConnect = new System.Windows.Forms.ToolStripButton();
this.CMB_serialport = new System.Windows.Forms.ToolStripComboBox();
this.MainMenu = new System.Windows.Forms.MenuStrip();
this.MenuTerminal = new System.Windows.Forms.ToolStripButton();
this.CMB_baudrate = new System.Windows.Forms.ToolStripComboBox();
this.TOOL_APMFirmware = new System.Windows.Forms.ToolStripComboBox();
this.MenuHelp = new System.Windows.Forms.ToolStripButton();
this.toolStripMenuItem1 = new System.Windows.Forms.ToolStripMenuItem();
this.MyView = new System.Windows.Forms.Panel();
this.MenuConnect = new System.Windows.Forms.ToolStripButton();
this.toolStripConnectionControl = new ArdupilotMega.Controls.ToolStripConnectionControl();
this.MainMenu.SuspendLayout();
this.SuspendLayout();
//
// MyView
//
this.MyView.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(38)))), ((int)(((byte)(39)))), ((int)(((byte)(40)))));
this.MyView.Dock = System.Windows.Forms.DockStyle.Fill;
this.MyView.ForeColor = System.Drawing.Color.White;
this.MyView.Location = new System.Drawing.Point(0, 76);
this.MyView.Margin = new System.Windows.Forms.Padding(0);
this.MyView.Name = "MyView";
this.MyView.Size = new System.Drawing.Size(1008, 461);
this.MyView.TabIndex = 3;
//
// MainMenu
//
this.MainMenu.BackColor = System.Drawing.SystemColors.Control;
this.MainMenu.BackgroundImage = ((System.Drawing.Image)(resources.GetObject("MainMenu.BackgroundImage")));
this.MainMenu.GripMargin = new System.Windows.Forms.Padding(0);
this.MainMenu.ImageScalingSize = new System.Drawing.Size(76, 76);
this.MainMenu.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.MenuFlightData,
this.MenuFlightPlanner,
this.MenuConfiguration,
this.MenuSimulation,
this.MenuFirmware,
this.MenuTerminal,
this.MenuHelp,
this.MenuConnect,
this.toolStripConnectionControl});
this.MainMenu.LayoutStyle = System.Windows.Forms.ToolStripLayoutStyle.HorizontalStackWithOverflow;
this.MainMenu.Location = new System.Drawing.Point(0, 0);
this.MainMenu.Name = "MainMenu";
this.MainMenu.Padding = new System.Windows.Forms.Padding(0);
this.MainMenu.RenderMode = System.Windows.Forms.ToolStripRenderMode.Professional;
this.MainMenu.Size = new System.Drawing.Size(1008, 76);
this.MainMenu.TabIndex = 5;
this.MainMenu.Text = "menuStrip1";
//
// MenuFlightData
//
this.MenuFlightData.AutoSize = false;
@ -114,57 +147,6 @@
this.MenuFirmware.ToolTipText = "Firmware";
this.MenuFirmware.Click += new System.EventHandler(this.MenuFirmware_Click);
//
// MenuConnect
//
this.MenuConnect.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
this.MenuConnect.AutoSize = false;
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
this.MenuConnect.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
this.MenuConnect.ImageTransparentColor = System.Drawing.Color.Magenta;
this.MenuConnect.Margin = new System.Windows.Forms.Padding(0);
this.MenuConnect.Name = "MenuConnect";
this.MenuConnect.Padding = new System.Windows.Forms.Padding(0, 0, 72, 72);
this.MenuConnect.Size = new System.Drawing.Size(76, 76);
this.MenuConnect.Click += new System.EventHandler(this.MenuConnect_Click);
//
// CMB_serialport
//
this.CMB_serialport.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
this.CMB_serialport.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CMB_serialport.Name = "CMB_serialport";
this.CMB_serialport.Size = new System.Drawing.Size(150, 76);
this.CMB_serialport.SelectedIndexChanged += new System.EventHandler(this.CMB_serialport_SelectedIndexChanged);
this.CMB_serialport.Enter += new System.EventHandler(this.CMB_serialport_Enter);
this.CMB_serialport.Click += new System.EventHandler(this.CMB_serialport_Click);
//
// MainMenu
//
this.MainMenu.AutoSize = false;
this.MainMenu.BackColor = System.Drawing.SystemColors.Control;
this.MainMenu.BackgroundImage = ((System.Drawing.Image)(resources.GetObject("MainMenu.BackgroundImage")));
this.MainMenu.GripMargin = new System.Windows.Forms.Padding(0);
this.MainMenu.ImageScalingSize = new System.Drawing.Size(76, 76);
this.MainMenu.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.MenuFlightData,
this.MenuFlightPlanner,
this.MenuConfiguration,
this.MenuSimulation,
this.MenuFirmware,
this.MenuTerminal,
this.MenuConnect,
this.CMB_baudrate,
this.CMB_serialport,
this.TOOL_APMFirmware,
this.MenuHelp});
this.MainMenu.LayoutStyle = System.Windows.Forms.ToolStripLayoutStyle.HorizontalStackWithOverflow;
this.MainMenu.Location = new System.Drawing.Point(0, 0);
this.MainMenu.Name = "MainMenu";
this.MainMenu.Padding = new System.Windows.Forms.Padding(0);
this.MainMenu.RenderMode = System.Windows.Forms.ToolStripRenderMode.Professional;
this.MainMenu.Size = new System.Drawing.Size(1008, 76);
this.MainMenu.TabIndex = 1;
this.MainMenu.Text = "menuStrip1";
//
// MenuTerminal
//
this.MenuTerminal.AutoSize = false;
@ -179,32 +161,6 @@
this.MenuTerminal.ToolTipText = "Terminal";
this.MenuTerminal.Click += new System.EventHandler(this.MenuTerminal_Click);
//
// CMB_baudrate
//
this.CMB_baudrate.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
this.CMB_baudrate.Items.AddRange(new object[] {
"4800",
"9600",
"14400",
"19200",
"28800",
"38400",
"57600",
"115200"});
this.CMB_baudrate.Name = "CMB_baudrate";
this.CMB_baudrate.Size = new System.Drawing.Size(76, 76);
this.CMB_baudrate.SelectedIndexChanged += new System.EventHandler(this.CMB_baudrate_SelectedIndexChanged);
this.CMB_baudrate.TextChanged += new System.EventHandler(this.CMB_baudrate_TextChanged);
//
// TOOL_APMFirmware
//
this.TOOL_APMFirmware.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
this.TOOL_APMFirmware.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.TOOL_APMFirmware.MaxDropDownItems = 2;
this.TOOL_APMFirmware.Name = "TOOL_APMFirmware";
this.TOOL_APMFirmware.Size = new System.Drawing.Size(121, 76);
this.TOOL_APMFirmware.SelectedIndexChanged += new System.EventHandler(this.TOOL_APMFirmware_SelectedIndexChanged);
//
// MenuHelp
//
this.MenuHelp.AutoSize = false;
@ -219,22 +175,25 @@
this.MenuHelp.ToolTipText = "Terminal";
this.MenuHelp.Click += new System.EventHandler(this.MenuHelp_Click);
//
// toolStripMenuItem1
// MenuConnect
//
this.toolStripMenuItem1.Name = "toolStripMenuItem1";
this.toolStripMenuItem1.Size = new System.Drawing.Size(141, 20);
this.toolStripMenuItem1.Text = "toolStripMenuItem1";
this.MenuConnect.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
this.MenuConnect.AutoSize = false;
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
this.MenuConnect.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
this.MenuConnect.ImageTransparentColor = System.Drawing.Color.Magenta;
this.MenuConnect.Margin = new System.Windows.Forms.Padding(0);
this.MenuConnect.Name = "MenuConnect";
this.MenuConnect.Padding = new System.Windows.Forms.Padding(0, 0, 72, 72);
this.MenuConnect.Size = new System.Drawing.Size(76, 76);
this.MenuConnect.Click += new System.EventHandler(this.MenuConnect_Click);
//
// MyView
// toolStripConnectionControl
//
this.MyView.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(38)))), ((int)(((byte)(39)))), ((int)(((byte)(40)))));
this.MyView.Dock = System.Windows.Forms.DockStyle.Fill;
this.MyView.ForeColor = System.Drawing.Color.White;
this.MyView.Location = new System.Drawing.Point(0, 76);
this.MyView.Margin = new System.Windows.Forms.Padding(0);
this.MyView.Name = "MyView";
this.MyView.Size = new System.Drawing.Size(1008, 461);
this.MyView.TabIndex = 3;
this.toolStripConnectionControl.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
this.toolStripConnectionControl.BackColor = System.Drawing.Color.Transparent;
this.toolStripConnectionControl.Name = "toolStripConnectionControl";
this.toolStripConnectionControl.Size = new System.Drawing.Size(203, 73);
//
// MainV2
//
@ -257,26 +216,24 @@
this.MainMenu.ResumeLayout(false);
this.MainMenu.PerformLayout();
this.ResumeLayout(false);
this.PerformLayout();
}
#endregion
private System.Windows.Forms.Panel MyView;
private System.Windows.Forms.MenuStrip MainMenu;
private System.Windows.Forms.ToolStripButton MenuFlightData;
private System.Windows.Forms.ToolStripButton MenuFlightPlanner;
private System.Windows.Forms.ToolStripButton MenuConfiguration;
private System.Windows.Forms.ToolStripButton MenuSimulation;
private System.Windows.Forms.ToolStripButton MenuFirmware;
private System.Windows.Forms.ToolStripComboBox CMB_serialport;
private System.Windows.Forms.ToolStripButton MenuConnect;
private System.Windows.Forms.MenuStrip MainMenu;
private System.Windows.Forms.ToolStripMenuItem toolStripMenuItem1;
private System.Windows.Forms.ToolStripComboBox CMB_baudrate;
private System.Windows.Forms.Panel MyView;
private System.Windows.Forms.ToolStripButton MenuTerminal;
private System.Windows.Forms.ToolStripComboBox TOOL_APMFirmware;
private System.Windows.Forms.ToolStripButton MenuConnect;
private System.Windows.Forms.ToolStripButton MenuHelp;
//public static WebCam_Capture.WebCamCapture webCamCapture1;
private ArdupilotMega.Controls.ToolStripConnectionControl toolStripConnectionControl;
}
}

320
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -31,6 +31,8 @@ namespace ArdupilotMega
{
private static readonly ILog log =
LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
// used to hide/show console window
[DllImport("user32.dll")]
public static extern int FindWindow(string szClass, string szTitle);
[DllImport("user32.dll")]
@ -39,41 +41,88 @@ namespace ArdupilotMega
const int SW_SHOWNORMAL = 1;
const int SW_HIDE = 0;
/// <summary>
/// Main Comport interface
/// </summary>
public static MAVLink comPort = new MAVLink();
/// <summary>
/// Comport name
/// </summary>
public static string comPortName = "";
/// <summary>
/// use to store all internal config
/// </summary>
public static Hashtable config = new Hashtable();
/// <summary>
/// used to prevent comport access for exclusive use
/// </summary>
public static bool giveComport = false;
public static Firmwares APMFirmware = Firmwares.ArduPlane;
/// <summary>
/// mono detection
/// </summary>
public static bool MONO = false;
/// <summary>
/// speech engein enable
/// </summary>
public static bool speechEnable = false;
/// <summary>
/// spech engine static class
/// </summary>
public static Speech speechEngine = null;
/// <summary>
/// joystick static class
/// </summary>
public static Joystick joystick = null;
/// <summary>
/// track last joystick packet sent. used to track timming
/// </summary>
DateTime lastjoystick = DateTime.Now;
/// <summary>
/// hud background image grabber from a video stream - not realy that efficent. ie no hardware overlays etc.
/// </summary>
public static WebCamService.Capture cam = null;
/// <summary>
/// the static global state of the currently connected MAV
/// </summary>
public static CurrentState cs = new CurrentState();
/// <summary>
/// controls the main serial reader thread
/// </summary>
bool serialThread = false;
/// <summary>
/// unused at this point - potential to move all forms to this single binding source. need to evalutate performance/exception issues
/// </summary>
static internal BindingSource bs;
TcpListener listener;
DateTime heatbeatSend = DateTime.Now;
/// <summary>
/// used for mini https server for websockets/mjpeg video stream, and network link kmls
/// </summary>
private TcpListener listener;
/// <summary>
/// track the last heartbeat sent
/// </summary>
private DateTime heatbeatSend = DateTime.Now;
/// <summary>
/// used to call anything as needed.
/// </summary>
public static MainV2 instance = null;
/// <summary>
/// used to feed in a network link kml to the http server
/// </summary>
public string georefkml = "";
/// <summary>
/// enum of firmwares
/// </summary>
public enum Firmwares
{
ArduPlane,
ArduCopter2,
}
/// <summary>
/// declared here if i want a "single" instance of the form
/// ie configuration gets reloaded on every click
/// </summary>
GCSViews.FlightData FlightData;
GCSViews.FlightPlanner FlightPlanner;
GCSViews.Configuration Configuration;
@ -82,13 +131,20 @@ namespace ArdupilotMega
GCSViews.Firmware Firmware;
GCSViews.Terminal Terminal;
/// <summary>
/// control for the serial port and firmware selector.
/// </summary>
private ConnectionControl _connectionControl;
public MainV2()
{
Form splash = new Splash();
splash.Show();
string strVersion = System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
strVersion = "";
strVersion = "mav " + MAVLink.MAVLINK_WIRE_PROTOCOL_VERSION;
splash.Text = "APM Planner " + Application.ProductVersion + " " + strVersion + " By Michael Oborne";
splash.Refresh();
@ -98,6 +154,14 @@ namespace ArdupilotMega
instance = this;
InitializeComponent();
_connectionControl = toolStripConnectionControl.ConnectionControl;
_connectionControl.CMB_baudrate.TextChanged += this.CMB_baudrate_TextChanged;
_connectionControl.CMB_baudrate.SelectedIndexChanged += this.CMB_baudrate_SelectedIndexChanged;
_connectionControl.CMB_serialport.SelectedIndexChanged += this.CMB_serialport_SelectedIndexChanged;
_connectionControl.CMB_serialport.Enter += this.CMB_serialport_Enter;
_connectionControl.CMB_serialport.Click += this.CMB_serialport_Click;
_connectionControl.TOOL_APMFirmware.SelectedIndexChanged += this.TOOL_APMFirmware_SelectedIndexChanged;
srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm";
@ -113,24 +177,35 @@ namespace ArdupilotMega
List<object> list = new List<object>();
foreach (object obj in Enum.GetValues(typeof(Firmwares)))
{
TOOL_APMFirmware.Items.Add(obj);
_connectionControl.TOOL_APMFirmware.Items.Add(obj);
}
if (TOOL_APMFirmware.Items.Count > 0)
TOOL_APMFirmware.SelectedIndex = 0;
if (_connectionControl.TOOL_APMFirmware.Items.Count > 0)
_connectionControl.TOOL_APMFirmware.SelectedIndex = 0;
this.Text = splash.Text;
comPort.BaseStream.BaudRate = 115200;
CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
CMB_serialport.Items.Add("TCP");
CMB_serialport.Items.Add("UDP");
if (CMB_serialport.Items.Count > 0)
// ** Old
// CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
// CMB_serialport.Items.Add("TCP");
// CMB_serialport.Items.Add("UDP");
// if (CMB_serialport.Items.Count > 0)
// {
// CMB_baudrate.SelectedIndex = 7;
// CMB_serialport.SelectedIndex = 0;
// }
// ** new
_connectionControl.CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
_connectionControl.CMB_serialport.Items.Add("TCP");
_connectionControl.CMB_serialport.Items.Add("UDP");
if (_connectionControl.CMB_serialport.Items.Count > 0)
{
CMB_baudrate.SelectedIndex = 7;
CMB_serialport.SelectedIndex = 0;
_connectionControl.CMB_baudrate.SelectedIndex = 7;
_connectionControl.CMB_serialport.SelectedIndex = 0;
}
// ** Done
splash.Refresh();
Application.DoEvents();
@ -172,7 +247,7 @@ namespace ArdupilotMega
if (MainV2.config["CHK_GDIPlus"] != null)
GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());
changeunits();
ChangeUnits();
try
{
@ -258,6 +333,9 @@ namespace ArdupilotMega
splash.Close();
}
/// <summary>
/// used to create planner screenshots - access by control-s
/// </summary>
internal void ScreenShot()
{
Rectangle bounds = Screen.GetBounds(Point.Empty);
@ -276,13 +354,13 @@ namespace ArdupilotMega
private void CMB_serialport_Click(object sender, EventArgs e)
{
string oldport = CMB_serialport.Text;
CMB_serialport.Items.Clear();
CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
CMB_serialport.Items.Add("TCP");
CMB_serialport.Items.Add("UDP");
if (CMB_serialport.Items.Contains(oldport))
CMB_serialport.Text = oldport;
string oldport = _connectionControl.CMB_serialport.Text;
_connectionControl.CMB_serialport.Items.Clear();
_connectionControl.CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
_connectionControl.CMB_serialport.Items.Add("TCP");
_connectionControl.CMB_serialport.Items.Add("UDP");
if (_connectionControl.CMB_serialport.Items.Contains(oldport))
_connectionControl.CMB_serialport.Text = oldport;
}
@ -474,11 +552,11 @@ namespace ArdupilotMega
}
else
{
if (CMB_serialport.Text == "TCP")
if (_connectionControl.CMB_serialport.Text == "TCP")
{
comPort.BaseStream = new TcpSerial();
}
else if (CMB_serialport.Text == "UDP")
else if (_connectionControl.CMB_serialport.Text == "UDP")
{
comPort.BaseStream = new UdpSerial();
}
@ -490,31 +568,32 @@ namespace ArdupilotMega
try
{
// set port, then options
comPort.BaseStream.PortName = CMB_serialport.Text;
comPort.BaseStream.PortName = _connectionControl.CMB_serialport.Text;
comPort.BaseStream.DataBits = 8;
comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1");
comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None");
try
{
comPort.BaseStream.BaudRate = int.Parse(CMB_baudrate.Text);
comPort.BaseStream.BaudRate = int.Parse(_connectionControl.CMB_baudrate.Text);
}
catch { }
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
comPort.BaseStream.toggleDTR();
// false here
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
comPort.BaseStream.toggleDTR();
// if reset on connect is on dtr will be true here
// cleanup from any previous sessions
if (comPort.logfile != null)
comPort.logfile.Close();
if (comPort.rawlogfile != null)
comPort.rawlogfile.Close();
// setup to record new logs
try
{
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
@ -524,39 +603,44 @@ namespace ArdupilotMega
}
catch { CustomMessageBox.Show("Failed to create log - wont log this session"); } // soft fail
// do the connect
comPort.Open(true);
// detect firmware we are conected to.
if (comPort.param["SYSID_SW_TYPE"] != null)
{
if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 10)
{
TOOL_APMFirmware.SelectedIndex = TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2);
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2);
}
else if (float.Parse(comPort.param["SYSID_SW_TYPE"].ToString()) == 0)
{
TOOL_APMFirmware.SelectedIndex = TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane);
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane);
}
}
cs.firmware = APMFirmware;
config[CMB_serialport.Text + "_BAUD"] = CMB_baudrate.Text;
// save the baudrate for this port
config[_connectionControl.CMB_serialport.Text + "_BAUD"] = _connectionControl.CMB_baudrate.Text;
// load wps on connect option.
if (config["loadwpsonconnect"] != null && bool.Parse(config["loadwpsonconnect"].ToString()) == true)
{
MenuFlightPlanner_Click(null, null);
FlightPlanner.BUT_read_Click(null, null);
}
// set connected icon
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
}
catch (Exception ex)
{
log.Warn(ex.ToString());
try
{
comPort.Close();
}
catch { }
// detect firmware -> scan eeprom contents -> error if no valid ap param/apvar header detected.
try
{
string version = ArduinoDetect.DetectVersion(comPort.BaseStream.PortName);
@ -601,10 +685,10 @@ namespace ArdupilotMega
private void CMB_serialport_SelectedIndexChanged(object sender, EventArgs e)
{
comPortName = CMB_serialport.Text;
comPortName = _connectionControl.CMB_serialport.Text;
if (comPortName == "UDP" || comPortName == "TCP")
{
CMB_baudrate.Enabled = false;
_connectionControl.CMB_baudrate.Enabled = false;
if (comPortName == "TCP")
MainV2.comPort.BaseStream = new TcpSerial();
if (comPortName == "UDP")
@ -612,35 +696,32 @@ namespace ArdupilotMega
}
else
{
CMB_baudrate.Enabled = true;
_connectionControl.CMB_baudrate.Enabled = true;
MainV2.comPort.BaseStream = new ArdupilotMega.SerialPort();
}
try
{
comPort.BaseStream.PortName = CMB_serialport.Text;
comPort.BaseStream.PortName = _connectionControl.CMB_serialport.Text;
MainV2.comPort.BaseStream.BaudRate = int.Parse(CMB_baudrate.Text);
MainV2.comPort.BaseStream.BaudRate = int.Parse(_connectionControl.CMB_baudrate.Text);
if (config[CMB_serialport.Text + "_BAUD"] != null)
// check for saved baud rate and restore
if (config[_connectionControl.CMB_serialport.Text + "_BAUD"] != null)
{
CMB_baudrate.Text = config[CMB_serialport.Text + "_BAUD"].ToString();
_connectionControl.CMB_baudrate.Text = config[_connectionControl.CMB_serialport.Text + "_BAUD"].ToString();
}
}
catch { }
}
private void toolStripMenuItem2_Click(object sender, EventArgs e)
{
//Form temp = new Main();
//temp.Show();
}
private void MainV2_FormClosed(object sender, FormClosedEventArgs e)
{
// shutdown threads
GCSViews.FlightData.threadrun = 0;
GCSViews.Simulation.threadrun = 0;
// shutdown local thread
serialThread = false;
try
@ -665,6 +746,8 @@ namespace ArdupilotMega
}
catch { }
// save config
xmlconfig(true);
}
@ -675,8 +758,6 @@ namespace ArdupilotMega
{
try
{
//System.Configuration.Configuration appconfig = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
XmlTextWriter xmlwriter = new XmlTextWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml", Encoding.ASCII);
xmlwriter.Formatting = Formatting.Indented;
@ -686,13 +767,9 @@ namespace ArdupilotMega
xmlwriter.WriteElementString("comport", comPortName);
xmlwriter.WriteElementString("baudrate", CMB_baudrate.Text);
xmlwriter.WriteElementString("baudrate", _connectionControl.CMB_baudrate.Text);
xmlwriter.WriteElementString("APMFirmware", APMFirmware.ToString());
//appconfig.AppSettings.Settings.Add("comport", comportname);
//appconfig.AppSettings.Settings.Add("baudrate", CMB_baudrate.Text);
//appconfig.AppSettings.Settings.Add("APMFirmware", APMFirmware.ToString());
xmlwriter.WriteElementString("APMFirmware", MainV2.cs.firmware.ToString());
foreach (string key in config.Keys)
{
@ -701,8 +778,6 @@ namespace ArdupilotMega
if (key == "" || key.Contains("/")) // "/dev/blah"
continue;
xmlwriter.WriteElementString(key, config[key].ToString());
//appconfig.AppSettings.Settings.Add(key, config[key].ToString());
}
catch { }
}
@ -711,8 +786,6 @@ namespace ArdupilotMega
xmlwriter.WriteEndDocument();
xmlwriter.Close();
//appconfig.Save();
}
catch (Exception ex) { CustomMessageBox.Show(ex.ToString()); }
}
@ -732,10 +805,10 @@ namespace ArdupilotMega
case "comport":
string temp = xmlreader.ReadString();
CMB_serialport.SelectedIndex = CMB_serialport.FindString(temp);
if (CMB_serialport.SelectedIndex == -1)
_connectionControl.CMB_serialport.SelectedIndex = _connectionControl.CMB_serialport.FindString(temp);
if (_connectionControl.CMB_serialport.SelectedIndex == -1)
{
CMB_serialport.Text = temp; // allows ports that dont exist - yet
_connectionControl.CMB_serialport.Text = temp; // allows ports that dont exist - yet
}
comPort.BaseStream.PortName = temp;
comPortName = temp;
@ -743,20 +816,20 @@ namespace ArdupilotMega
case "baudrate":
string temp2 = xmlreader.ReadString();
CMB_baudrate.SelectedIndex = CMB_baudrate.FindString(temp2);
if (CMB_baudrate.SelectedIndex == -1)
_connectionControl.CMB_baudrate.SelectedIndex = _connectionControl.CMB_baudrate.FindString(temp2);
if (_connectionControl.CMB_baudrate.SelectedIndex == -1)
{
CMB_baudrate.Text = temp2;
_connectionControl.CMB_baudrate.Text = temp2;
//CMB_baudrate.SelectedIndex = CMB_baudrate.FindString("57600"); ; // must exist
}
//bau = int.Parse(CMB_baudrate.Text);
break;
case "APMFirmware":
string temp3 = xmlreader.ReadString();
TOOL_APMFirmware.SelectedIndex = TOOL_APMFirmware.FindStringExact(temp3);
if (TOOL_APMFirmware.SelectedIndex == -1)
TOOL_APMFirmware.SelectedIndex = 0;
APMFirmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), TOOL_APMFirmware.Text);
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.FindStringExact(temp3);
if (_connectionControl.TOOL_APMFirmware.SelectedIndex == -1)
_connectionControl.TOOL_APMFirmware.SelectedIndex = 0;
MainV2.cs.firmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), _connectionControl.TOOL_APMFirmware.Text);
break;
case "Config":
break;
@ -781,11 +854,16 @@ namespace ArdupilotMega
{
try
{
comPort.BaseStream.BaudRate = int.Parse(CMB_baudrate.Text);
comPort.BaseStream.BaudRate = int.Parse(_connectionControl.CMB_baudrate.Text);
}
catch
{
}
catch { }
}
/// <summary>
/// thread used to send joystick packets to the MAV
/// </summary>
private void joysticksend()
{
@ -870,10 +948,11 @@ namespace ArdupilotMega
DateTime connectButtonUpdate = DateTime.Now;
/// <summary>
/// Used to fix the icon status for unexpected unplugs etc...
/// </summary>
private void updateConnectIcon()
{
if ((DateTime.Now - connectButtonUpdate).Milliseconds > 500)
{
// Console.WriteLine(DateTime.Now.Millisecond);
@ -885,8 +964,8 @@ namespace ArdupilotMega
{
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
this.MenuConnect.BackgroundImage.Tag = "Disconnect";
CMB_baudrate.Enabled = false;
CMB_serialport.Enabled = false;
_connectionControl.CMB_baudrate.Enabled = false;
_connectionControl.CMB_serialport.Enabled = false;
});
}
}
@ -898,8 +977,8 @@ namespace ArdupilotMega
{
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
this.MenuConnect.BackgroundImage.Tag = "Connect";
CMB_baudrate.Enabled = true;
CMB_serialport.Enabled = true;
_connectionControl.CMB_baudrate.Enabled = true;
_connectionControl.CMB_serialport.Enabled = true;
});
}
}
@ -907,7 +986,16 @@ namespace ArdupilotMega
}
}
/// <summary>
/// main serial reader thread
/// controls
/// serial reading
/// link quality stats
/// speech voltage - custom - alt warning - data lost
/// heartbeat packet sending
///
/// and cant fall out
/// </summary>
private void SerialReader()
{
if (serialThread == true)
@ -1089,6 +1177,7 @@ namespace ArdupilotMega
// for long running tasks using own threads.
// for short use threadpool
// setup http server
try
{
listener = new TcpListener(IPAddress.Any, 56781);
@ -1104,6 +1193,7 @@ namespace ArdupilotMega
CustomMessageBox.Show(ex.ToString());
}
/// setup joystick packet sender
new Thread(new ThreadStart(joysticksend))
{
IsBackground = true,
@ -1111,12 +1201,14 @@ namespace ArdupilotMega
Name = "Main joystick sender"
}.Start();
// setup main serial reader
new Thread(SerialReader)
{
IsBackground = true,
Name = "Main Serial reader"
}.Start();
// check for updates
if (Debugger.IsAttached)
{
log.Info("Skipping update test as it appears we are debugging");
@ -1134,6 +1226,7 @@ namespace ArdupilotMega
}
}
public static String ComputeWebSocketHandshakeSecurityHash09(String secWebSocketKey)
{
const String MagicKEY = "258EAFA5-E914-47DA-95CA-C5AB0DC85B11";
@ -1155,7 +1248,6 @@ namespace ArdupilotMega
/// <summary>
/// little web server for sending network link kml's
/// </summary>
void listernforclients()
{
try
@ -1440,8 +1532,7 @@ namespace ArdupilotMega
private void TOOL_APMFirmware_SelectedIndexChanged(object sender, EventArgs e)
{
APMFirmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), TOOL_APMFirmware.Text);
MainV2.cs.firmware = APMFirmware;
MainV2.cs.firmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), _connectionControl.TOOL_APMFirmware.Text);
}
private void MainV2_Resize(object sender, EventArgs e)
@ -1858,7 +1949,12 @@ namespace ArdupilotMega
}
/// <summary>
/// trying to replicate google code etags....... this doesnt work.
/// </summary>
/// <param name="fileName"></param>
/// <param name="modifyDate"></param>
/// <returns></returns>
private string GetFileETag(string fileName, DateTime modifyDate)
{
@ -1892,29 +1988,34 @@ namespace ArdupilotMega
}
/// <summary>
/// keyboard shortcuts override
/// </summary>
/// <param name="msg"></param>
/// <param name="keyData"></param>
/// <returns></returns>
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
if (keyData == (Keys.Control | Keys.F))
if (keyData == (Keys.Control | Keys.F)) // temp
{
Form frm = new temp();
ThemeManager.ApplyThemeTo(frm);
frm.Show();
return true;
}
if (keyData == (Keys.Control | Keys.S))
if (keyData == (Keys.Control | Keys.S)) // screenshot
{
ScreenShot();
return true;
}
if (keyData == (Keys.Control | Keys.G)) // test
if (keyData == (Keys.Control | Keys.G)) // nmea out
{
Form frm = new SerialOutput();
ThemeManager.ApplyThemeTo(frm);
frm.Show();
return true;
}
if (keyData == (Keys.Control | Keys.A)) // test
if (keyData == (Keys.Control | Keys.A)) // 3dr radio
{
Form temp = new Form();
Control frm = new _3DRradio();
@ -1925,7 +2026,7 @@ namespace ArdupilotMega
temp.Show();
return true;
}
if (keyData == (Keys.Control | Keys.W)) // test
if (keyData == (Keys.Control | Keys.W)) // test ac config
{
Controls.ConfigPanel cfg = new Controls.ConfigPanel();
@ -2026,7 +2127,7 @@ namespace ArdupilotMega
return "";
}
public void changeunits()
public void ChangeUnits()
{
try
{
@ -2070,24 +2171,29 @@ namespace ArdupilotMega
catch { }
}
private void CMB_baudrate_TextChanged(object sender, EventArgs e)
{
StringBuilder sb = new StringBuilder();
int baud = 0;
for (int i = 0; i < CMB_baudrate.Text.Length; i++)
if (char.IsDigit(CMB_baudrate.Text[i]))
for (int i = 0; i < _connectionControl.CMB_baudrate.Text.Length; i++)
if (char.IsDigit(_connectionControl.CMB_baudrate.Text[i]))
{
sb.Append(CMB_baudrate.Text[i]);
baud = baud * 10 + CMB_baudrate.Text[i] - '0';
sb.Append(_connectionControl.CMB_baudrate.Text[i]);
baud = baud * 10 + _connectionControl.CMB_baudrate.Text[i] - '0';
}
if (CMB_baudrate.Text != sb.ToString())
CMB_baudrate.Text = sb.ToString();
if (_connectionControl.CMB_baudrate.Text != sb.ToString())
{
_connectionControl.CMB_baudrate.Text = sb.ToString();
}
try
{
if (baud > 0 && comPort.BaseStream.BaudRate != baud)
comPort.BaseStream.BaudRate = baud;
}
catch (Exception) { }
catch (Exception)
{
}
}
private void CMB_serialport_Enter(object sender, EventArgs e)

2
Tools/ArdupilotMegaPlanner/MainV2.resx
View File

@ -118,7 +118,7 @@
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="MainMenu.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>127, 17</value>
<value>17, 17</value>
</metadata>
<assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="MainMenu.BackgroundImage" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">

4
Tools/ArdupilotMegaPlanner/Msi/installer.bat
View File

@ -7,10 +7,10 @@ del installer.wixobj
"%wix%\bin\candle" installer.wxs -ext WiXNetFxExtension -ext WixDifxAppExtension -ext WixUIExtension.dll -ext WixUtilExtension
"%wix%\bin\light" installer.wixobj "%wix%\bin\difxapp_x86.wixlib" -o APMPlanner32.msi -ext WiXNetFxExtension -ext WixDifxAppExtension -ext WixUIExtension.dll -ext WixUtilExtension
"%wix%\bin\light" installer.wixobj "%wix%\bin\difxapp_x86.wixlib" -o MissionPlanner32.msi -ext WiXNetFxExtension -ext WixDifxAppExtension -ext WixUIExtension.dll -ext WixUtilExtension
"%wix%\bin\light" installer.wixobj "%wix%\bin\difxapp_x64.wixlib" -o APMPlanner64.msi -ext WiXNetFxExtension -ext WixDifxAppExtension -ext WixUIExtension.dll -ext WixUtilExtension
"%wix%\bin\light" installer.wixobj "%wix%\bin\difxapp_x64.wixlib" -o MissionPlanner64.msi -ext WiXNetFxExtension -ext WixDifxAppExtension -ext WixUIExtension.dll -ext WixUtilExtension
pause

337
Tools/ArdupilotMegaPlanner/Msi/installer.wxs
View File

@ -2,14 +2,14 @@
<Wix xmlns="http://schemas.microsoft.com/wix/2006/wi" xmlns:netfx="http://schemas.microsoft.com/wix/NetFxExtension" xmlns:difx="http://schemas.microsoft.com/wix/DifxAppExtension">
<Product Id="*" Name="APM Planner" Language="1033" Version="1.1.68" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
<Product Id="*" Name="APM Planner" Language="1033" Version="1.1.72" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
<Package Description="APM Planner Installer" Comments="Apm Planner Installer" Manufacturer="Michael Oborne" InstallerVersion="200" Compressed="yes" />
<Upgrade Id="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
<UpgradeVersion OnlyDetect="yes" Minimum="1.1.68" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
<UpgradeVersion OnlyDetect="no" Maximum="1.1.68" Property="OLDERVERSIONBEINGUPGRADED" IncludeMaximum="no" />
<UpgradeVersion OnlyDetect="yes" Minimum="1.1.72" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
<UpgradeVersion OnlyDetect="no" Maximum="1.1.72" Property="OLDERVERSIONBEINGUPGRADED" IncludeMaximum="no" />
</Upgrade>
<InstallExecuteSequence>
@ -31,7 +31,7 @@
<Permission User="Everyone" GenericAll="yes" />
</CreateFolder>
</Component>
<Component Id="_comp1" Guid="5644ef2a-b056-468e-8dc6-7baa930a46e2">
<Component Id="_comp1" Guid="ec36a99a-567a-401c-9b98-a26b885215b2">
<File Id="_2" Source="..\bin\release\aerosim3.91.txt" />
<File Id="_3" Source="..\bin\release\AeroSimRCAPMHil.zip" />
<File Id="_4" Source="..\bin\release\alglibnet2.dll" />
@ -67,191 +67,190 @@
<File Id="_34" Source="..\bin\release\mavcmd.xml" />
<File Id="_35" Source="..\bin\release\MAVLink.xml" />
<File Id="_36" Source="..\bin\release\MetaDataExtractor.dll" />
<File Id="_37" Source="..\bin\release\Microsoft.DirectX.DirectInput.dll" />
<File Id="_38" Source="..\bin\release\Microsoft.DirectX.dll" />
<File Id="_39" Source="..\bin\release\Microsoft.Dynamic.dll" />
<File Id="_40" Source="..\bin\release\Microsoft.Scripting.Core.dll" />
<File Id="_41" Source="..\bin\release\Microsoft.Scripting.Debugging.dll" />
<File Id="_42" Source="..\bin\release\Microsoft.Scripting.dll" />
<File Id="_43" Source="..\bin\release\Microsoft.Scripting.ExtensionAttribute.dll" />
<File Id="_44" Source="..\bin\release\netDxf.dll" />
<File Id="_45" Source="..\bin\release\OpenTK.dll" />
<File Id="_46" Source="..\bin\release\OpenTK.GLControl.dll" />
<File Id="_47" Source="..\bin\release\quadhil.xml" />
<File Id="_48" Source="..\bin\release\serialsent.raw" />
<File Id="_49" Source="..\bin\release\SharpKml.dll" />
<File Id="_50" Source="..\bin\release\System.Data.SQLite.dll" />
<File Id="_51" Source="..\bin\release\System.Speech.dll" />
<File Id="_52" Source="..\bin\release\Updater.exe" />
<File Id="_53" Source="..\bin\release\Updater.exe.config" />
<File Id="_54" Source="..\bin\release\Updater.pdb" />
<File Id="_55" Source="..\bin\release\version.exe" />
<File Id="_56" Source="..\bin\release\version.txt" />
<File Id="_57" Source="..\bin\release\ZedGraph.dll" />
<File Id="_37" Source="..\bin\release\Microsoft.DirectX.dll" />
<File Id="_38" Source="..\bin\release\Microsoft.Dynamic.dll" />
<File Id="_39" Source="..\bin\release\Microsoft.Scripting.Core.dll" />
<File Id="_40" Source="..\bin\release\Microsoft.Scripting.Debugging.dll" />
<File Id="_41" Source="..\bin\release\Microsoft.Scripting.dll" />
<File Id="_42" Source="..\bin\release\Microsoft.Scripting.ExtensionAttribute.dll" />
<File Id="_43" Source="..\bin\release\netDxf.dll" />
<File Id="_44" Source="..\bin\release\OpenTK.dll" />
<File Id="_45" Source="..\bin\release\OpenTK.GLControl.dll" />
<File Id="_46" Source="..\bin\release\quadhil.xml" />
<File Id="_47" Source="..\bin\release\serialsent.raw" />
<File Id="_48" Source="..\bin\release\SharpKml.dll" />
<File Id="_49" Source="..\bin\release\System.Data.SQLite.dll" />
<File Id="_50" Source="..\bin\release\System.Speech.dll" />
<File Id="_51" Source="..\bin\release\Updater.exe" />
<File Id="_52" Source="..\bin\release\Updater.exe.config" />
<File Id="_53" Source="..\bin\release\Updater.pdb" />
<File Id="_54" Source="..\bin\release\version.exe" />
<File Id="_55" Source="..\bin\release\version.txt" />
<File Id="_56" Source="..\bin\release\ZedGraph.dll" />
</Component>
<Directory Id="aircraft57" Name="aircraft">
<Component Id="_comp58" Guid="7212c708-1909-4002-ba49-4f1081e32162">
<File Id="_59" Source="..\bin\release\aircraft\placeholder.txt" />
<Directory Id="aircraft56" Name="aircraft">
<Component Id="_comp57" Guid="ad402273-0ee6-4774-9d32-c6851f397edd">
<File Id="_58" Source="..\bin\release\aircraft\placeholder.txt" />
</Component>
<Directory Id="arducopter59" Name="arducopter">
<Component Id="_comp60" Guid="5f433433-26df-44a9-b9c9-89aa3397030d">
<File Id="_61" Source="..\bin\release\aircraft\arducopter\arducopter-set.xml" />
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<File Id="_64" Source="..\bin\release\aircraft\arducopter\initfile.xml" />
<File Id="_65" Source="..\bin\release\aircraft\arducopter\plus_quad2-set.xml" />
<File Id="_66" Source="..\bin\release\aircraft\arducopter\plus_quad2.xml" />
<File Id="_67" Source="..\bin\release\aircraft\arducopter\quad.nas" />
<File Id="_68" Source="..\bin\release\aircraft\arducopter\README" />
<Directory Id="arducopter58" Name="arducopter">
<Component Id="_comp59" Guid="dba0cbb2-b6e5-446a-a279-5c5215cb9415">
<File Id="_60" Source="..\bin\release\aircraft\arducopter\arducopter-set.xml" />
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<File Id="_63" Source="..\bin\release\aircraft\arducopter\initfile.xml" />
<File Id="_64" Source="..\bin\release\aircraft\arducopter\plus_quad2-set.xml" />
<File Id="_65" Source="..\bin\release\aircraft\arducopter\plus_quad2.xml" />
<File Id="_66" Source="..\bin\release\aircraft\arducopter\quad.nas" />
<File Id="_67" Source="..\bin\release\aircraft\arducopter\README" />
</Component>
<Directory Id="data68" Name="data">
<Component Id="_comp69" Guid="26f173bd-765b-43ba-8d28-2617728dfb2c">
<File Id="_70" Source="..\bin\release\aircraft\arducopter\data\arducopter_half_step.txt" />
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<File Id="_72" Source="..\bin\release\aircraft\arducopter\data\rw_generic_pylon.ac" />
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<Component Id="_comp68" Guid="4ad7018b-700d-4c21-a0df-830691c9e9f1">
<File Id="_69" Source="..\bin\release\aircraft\arducopter\data\arducopter_half_step.txt" />
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<File Id="_71" Source="..\bin\release\aircraft\arducopter\data\rw_generic_pylon.ac" />
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<Directory Id="Engines72" Name="Engines">
<Component Id="_comp73" Guid="a0806084-173b-4ff2-969e-4ce5903d0d5f">
<File Id="_74" Source="..\bin\release\aircraft\arducopter\Engines\a2830-12.xml" />
<File Id="_75" Source="..\bin\release\aircraft\arducopter\Engines\prop10x4.5.xml" />
<Directory Id="Engines71" Name="Engines">
<Component Id="_comp72" Guid="42d52dcf-ca6b-4d34-ba01-2d10198462f7">
<File Id="_73" Source="..\bin\release\aircraft\arducopter\Engines\a2830-12.xml" />
<File Id="_74" Source="..\bin\release\aircraft\arducopter\Engines\prop10x4.5.xml" />
</Component>
</Directory>
<Directory Id="Models75" Name="Models">
<Component Id="_comp76" Guid="1d1b8579-fe0d-49a5-b3b5-028fc65f3151">
<File Id="_77" Source="..\bin\release\aircraft\arducopter\Models\arducopter.ac" />
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<File Id="_81" Source="..\bin\release\aircraft\arducopter\Models\plus_quad2.xml" />
<File Id="_82" Source="..\bin\release\aircraft\arducopter\Models\quad.3ds" />
<File Id="_83" Source="..\bin\release\aircraft\arducopter\Models\shareware_output.3ds" />
<File Id="_84" Source="..\bin\release\aircraft\arducopter\Models\Untitled.ac" />
<File Id="_85" Source="..\bin\release\aircraft\arducopter\Models\Y6_test.ac" />
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<File Id="_76" Source="..\bin\release\aircraft\arducopter\Models\arducopter.ac" />
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<File Id="_84" Source="..\bin\release\aircraft\arducopter\Models\Y6_test.ac" />
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<Component Id="_comp86" Guid="5dfbf7cf-8aa2-4837-88f0-c036f532d722">
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</Directory>
<Directory Id="Systems118" Name="Systems">
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<File Id="_123" Source="..\bin\release\aircraft\Rascal\Systems\airdata.nas.new" />
<File Id="_124" Source="..\bin\release\aircraft\Rascal\Systems\electrical.xml" />
<File Id="_125" Source="..\bin\release\aircraft\Rascal\Systems\electrical.xml.new" />
<File Id="_126" Source="..\bin\release\aircraft\Rascal\Systems\main.nas" />
<File Id="_127" Source="..\bin\release\aircraft\Rascal\Systems\main.nas.new" />
<File Id="_128" Source="..\bin\release\aircraft\Rascal\Systems\ugear.nas" />
<Directory Id="Systems117" Name="Systems">
<Component Id="_comp118" Guid="07ca2fcc-1f36-4a90-867e-9a5b2effbbd6">
<File Id="_119" Source="..\bin\release\aircraft\Rascal\Systems\110-autopilot.xml" />
<File Id="_120" Source="..\bin\release\aircraft\Rascal\Systems\110-autopilot.xml.new" />
<File Id="_121" Source="..\bin\release\aircraft\Rascal\Systems\airdata.nas" />
<File Id="_122" Source="..\bin\release\aircraft\Rascal\Systems\airdata.nas.new" />
<File Id="_123" Source="..\bin\release\aircraft\Rascal\Systems\electrical.xml" />
<File Id="_124" Source="..\bin\release\aircraft\Rascal\Systems\electrical.xml.new" />
<File Id="_125" Source="..\bin\release\aircraft\Rascal\Systems\main.nas" />
<File Id="_126" Source="..\bin\release\aircraft\Rascal\Systems\main.nas.new" />
<File Id="_127" Source="..\bin\release\aircraft\Rascal\Systems\ugear.nas" />
</Component>
</Directory>
</Directory>
</Directory>
<Directory Id="Driver128" Name="Driver">
<Component Id="_comp129" Guid="515e59db-299e-4863-a730-ffd0ef02483b">
<File Id="_130" Source="..\bin\release\Driver\Arduino MEGA 2560.inf" />
<File Id="_131" Source="..\bin\release\Driver\Arduino MEGA 2560.inf.new" />
<Directory Id="Driver127" Name="Driver">
<Component Id="_comp128" Guid="5797f8f3-d966-4875-a5f7-c75bcaf7254e">
<File Id="_129" Source="..\bin\release\Driver\Arduino MEGA 2560.inf" />
<File Id="_130" Source="..\bin\release\Driver\Arduino MEGA 2560.inf.new" />
</Component>
</Directory>
<Directory Id="es_ES131" Name="es-ES">
<Component Id="_comp132" Guid="04d19c2c-1174-462d-855e-454f99b4dd33">
<File Id="_133" Source="..\bin\release\es-ES\ArdupilotMegaPlanner.resources.dll" />
<Directory Id="es_ES130" Name="es-ES">
<Component Id="_comp131" Guid="d96f8317-0a0a-402d-9450-52ed96582ba9">
<File Id="_132" Source="..\bin\release\es-ES\ArdupilotMegaPlanner.resources.dll" />
</Component>
</Directory>
<Directory Id="fr133" Name="fr">
<Component Id="_comp134" Guid="c7e73622-81d5-4c92-903e-b71c8d69f7d2">
<File Id="_135" Source="..\bin\release\fr\ArdupilotMegaPlanner.resources.dll" />
<Directory Id="fr132" Name="fr">
<Component Id="_comp133" Guid="27919138-6492-4f44-a50e-1482c0c4846c">
<File Id="_134" Source="..\bin\release\fr\ArdupilotMegaPlanner.resources.dll" />
</Component>
</Directory>
<Directory Id="it_IT135" Name="it-IT">
<Component Id="_comp136" Guid="64d73ea4-50e4-4379-8915-50d314fc680c">
<File Id="_137" Source="..\bin\release\it-IT\ArdupilotMegaPlanner.resources.dll" />
<Directory Id="it_IT134" Name="it-IT">
<Component Id="_comp135" Guid="f494900f-d167-416d-9e2e-25392641f148">
<File Id="_136" Source="..\bin\release\it-IT\ArdupilotMegaPlanner.resources.dll" />
</Component>
</Directory>
<Directory Id="jsbsim137" Name="jsbsim">
<Component Id="_comp138" Guid="6584d317-3e83-4525-a2d8-48361fd6cced">
<File Id="_139" Source="..\bin\release\jsbsim\fgout.xml" />
<File Id="_140" Source="..\bin\release\jsbsim\rascal_test.xml" />
<Directory Id="jsbsim136" Name="jsbsim">
<Component Id="_comp137" Guid="28d5005d-14cd-472f-a68d-a5e175ca1433">
<File Id="_138" Source="..\bin\release\jsbsim\fgout.xml" />
<File Id="_139" Source="..\bin\release\jsbsim\rascal_test.xml" />
</Component>
</Directory>
<Directory Id="m3u140" Name="m3u">
<Component Id="_comp141" Guid="e067cb13-59c1-44c2-b632-1c73d3da5dda">
<File Id="_142" Source="..\bin\release\m3u\both.m3u" />
<File Id="_143" Source="..\bin\release\m3u\GeoRefnetworklink.kml" />
<File Id="_144" Source="..\bin\release\m3u\hud.m3u" />
<File Id="_145" Source="..\bin\release\m3u\map.m3u" />
<File Id="_146" Source="..\bin\release\m3u\networklink.kml" />
<Directory Id="m3u139" Name="m3u">
<Component Id="_comp140" Guid="84cd93b9-cc19-4436-8617-6462de04ee92">
<File Id="_141" Source="..\bin\release\m3u\both.m3u" />
<File Id="_142" Source="..\bin\release\m3u\GeoRefnetworklink.kml" />
<File Id="_143" Source="..\bin\release\m3u\hud.m3u" />
<File Id="_144" Source="..\bin\release\m3u\map.m3u" />
<File Id="_145" Source="..\bin\release\m3u\networklink.kml" />
</Component>
</Directory>
<Directory Id="pl146" Name="pl">
<Component Id="_comp147" Guid="c9dc4142-0fe8-4804-9cc1-97b669c6bb70">
<File Id="_148" Source="..\bin\release\pl\ArdupilotMegaPlanner.resources.dll" />
<Directory Id="pl145" Name="pl">
<Component Id="_comp146" Guid="bb8d116b-93d2-42a2-b792-97d4f0ba7916">
<File Id="_147" Source="..\bin\release\pl\ArdupilotMegaPlanner.resources.dll" />
</Component>
</Directory>
<Directory Id="Resources148" Name="Resources">
<Component Id="_comp149" Guid="ed3e0985-9010-4930-b36e-9be84fcbe408">
<File Id="_150" Source="..\bin\release\Resources\MAVCmd.txt" />
<File Id="_151" Source="..\bin\release\Resources\MAVCmd.txt.new" />
<File Id="_152" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf" />
<File Id="_153" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf.new" />
<Directory Id="Resources147" Name="Resources">
<Component Id="_comp148" Guid="7ea8725a-12b4-4420-8993-a572ba8a5125">
<File Id="_149" Source="..\bin\release\Resources\MAVCmd.txt" />
<File Id="_150" Source="..\bin\release\Resources\MAVCmd.txt.new" />
<File Id="_151" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf" />
<File Id="_152" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf.new" />
</Component>
</Directory>
<Directory Id="ru_RU153" Name="ru-RU">
<Component Id="_comp154" Guid="2e0e6d6d-370a-4c2c-9331-e941060675bc">
<File Id="_155" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner.resources.dll" />
<Directory Id="ru_RU152" Name="ru-RU">
<Component Id="_comp153" Guid="6960bab7-cc6b-4eaf-9ebb-2f26af194dbf">
<File Id="_154" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner.resources.dll" />
</Component>
</Directory>
<Directory Id="zh_Hans155" Name="zh-Hans">
<Component Id="_comp156" Guid="381a4296-5113-4d10-880a-bd6bb6dbfe20">
<File Id="_157" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner.resources.dll" />
<Directory Id="zh_Hans154" Name="zh-Hans">
<Component Id="_comp155" Guid="bb5d655e-55ef-4d92-9e9c-6595387e27c9">
<File Id="_156" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner.resources.dll" />
</Component>
</Directory>
<Directory Id="zh_TW157" Name="zh-TW">
<Component Id="_comp158" Guid="c49d6f3f-8616-483e-9cf7-e6685b9fc785">
<File Id="_159" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner.resources.dll" />
<Directory Id="zh_TW156" Name="zh-TW">
<Component Id="_comp157" Guid="509bcc10-ad13-46dc-917e-2086fe5bac44">
<File Id="_158" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner.resources.dll" />
</Component>
</Directory>
@ -293,27 +292,27 @@
<ComponentRef Id="InstallDirPermissions" />
<ComponentRef Id="_comp1" />
<ComponentRef Id="_comp58" />
<ComponentRef Id="_comp60" />
<ComponentRef Id="_comp69" />
<ComponentRef Id="_comp73" />
<ComponentRef Id="_comp76" />
<ComponentRef Id="_comp86" />
<ComponentRef Id="_comp96" />
<ComponentRef Id="_comp99" />
<ComponentRef Id="_comp104" />
<ComponentRef Id="_comp119" />
<ComponentRef Id="_comp129" />
<ComponentRef Id="_comp132" />
<ComponentRef Id="_comp134" />
<ComponentRef Id="_comp136" />
<ComponentRef Id="_comp138" />
<ComponentRef Id="_comp141" />
<ComponentRef Id="_comp147" />
<ComponentRef Id="_comp149" />
<ComponentRef Id="_comp154" />
<ComponentRef Id="_comp156" />
<ComponentRef Id="_comp158" />
<ComponentRef Id="_comp57" />
<ComponentRef Id="_comp59" />
<ComponentRef Id="_comp68" />
<ComponentRef Id="_comp72" />
<ComponentRef Id="_comp75" />
<ComponentRef Id="_comp85" />
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<ComponentRef Id="_comp98" />
<ComponentRef Id="_comp103" />
<ComponentRef Id="_comp118" />
<ComponentRef Id="_comp128" />
<ComponentRef Id="_comp131" />
<ComponentRef Id="_comp133" />
<ComponentRef Id="_comp135" />
<ComponentRef Id="_comp137" />
<ComponentRef Id="_comp140" />
<ComponentRef Id="_comp146" />
<ComponentRef Id="_comp148" />
<ComponentRef Id="_comp153" />
<ComponentRef Id="_comp155" />
<ComponentRef Id="_comp157" />
<ComponentRef Id="ApplicationShortcut" />

BIN
Tools/ArdupilotMegaPlanner/Msi/wix.pdb
View File

Binary file not shown.

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

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.1.*")]
[assembly: AssemblyFileVersion("1.1.71")]
[assembly: AssemblyFileVersion("1.1.73")]
[assembly: NeutralResourcesLanguageAttribute("")]

391
Tools/ArdupilotMegaPlanner/Radio/3DRradio.Designer.cs generated
View File

@ -56,6 +56,16 @@
this.RS2 = new System.Windows.Forms.ComboBox();
this.RS1 = new System.Windows.Forms.ComboBox();
this.RSSI = new System.Windows.Forms.TextBox();
this.S10 = new System.Windows.Forms.ComboBox();
this.S11 = new System.Windows.Forms.ComboBox();
this.S12 = new System.Windows.Forms.ComboBox();
this.RS12 = new System.Windows.Forms.ComboBox();
this.RS11 = new System.Windows.Forms.ComboBox();
this.RS10 = new System.Windows.Forms.ComboBox();
this.S9 = new System.Windows.Forms.ComboBox();
this.S8 = new System.Windows.Forms.ComboBox();
this.RS8 = new System.Windows.Forms.ComboBox();
this.RS9 = new System.Windows.Forms.ComboBox();
this.RS0 = new System.Windows.Forms.TextBox();
this.label9 = new System.Windows.Forms.Label();
this.label10 = new System.Windows.Forms.Label();
@ -70,6 +80,27 @@
this.BUT_syncS2 = new ArdupilotMega.MyButton();
this.BUT_syncS3 = new ArdupilotMega.MyButton();
this.BUT_syncS5 = new ArdupilotMega.MyButton();
this.label13 = new System.Windows.Forms.Label();
this.label14 = new System.Windows.Forms.Label();
this.label15 = new System.Windows.Forms.Label();
this.label16 = new System.Windows.Forms.Label();
this.label17 = new System.Windows.Forms.Label();
this.label20 = new System.Windows.Forms.Label();
this.label21 = new System.Windows.Forms.Label();
this.label22 = new System.Windows.Forms.Label();
this.label23 = new System.Windows.Forms.Label();
this.label24 = new System.Windows.Forms.Label();
this.label25 = new System.Windows.Forms.Label();
this.label26 = new System.Windows.Forms.Label();
this.label27 = new System.Windows.Forms.Label();
this.label28 = new System.Windows.Forms.Label();
this.label29 = new System.Windows.Forms.Label();
this.label30 = new System.Windows.Forms.Label();
this.label31 = new System.Windows.Forms.Label();
this.label32 = new System.Windows.Forms.Label();
this.BUT_syncS8 = new ArdupilotMega.MyButton();
this.BUT_syncS9 = new ArdupilotMega.MyButton();
this.BUT_syncS10 = new ArdupilotMega.MyButton();
this.SuspendLayout();
//
// Progressbar
@ -263,6 +294,7 @@
//
// RS4
//
resources.ApplyResources(this.RS4, "RS4");
this.RS4.FormattingEnabled = true;
this.RS4.Items.AddRange(new object[] {
resources.GetString("RS4.Items"),
@ -286,12 +318,12 @@
resources.GetString("RS4.Items18"),
resources.GetString("RS4.Items19"),
resources.GetString("RS4.Items20")});
resources.ApplyResources(this.RS4, "RS4");
this.RS4.Name = "RS4";
this.toolTip1.SetToolTip(this.RS4, resources.GetString("RS4.ToolTip"));
//
// RS3
//
resources.ApplyResources(this.RS3, "RS3");
this.RS3.FormattingEnabled = true;
this.RS3.Items.AddRange(new object[] {
resources.GetString("RS3.Items"),
@ -324,12 +356,12 @@
resources.GetString("RS3.Items27"),
resources.GetString("RS3.Items28"),
resources.GetString("RS3.Items29")});
resources.ApplyResources(this.RS3, "RS3");
this.RS3.Name = "RS3";
this.toolTip1.SetToolTip(this.RS3, resources.GetString("RS3.ToolTip"));
//
// RS2
//
resources.ApplyResources(this.RS2, "RS2");
this.RS2.FormattingEnabled = true;
this.RS2.Items.AddRange(new object[] {
resources.GetString("RS2.Items"),
@ -342,12 +374,12 @@
resources.GetString("RS2.Items7"),
resources.GetString("RS2.Items8"),
resources.GetString("RS2.Items9")});
resources.ApplyResources(this.RS2, "RS2");
this.RS2.Name = "RS2";
this.toolTip1.SetToolTip(this.RS2, resources.GetString("RS2.ToolTip"));
//
// RS1
//
resources.ApplyResources(this.RS1, "RS1");
this.RS1.FormattingEnabled = true;
this.RS1.Items.AddRange(new object[] {
resources.GetString("RS1.Items"),
@ -359,7 +391,6 @@
resources.GetString("RS1.Items6"),
resources.GetString("RS1.Items7"),
resources.GetString("RS1.Items8")});
resources.ApplyResources(this.RS1, "RS1");
this.RS1.Name = "RS1";
this.toolTip1.SetToolTip(this.RS1, resources.GetString("RS1.ToolTip"));
//
@ -370,6 +401,183 @@
this.RSSI.ReadOnly = true;
this.toolTip1.SetToolTip(this.RSSI, resources.GetString("RSSI.ToolTip"));
//
// S10
//
this.S10.FormattingEnabled = true;
this.S10.Items.AddRange(new object[] {
resources.GetString("S10.Items"),
resources.GetString("S10.Items1"),
resources.GetString("S10.Items2"),
resources.GetString("S10.Items3"),
resources.GetString("S10.Items4"),
resources.GetString("S10.Items5"),
resources.GetString("S10.Items6"),
resources.GetString("S10.Items7"),
resources.GetString("S10.Items8"),
resources.GetString("S10.Items9"),
resources.GetString("S10.Items10"),
resources.GetString("S10.Items11"),
resources.GetString("S10.Items12"),
resources.GetString("S10.Items13"),
resources.GetString("S10.Items14"),
resources.GetString("S10.Items15"),
resources.GetString("S10.Items16"),
resources.GetString("S10.Items17"),
resources.GetString("S10.Items18")});
resources.ApplyResources(this.S10, "S10");
this.S10.Name = "S10";
this.toolTip1.SetToolTip(this.S10, resources.GetString("S10.ToolTip"));
//
// S11
//
this.S11.FormattingEnabled = true;
this.S11.Items.AddRange(new object[] {
resources.GetString("S11.Items"),
resources.GetString("S11.Items1"),
resources.GetString("S11.Items2"),
resources.GetString("S11.Items3"),
resources.GetString("S11.Items4"),
resources.GetString("S11.Items5"),
resources.GetString("S11.Items6"),
resources.GetString("S11.Items7"),
resources.GetString("S11.Items8"),
resources.GetString("S11.Items9")});
resources.ApplyResources(this.S11, "S11");
this.S11.Name = "S11";
this.toolTip1.SetToolTip(this.S11, resources.GetString("S11.ToolTip"));
//
// S12
//
this.S12.FormattingEnabled = true;
this.S12.Items.AddRange(new object[] {
resources.GetString("S12.Items"),
resources.GetString("S12.Items1")});
resources.ApplyResources(this.S12, "S12");
this.S12.Name = "S12";
this.toolTip1.SetToolTip(this.S12, resources.GetString("S12.ToolTip"));
//
// RS12
//
resources.ApplyResources(this.RS12, "RS12");
this.RS12.FormattingEnabled = true;
this.RS12.Items.AddRange(new object[] {
resources.GetString("RS12.Items"),
resources.GetString("RS12.Items1")});
this.RS12.Name = "RS12";
this.toolTip1.SetToolTip(this.RS12, resources.GetString("RS12.ToolTip"));
//
// RS11
//
resources.ApplyResources(this.RS11, "RS11");
this.RS11.FormattingEnabled = true;
this.RS11.Items.AddRange(new object[] {
resources.GetString("RS11.Items"),
resources.GetString("RS11.Items1"),
resources.GetString("RS11.Items2"),
resources.GetString("RS11.Items3"),
resources.GetString("RS11.Items4"),
resources.GetString("RS11.Items5"),
resources.GetString("RS11.Items6"),
resources.GetString("RS11.Items7"),
resources.GetString("RS11.Items8"),
resources.GetString("RS11.Items9")});
this.RS11.Name = "RS11";
this.toolTip1.SetToolTip(this.RS11, resources.GetString("RS11.ToolTip"));
//
// RS10
//
resources.ApplyResources(this.RS10, "RS10");
this.RS10.FormattingEnabled = true;
this.RS10.Items.AddRange(new object[] {
resources.GetString("RS10.Items"),
resources.GetString("RS10.Items1"),
resources.GetString("RS10.Items2"),
resources.GetString("RS10.Items3"),
resources.GetString("RS10.Items4"),
resources.GetString("RS10.Items5"),
resources.GetString("RS10.Items6"),
resources.GetString("RS10.Items7"),
resources.GetString("RS10.Items8"),
resources.GetString("RS10.Items9"),
resources.GetString("RS10.Items10"),
resources.GetString("RS10.Items11"),
resources.GetString("RS10.Items12"),
resources.GetString("RS10.Items13"),
resources.GetString("RS10.Items14"),
resources.GetString("RS10.Items15"),
resources.GetString("RS10.Items16"),
resources.GetString("RS10.Items17"),
resources.GetString("RS10.Items18")});
this.RS10.Name = "RS10";
this.toolTip1.SetToolTip(this.RS10, resources.GetString("RS10.ToolTip"));
//
// S9
//
this.S9.FormattingEnabled = true;
this.S9.Items.AddRange(new object[] {
resources.GetString("S9.Items"),
resources.GetString("S9.Items1"),
resources.GetString("S9.Items2"),
resources.GetString("S9.Items3"),
resources.GetString("S9.Items4"),
resources.GetString("S9.Items5"),
resources.GetString("S9.Items6"),
resources.GetString("S9.Items7"),
resources.GetString("S9.Items8")});
resources.ApplyResources(this.S9, "S9");
this.S9.Name = "S9";
//
// S8
//
this.S8.FormattingEnabled = true;
this.S8.Items.AddRange(new object[] {
resources.GetString("S8.Items"),
resources.GetString("S8.Items1"),
resources.GetString("S8.Items2"),
resources.GetString("S8.Items3"),
resources.GetString("S8.Items4"),
resources.GetString("S8.Items5"),
resources.GetString("S8.Items6"),
resources.GetString("S8.Items7"),
resources.GetString("S8.Items8"),
resources.GetString("S8.Items9"),
resources.GetString("S8.Items10"),
resources.GetString("S8.Items11")});
resources.ApplyResources(this.S8, "S8");
this.S8.Name = "S8";
//
// RS8
//
resources.ApplyResources(this.RS8, "RS8");
this.RS8.FormattingEnabled = true;
this.RS8.Items.AddRange(new object[] {
resources.GetString("RS8.Items"),
resources.GetString("RS8.Items1"),
resources.GetString("RS8.Items2"),
resources.GetString("RS8.Items3"),
resources.GetString("RS8.Items4"),
resources.GetString("RS8.Items5"),
resources.GetString("RS8.Items6"),
resources.GetString("RS8.Items7"),
resources.GetString("RS8.Items8")});
this.RS8.Name = "RS8";
//
// RS9
//
resources.ApplyResources(this.RS9, "RS9");
this.RS9.FormattingEnabled = true;
this.RS9.Items.AddRange(new object[] {
resources.GetString("RS9.Items"),
resources.GetString("RS9.Items1"),
resources.GetString("RS9.Items2"),
resources.GetString("RS9.Items3"),
resources.GetString("RS9.Items4"),
resources.GetString("RS9.Items5"),
resources.GetString("RS9.Items6"),
resources.GetString("RS9.Items7"),
resources.GetString("RS9.Items8")});
this.RS9.Name = "RS9";
//
// RS0
//
resources.ApplyResources(this.RS0, "RS0");
@ -456,10 +664,152 @@
this.BUT_syncS5.UseVisualStyleBackColor = true;
this.BUT_syncS5.Click += new System.EventHandler(this.BUT_syncS5_Click);
//
// label13
//
resources.ApplyResources(this.label13, "label13");
this.label13.Name = "label13";
//
// label14
//
resources.ApplyResources(this.label14, "label14");
this.label14.Name = "label14";
//
// label15
//
resources.ApplyResources(this.label15, "label15");
this.label15.Name = "label15";
//
// label16
//
resources.ApplyResources(this.label16, "label16");
this.label16.Name = "label16";
//
// label17
//
resources.ApplyResources(this.label17, "label17");
this.label17.Name = "label17";
//
// label20
//
resources.ApplyResources(this.label20, "label20");
this.label20.Name = "label20";
//
// label21
//
resources.ApplyResources(this.label21, "label21");
this.label21.Name = "label21";
//
// label22
//
resources.ApplyResources(this.label22, "label22");
this.label22.Name = "label22";
//
// label23
//
resources.ApplyResources(this.label23, "label23");
this.label23.Name = "label23";
//
// label24
//
resources.ApplyResources(this.label24, "label24");
this.label24.Name = "label24";
//
// label25
//
resources.ApplyResources(this.label25, "label25");
this.label25.Name = "label25";
//
// label26
//
resources.ApplyResources(this.label26, "label26");
this.label26.Name = "label26";
//
// label27
//
resources.ApplyResources(this.label27, "label27");
this.label27.Name = "label27";
//
// label28
//
resources.ApplyResources(this.label28, "label28");
this.label28.Name = "label28";
//
// label29
//
resources.ApplyResources(this.label29, "label29");
this.label29.Name = "label29";
//
// label30
//
resources.ApplyResources(this.label30, "label30");
this.label30.Name = "label30";
//
// label31
//
resources.ApplyResources(this.label31, "label31");
this.label31.Name = "label31";
//
// label32
//
resources.ApplyResources(this.label32, "label32");
this.label32.Name = "label32";
//
// BUT_syncS8
//
resources.ApplyResources(this.BUT_syncS8, "BUT_syncS8");
this.BUT_syncS8.Name = "BUT_syncS8";
this.BUT_syncS8.UseVisualStyleBackColor = true;
this.BUT_syncS8.Click += new System.EventHandler(this.BUT_syncS8_Click);
//
// BUT_syncS9
//
resources.ApplyResources(this.BUT_syncS9, "BUT_syncS9");
this.BUT_syncS9.Name = "BUT_syncS9";
this.BUT_syncS9.UseVisualStyleBackColor = true;
this.BUT_syncS9.Click += new System.EventHandler(this.BUT_syncS9_Click);
//
// BUT_syncS10
//
resources.ApplyResources(this.BUT_syncS10, "BUT_syncS10");
this.BUT_syncS10.Name = "BUT_syncS10";
this.BUT_syncS10.UseVisualStyleBackColor = true;
this.BUT_syncS10.Click += new System.EventHandler(this.BUT_syncS10_Click);
//
// _3DRradio
//
resources.ApplyResources(this, "$this");
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.Controls.Add(this.BUT_syncS10);
this.Controls.Add(this.BUT_syncS9);
this.Controls.Add(this.BUT_syncS8);
this.Controls.Add(this.label25);
this.Controls.Add(this.label26);
this.Controls.Add(this.label27);
this.Controls.Add(this.label28);
this.Controls.Add(this.label29);
this.Controls.Add(this.label30);
this.Controls.Add(this.label31);
this.Controls.Add(this.label32);
this.Controls.Add(this.label20);
this.Controls.Add(this.label21);
this.Controls.Add(this.label22);
this.Controls.Add(this.label23);
this.Controls.Add(this.label24);
this.Controls.Add(this.RS8);
this.Controls.Add(this.RS12);
this.Controls.Add(this.RS11);
this.Controls.Add(this.RS10);
this.Controls.Add(this.RS9);
this.Controls.Add(this.label17);
this.Controls.Add(this.label16);
this.Controls.Add(this.label15);
this.Controls.Add(this.label14);
this.Controls.Add(this.label13);
this.Controls.Add(this.S8);
this.Controls.Add(this.S12);
this.Controls.Add(this.S11);
this.Controls.Add(this.S10);
this.Controls.Add(this.S9);
this.Controls.Add(this.BUT_syncS5);
this.Controls.Add(this.BUT_syncS3);
this.Controls.Add(this.BUT_syncS2);
@ -499,7 +849,7 @@
this.Controls.Add(this.lbl_status);
this.Controls.Add(this.Progressbar);
this.Controls.Add(this.BUT_upload);
this.MinimumSize = new System.Drawing.Size(334, 482);
this.MinimumSize = new System.Drawing.Size(781, 433);
this.Name = "_3DRradio";
this.ResumeLayout(false);
this.PerformLayout();
@ -548,5 +898,36 @@
private MyButton BUT_syncS2;
private MyButton BUT_syncS3;
private MyButton BUT_syncS5;
private System.Windows.Forms.ComboBox S9;
private System.Windows.Forms.ComboBox S10;
private System.Windows.Forms.ComboBox S11;
private System.Windows.Forms.ComboBox S12;
private System.Windows.Forms.ComboBox S8;
private System.Windows.Forms.Label label13;
private System.Windows.Forms.Label label14;
private System.Windows.Forms.Label label15;
private System.Windows.Forms.Label label16;
private System.Windows.Forms.Label label17;
private System.Windows.Forms.Label label20;
private System.Windows.Forms.Label label21;
private System.Windows.Forms.Label label22;
private System.Windows.Forms.Label label23;
private System.Windows.Forms.Label label24;
private System.Windows.Forms.ComboBox RS8;
private System.Windows.Forms.ComboBox RS12;
private System.Windows.Forms.ComboBox RS11;
private System.Windows.Forms.ComboBox RS10;
private System.Windows.Forms.ComboBox RS9;
private System.Windows.Forms.Label label25;
private System.Windows.Forms.Label label26;
private System.Windows.Forms.Label label27;
private System.Windows.Forms.Label label28;
private System.Windows.Forms.Label label29;
private System.Windows.Forms.Label label30;
private System.Windows.Forms.Label label31;
private System.Windows.Forms.Label label32;
private MyButton BUT_syncS8;
private MyButton BUT_syncS9;
private MyButton BUT_syncS10;
}
}

58
Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs
View File

@ -14,6 +14,37 @@ namespace ArdupilotMega
{
public partial class _3DRradio : BackStageViewContentPanel
{
/*
responce 0 S0: FORMAT=25
S1: SERIAL_SPEED=57
S2: AIR_SPEED=64
S3: NETID=25
S4: TXPOWER=20
S5: ECC=1
S6: MAVLINK=1
S7: OPPRESEND=1
S8: MIN_FREQ=915000
S9: MAX_FREQ=928000
S10: NUM_CHANNELS=50
S11: DUTY_CYCLE=100
S12: LBT_RSSI=0
S13: MANCHESTER=0
*/
public delegate void LogEventHandler(string message, int level = 0);
public delegate void ProgressEventHandler(double completed);
@ -65,8 +96,7 @@ namespace ArdupilotMega
bool bootloadermode = false;
uploader.ProgressEvent += new ProgressEventHandler(uploader_ProgressEvent);
uploader.LogEvent += new LogEventHandler(uploader_LogEvent);
try
{
@ -74,6 +104,10 @@ namespace ArdupilotMega
uploader_LogEvent("Trying Bootloader Mode");
uploader.port = comPort;
uploader.connect_and_sync();
uploader.ProgressEvent += new ProgressEventHandler(uploader_ProgressEvent);
uploader.LogEvent += new LogEventHandler(uploader_LogEvent);
uploader_LogEvent("In Bootloader Mode");
bootloadermode = true;
}
@ -82,12 +116,15 @@ namespace ArdupilotMega
comPort.Close();
comPort.BaudRate = MainV2.comPort.BaseStream.BaudRate;
comPort.Open();
uploader.ProgressEvent += new ProgressEventHandler(uploader_ProgressEvent);
uploader.LogEvent += new LogEventHandler(uploader_LogEvent);
uploader_LogEvent("Trying Firmware Mode");
bootloadermode = false;
}
if (bootloadermode || doConnect(comPort))
{
if (getFirmware())
@ -617,5 +654,20 @@ namespace ArdupilotMega
{
RS5.Checked = S5.Checked;
}
private void BUT_syncS8_Click(object sender, EventArgs e)
{
RS8.Text = S8.Text;
}
private void BUT_syncS9_Click(object sender, EventArgs e)
{
RS9.Text = S9.Text;
}
private void BUT_syncS10_Click(object sender, EventArgs e)
{
RS10.Text = S10.Text;
}
}
}

1453
Tools/ArdupilotMegaPlanner/Radio/3DRradio.resx
View File

File diff suppressed because it is too large Load Diff

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

Binary file not shown.

2
Tools/ArdupilotMegaPlanner/bin/Release/version.txt
View File

@ -1 +1 @@
1.1.4493.14496
1.1.4494.38818

1
Tools/GIT_Test/GIT_Success.txt
View File

@ -8,3 +8,4 @@ Test Developer ...
Chris Anderson
Phil Cole after following the instructions explicitly.
Craig Elder was here.

3
libraries/AP_AHRS/AP_AHRS.h
View File

@ -102,6 +102,9 @@ protected:
// the limit of the gyro drift claimed by the sensors, in
// radians/s/s
float _gyro_drift_limit;
// acceleration due to gravity in m/s/s
static const float _gravity = 9.80665;
};
#include <AP_AHRS_DCM.h>

115
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -279,7 +279,6 @@ AP_AHRS_DCM::drift_correction(float deltat)
Vector3f accel;
Vector3f error;
float error_norm = 0;
const float gravity_squared = (9.80665*9.80665);
float yaw_deltat = 0;
accel = _accel_vector;
@ -295,59 +294,43 @@ AP_AHRS_DCM::drift_correction(float deltat)
//*****Roll and Pitch***************
// calculate the z component of the accel vector assuming it
// has a length of 9.8. This discards the z accelerometer
// sensor reading completely. Logs show that the z accel is
// the noisest, plus it has a disproportionate impact on the
// drift correction result because of the geometry when we are
// mostly flat. Dropping it completely seems to make the DCM
// algorithm much more resilient to large amounts of
// accelerometer noise.
float zsquared = gravity_squared - ((accel.x * accel.x) + (accel.y * accel.y));
if (zsquared < 0) {
// normalise the accelerometer vector to a standard length
// this is important to reduce the impact of noise on the
// drift correction, as very noisy vectors tend to have
// abnormally high lengths. By normalising the length we
// reduce their impact.
float accel_length = accel.length();
accel *= (_gravity / accel_length);
if (accel.is_inf()) {
// we can't do anything useful with this sample
_omega_P.zero();
} else {
if (accel.z > 0) {
accel.z = sqrt(zsquared);
} else {
accel.z = -sqrt(zsquared);
}
// calculate the error, in m/2^2, between the attitude
// implied by the accelerometers and the attitude
// in the current DCM matrix
error = _dcm_matrix.c % accel;
// error from the above is in m/s^2 units.
// Limit max error to limit the effect of noisy values
// on the algorithm. This limits the error to about 11
// degrees
error_norm = error.length();
if (error_norm > 2) {
error *= (2 / error_norm);
}
// we now want to calculate _omega_P and _omega_I. The
// _omega_P value is what drags us quickly to the
// accelerometer reading.
_omega_P = error * _kp_roll_pitch;
// the _omega_I is the long term accumulated gyro
// error. This determines how much gyro drift we can
// handle.
Vector3f omega_I_delta = error * (_ki_roll_pitch * deltat);
// limit the slope of omega_I on each axis to
// the maximum drift rate
float drift_limit = _gyro_drift_limit * deltat;
omega_I_delta.x = constrain(omega_I_delta.x, -drift_limit, drift_limit);
omega_I_delta.y = constrain(omega_I_delta.y, -drift_limit, drift_limit);
omega_I_delta.z = constrain(omega_I_delta.z, -drift_limit, drift_limit);
_omega_I += omega_I_delta;
return;
}
// calculate the error, in m/2^2, between the attitude
// implied by the accelerometers and the attitude
// in the current DCM matrix
error = _dcm_matrix.c % accel;
// Limit max error to limit the effect of noisy values
// on the algorithm. This limits the error to about 11
// degrees
error_norm = error.length();
if (error_norm > 2) {
error *= (2 / error_norm);
}
// we now want to calculate _omega_P and _omega_I. The
// _omega_P value is what drags us quickly to the
// accelerometer reading.
_omega_P = error * _kp_roll_pitch;
// the _omega_I is the long term accumulated gyro
// error. This determines how much gyro drift we can
// handle.
_omega_I_sum += error * (_ki_roll_pitch * deltat);
_omega_I_sum_time += deltat;
// these sums support the reporting of the DCM state via MAVLink
_error_rp_sum += error_norm;
_error_rp_count++;
@ -467,17 +450,33 @@ AP_AHRS_DCM::drift_correction(float deltat)
// x/y drift correction is too inaccurate, and can lead to
// incorrect builups in the x/y drift. We rely on the
// accelerometers to get the x/y components right
float omega_Iz_delta = error.z * (_ki_yaw * yaw_deltat);
// limit the slope of omega_I.z to the maximum gyro drift rate
float drift_limit = _gyro_drift_limit * yaw_deltat;
omega_Iz_delta = constrain(omega_Iz_delta, -drift_limit, drift_limit);
_omega_I.z += omega_Iz_delta;
_omega_I_sum.z += error.z * (_ki_yaw * yaw_deltat);
// we keep the sum of yaw error for reporting via MAVLink.
_error_yaw_sum += error_course;
_error_yaw_count++;
if (_omega_I_sum_time > 10) {
// every 10 seconds we apply the accumulated
// _omega_I_sum changes to _omega_I. We do this to
// prevent short term feedback between the P and I
// terms of the controller. The _omega_I vector is
// supposed to refect long term gyro drift, but with
// high noise it can start to build up due to short
// term interactions. By summing it over 10 seconds we
// prevent the short term interactions and can apply
// the slope limit more accurately
float drift_limit = _gyro_drift_limit * _omega_I_sum_time;
_omega_I_sum.x = constrain(_omega_I_sum.x, -drift_limit, drift_limit);
_omega_I_sum.y = constrain(_omega_I_sum.y, -drift_limit, drift_limit);
_omega_I_sum.z = constrain(_omega_I_sum.z, -drift_limit, drift_limit);
_omega_I += _omega_I_sum;
// zero the sum
_omega_I_sum.zero();
_omega_I_sum_time = 0;
}
}

2
libraries/AP_AHRS/AP_AHRS_DCM.h
View File

@ -69,6 +69,8 @@ private:
Vector3f _omega_P; // accel Omega Proportional correction
Vector3f _omega_yaw_P; // yaw Omega Proportional correction
Vector3f _omega_I; // Omega Integrator correction
Vector3f _omega_I_sum; // summation vector for omegaI
float _omega_I_sum_time;
Vector3f _omega_integ_corr; // Partially corrected Gyro_Vector data - used for centrepetal correction
Vector3f _omega; // Corrected Gyro_Vector data

6
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -128,7 +128,11 @@ void AP_MotorsTri::output_armed()
// also send out to tail command (we rely on any auto pilot to have updated the rc_yaw->radio_out to the correct value)
// note we do not save the radio_out to the motor_out array so it may not appear in the ch7out in the status screen of the mission planner
_rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_out);
if( _rc_yaw->get_reverse() == true ) {
_rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_trim - (_rc_yaw->radio_out - _rc_yaw->radio_trim));
}else{
_rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_out);
}
// InstantPWM
if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {

1
libraries/AP_OpticalFlow/AP_OpticalFlow.h
View File

@ -60,5 +60,6 @@ protected:
};
#include "AP_OpticalFlow_ADNS3080.h"
#include "AP_OpticalFlow_ADNS3080_APM2.h"
#endif

11
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
View File

@ -33,6 +33,17 @@
#define AP_SPI_TIMEOUT 1000
// We use Serial Port 2 in SPI Mode
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define AP_SPI_DATAIN 50 // MISO // PB3
#define AP_SPI_DATAOUT 51 // MOSI // PB2
#define AP_SPI_CLOCK 52 // SCK // PB1
#else // normal arduino SPI pins...these need to be checked
#define AP_SPI_DATAIN 12 //MISO
#define AP_SPI_DATAOUT 11 //MOSI
#define AP_SPI_CLOCK 13 //SCK
#endif
union NumericIntType
{
int intValue;

20
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
View File

@ -3,6 +3,10 @@
#include "AP_OpticalFlow.h"
// default pin settings
#define ADNS3080_CHIP_SELECT 34 // PC3
#define ADNS3080_RESET 0 // reset pin is unattached by default
// orientations for ADNS3080 sensor
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD ROTATION_YAW_180
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_RIGHT ROTATION_YAW_135
@ -19,21 +23,6 @@
// scaler - value returned when sensor is moved equivalent of 1 pixel
#define AP_OPTICALFLOW_ADNS3080_SCALER 1.1
// We use Serial Port 2 in SPI Mode
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define AP_SPI_DATAIN 50 // MISO // PB3
#define AP_SPI_DATAOUT 51 // MOSI // PB2
#define AP_SPI_CLOCK 52 // SCK // PB1
#define ADNS3080_CHIP_SELECT 34 // PC3
#define ADNS3080_RESET 0 // reset pin is unattached by default
#else // normal arduino SPI pins...these need to be checked
#define AP_SPI_DATAIN 12 //MISO
#define AP_SPI_DATAOUT 11 //MOSI
#define AP_SPI_CLOCK 13 //SCK
#define ADNS3080_CHIP_SELECT 10 //SS
#define ADNS3080_RESET 9 //RESET
#endif
// ADNS3080 hardware config
#define ADNS3080_PIXELS_X 30
#define ADNS3080_PIXELS_Y 30
@ -85,7 +74,6 @@
#define ADNS3080_FRAME_RATE_MAX 6469
#define ADNS3080_FRAME_RATE_MIN 2000
class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
{
private:

536
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080_APM2.cpp Normal file
View File

@ -0,0 +1,536 @@
/*
AP_OpticalFlow_ADNS3080.cpp - ADNS3080 OpticalFlow Library for Ardupilot Mega
Code by Randy Mackay. DIYDrones.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
External ADNS3080 OpticalFlow is connected via Serial port 2 (in SPI mode)
TXD2 = MOSI = pin PH1
RXD2 = MISO = pin PH0
XCK2 = SCK = pin PH2
Chip Select pin is PC4 (33) [PH6 (9)]
We are using the 16 clocks per conversion timming to increase efficiency (fast)
The sampling frequency is 400Hz (Timer2 overflow interrupt)
So if our loop is at 50Hz, our needed sampling freq should be 100Hz, so
we have an 4x oversampling and averaging.
Methods:
Init() : Initialization of interrupts an Timers (Timer2 overflow interrupt)
Read() : Read latest values from OpticalFlow and store to x,y, surface_quality parameters
*/
#include "AP_OpticalFlow_ADNS3080.h"
#include "SPI.h"
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#define AP_SPI_TIMEOUT 1000
// We use Serial Port 2 in SPI Mode
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define AP_SPI_DATAIN 15 // MISO
#define AP_SPI_DATAOUT 14 // MOSI
#define AP_SPI_CLOCK PJ2 // SCK
#else // normal arduino SPI pins...these need to be checked
# error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
#endif
// mask for saving bit order and data mode to avoid interference with other users of the bus
#define UCSR3C_MASK 0x07
// SPI3 setting for UCSR3C
#define SPI3_MODE_SPI 0xC0 // UMSEL31 = 1, UMSEL30 = 1
// settings for phase and polarity bits of UCSR3C
#define SPI3_MODE_MASK 0x03
#define SPI3_MODE0 0x00
#define SPI3_MODE1 0x01
#define SPI3_MODE2 0x02
#define SPI3_MODE3 0x03
#define SPI3_MODE SPI3_MODE3
// settings for phase and polarity bits of UCSR3C
#define SPI3_ORDER_MASK 0x04
#define SPI3_MSBFIRST 0x00
#define SPI3_LSBFIRST 0x04
#define SPI3_SPEED 0x04 // 2 megahertz?
#define SPI3_DELAY 20 // delay in microseconds after sending data
union NumericIntType
{
int intValue;
unsigned int uintValue;
byte byteValue[2];
};
// Constructors ////////////////////////////////////////////////////////////////
AP_OpticalFlow_ADNS3080_APM2::AP_OpticalFlow_ADNS3080_APM2(int cs_pin, int reset_pin) : _cs_pin(cs_pin), _reset_pin(reset_pin)
{
num_pixels = ADNS3080_PIXELS_X;
field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV;
scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
}
// SPI Methods
// *** INTERNAL FUNCTIONS ***
unsigned char AP_OpticalFlow_ADNS3080_APM2::SPI_transfer(uint8_t data)
{
/* Wait for empty transmit buffer */
while ( !( UCSR3A & (1<<UDRE3)) );
/* Put data into buffer, sends the data */
UDR3 = data;
/* Wait for data to be received */
while ( !(UCSR3A & (1<<RXC3)) );
/* Get and return received data from buffer */
return UDR3;
}
// Public Methods //////////////////////////////////////////////////////////////
// init - initialise sensor
// initCommAPI parameter controls whether SPI interface is initialised (set to false if other devices are on the SPI bus and have already initialised the interface)
bool
AP_OpticalFlow_ADNS3080_APM2::init(bool initCommAPI)
{
int retry = 0;
pinMode(AP_SPI_DATAOUT,OUTPUT);
pinMode(AP_SPI_DATAIN,INPUT);
pinMode(AP_SPI_CLOCK,OUTPUT);
pinMode(_cs_pin,OUTPUT);
if( _reset_pin != 0)
pinMode(ADNS3080_RESET,OUTPUT);
digitalWrite(_cs_pin,HIGH); // disable device (Chip select is active low)
// reset the device
reset();
// start the SPI library:
if( initCommAPI ) {
// Setup Serial Port3 in SPI mode (MSPI), Mode 0, Clock: 8Mhz
UBRR3 = 0;
DDRJ |= (1<<PJ2); // SPI clock XCK3 (PJ2) as output. This enable SPI Master mode
// put UART3 into SPI master mode
UCSR3C = SPI3_MODE_SPI | SPI3_MODE;
// Enable receiver and transmitter.
UCSR3B = (1<<RXEN3)|(1<<TXEN3);
// Set Baud rate
UBRR3 = SPI3_SPEED; // SPI running at 8Mhz
}
delay(10);
// check the sensor is functioning
while( retry < 3 ) {
if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
return true;
}
retry++;
}
return false;
}
//
// backup_spi_settings - checks current SPI settings (clock speed, etc), sets values to what we need
//
void AP_OpticalFlow_ADNS3080_APM2::backup_spi_settings()
{
uint8_t temp;
/* Wait for empty transmit buffer */
while ( !( UCSR3A & (1<<UDRE3)) );
// store current spi values
orig_spi_settings_ucsr3c = UCSR3C;
orig_spi_settings_ubrr3 = UBRR3;
// decide new value for UCSR3C
temp = (orig_spi_settings_ucsr3c & ~UCSR3C_MASK) | SPI3_MODE | SPI3_MSBFIRST;
UCSR3C = temp;
UBRR3 = SPI3_SPEED; // SPI running at 1Mhz
}
// restore_spi_settings - restores SPI settings (clock speed, etc) to what their values were before the sensor used the bus
void AP_OpticalFlow_ADNS3080_APM2::restore_spi_settings()
{
/* Wait for empty transmit buffer */
while ( !( UCSR3A & (1<<UDRE3)) );
// restore UCSRC3C and UBRR3
UCSR3C = orig_spi_settings_ucsr3c;
UBRR3 = orig_spi_settings_ubrr3;
}
// Read a register from the sensor
byte
AP_OpticalFlow_ADNS3080_APM2::read_register(byte address)
{
byte result = 0, junk = 0;
backup_spi_settings();
// take the chip select low to select the device
digitalWrite(_cs_pin, LOW);
// send the device the register you want to read:
junk = SPI_transfer(address);
// small delay
delayMicroseconds(SPI3_DELAY);
// send a value of 0 to read the first byte returned:
result = SPI_transfer(0x00);
// take the chip select high to de-select:
digitalWrite(_cs_pin, HIGH);
restore_spi_settings();
return result;
}
// write a value to one of the sensor's registers
void
AP_OpticalFlow_ADNS3080_APM2::write_register(byte address, byte value)
{
byte junk = 0;
backup_spi_settings();
// take the chip select low to select the device
digitalWrite(_cs_pin, LOW);
// send register address
junk = SPI_transfer(address | 0x80 );
// small delay
delayMicroseconds(SPI3_DELAY);
// send data
junk = SPI_transfer(value);
// take the chip select high to de-select:
digitalWrite(_cs_pin, HIGH);
restore_spi_settings();
}
// reset sensor by holding a pin high (or is it low?) for 10us.
void
AP_OpticalFlow_ADNS3080_APM2::reset()
{
// return immediately if the reset pin is not defined
if( _reset_pin == 0)
return;
digitalWrite(_reset_pin,HIGH); // reset sensor
delayMicroseconds(10);
digitalWrite(_reset_pin,LOW); // return sensor to normal
}
// read latest values from sensor and fill in x,y and totals
bool
AP_OpticalFlow_ADNS3080_APM2::update()
{
byte motion_reg;
surface_quality = (unsigned int)read_register(ADNS3080_SQUAL);
delayMicroseconds(SPI3_DELAY); // small delay
// check for movement, update x,y values
motion_reg = read_register(ADNS3080_MOTION);
_overflow = ((motion_reg & 0x10) != 0); // check if we've had an overflow
if( (motion_reg & 0x80) != 0 ) {
raw_dx = ((char)read_register(ADNS3080_DELTA_X));
delayMicroseconds(SPI3_DELAY); // small delay
raw_dy = ((char)read_register(ADNS3080_DELTA_Y));
_motion = true;
}else{
raw_dx = 0;
raw_dy = 0;
}
last_update = millis();
apply_orientation_matrix();
return true;
}
void
AP_OpticalFlow_ADNS3080_APM2::disable_serial_pullup()
{
byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
regVal = (regVal | ADNS3080_SERIALNPU_OFF);
delayMicroseconds(SPI3_DELAY); // small delay
write_register(ADNS3080_EXTENDED_CONFIG, regVal);
}
// get_led_always_on - returns true if LED is always on, false if only on when required
bool
AP_OpticalFlow_ADNS3080_APM2::get_led_always_on()
{
return ( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x40) > 0 );
}
// set_led_always_on - set parameter to true if you want LED always on, otherwise false for only when required
void
AP_OpticalFlow_ADNS3080_APM2::set_led_always_on( bool alwaysOn )
{
byte regVal = read_register(ADNS3080_CONFIGURATION_BITS);
regVal = (regVal & 0xbf) | (alwaysOn << 6);
delayMicroseconds(SPI3_DELAY); // small delay
write_register(ADNS3080_CONFIGURATION_BITS, regVal);
}
// returns resolution (either 400 or 1600 counts per inch)
int
AP_OpticalFlow_ADNS3080_APM2::get_resolution()
{
if( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x10) == 0 )
return 400;
else
return 1600;
}
// set parameter to 400 or 1600 counts per inch
void
AP_OpticalFlow_ADNS3080_APM2::set_resolution(int resolution)
{
byte regVal = read_register(ADNS3080_CONFIGURATION_BITS);
if( resolution == ADNS3080_RESOLUTION_400 ) {
regVal &= ~0x10;
scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
}else if( resolution == ADNS3080_RESOLUTION_1600) {
regVal |= 0x10;
scaler = AP_OPTICALFLOW_ADNS3080_SCALER * 4;
}
delayMicroseconds(SPI3_DELAY); // small delay
write_register(ADNS3080_CONFIGURATION_BITS, regVal);
// this will affect conversion factors so update them
update_conversion_factors();
}
// get_frame_rate_auto - return whether frame rate is set to "auto" or manual
bool
AP_OpticalFlow_ADNS3080_APM2::get_frame_rate_auto()
{
byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
if( (regVal & 0x01) != 0 ) {
return false;
}else{
return true;
}
}
// set_frame_rate_auto - set frame rate to auto (true) or manual (false)
void
AP_OpticalFlow_ADNS3080_APM2::set_frame_rate_auto(bool auto_frame_rate)
{
byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
delayMicroseconds(SPI3_DELAY); // small delay
if( auto_frame_rate == true ) {
// set specific frame period
write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,0xE0);
delayMicroseconds(SPI3_DELAY); // small delay
write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,0x1A);
delayMicroseconds(SPI3_DELAY); // small delay
// decide what value to update in extended config
regVal = (regVal & ~0x01);
}else{
// decide what value to update in extended config
regVal = (regVal & ~0x01) | 0x01;
}
write_register(ADNS3080_EXTENDED_CONFIG, regVal);
}
// get frame period
unsigned int
AP_OpticalFlow_ADNS3080_APM2::get_frame_period()
{
NumericIntType aNum;
aNum.byteValue[1] = read_register(ADNS3080_FRAME_PERIOD_UPPER);
delayMicroseconds(SPI3_DELAY); // small delay
aNum.byteValue[0] = read_register(ADNS3080_FRAME_PERIOD_LOWER);
return aNum.uintValue;
}
// set frame period
void
AP_OpticalFlow_ADNS3080_APM2::set_frame_period(unsigned int period)
{
NumericIntType aNum;
aNum.uintValue = period;
// set frame rate to manual
set_frame_rate_auto(false);
delayMicroseconds(SPI3_DELAY); // small delay
// set specific frame period
write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,aNum.byteValue[0]);
delayMicroseconds(SPI3_DELAY); // small delay
write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,aNum.byteValue[1]);
}
unsigned int
AP_OpticalFlow_ADNS3080_APM2::get_frame_rate()
{
unsigned long clockSpeed = ADNS3080_CLOCK_SPEED;
unsigned int rate = clockSpeed / get_frame_period();
return rate;
}
void
AP_OpticalFlow_ADNS3080_APM2::set_frame_rate(unsigned int rate)
{
unsigned long clockSpeed = ADNS3080_CLOCK_SPEED;
unsigned int period = (unsigned int)(clockSpeed / (unsigned long)rate);
set_frame_period(period);
}
// get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
bool
AP_OpticalFlow_ADNS3080_APM2::get_shutter_speed_auto()
{
byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
if( (regVal & 0x02) > 0 ) {
return false;
}else{
return true;
}
}
// set_shutter_speed_auto - set shutter speed to auto (true), or manual (false)
void
AP_OpticalFlow_ADNS3080_APM2::set_shutter_speed_auto(bool auto_shutter_speed)
{
byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
delayMicroseconds(SPI3_DELAY); // small delay
if( auto_shutter_speed ) {
// return shutter speed max to default
write_register(ADNS3080_SHUTTER_MAX_BOUND_LOWER,0x8c);
delayMicroseconds(SPI3_DELAY); // small delay
write_register(ADNS3080_SHUTTER_MAX_BOUND_UPPER,0x20);
delayMicroseconds(SPI3_DELAY); // small delay
// determine value to put into extended config
regVal &= ~0x02;
}else{
// determine value to put into extended config
regVal |= 0x02;
}
write_register(ADNS3080_EXTENDED_CONFIG, regVal);
delayMicroseconds(SPI3_DELAY); // small delay
}
// get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
unsigned int
AP_OpticalFlow_ADNS3080_APM2::get_shutter_speed()
{
NumericIntType aNum;
aNum.byteValue[1] = read_register(ADNS3080_SHUTTER_UPPER);
delayMicroseconds(SPI3_DELAY); // small delay
aNum.byteValue[0] = read_register(ADNS3080_SHUTTER_LOWER);
return aNum.uintValue;
}
// set_shutter_speed_auto - set shutter speed to auto (true), or manual (false)
void
AP_OpticalFlow_ADNS3080_APM2::set_shutter_speed(unsigned int shutter_speed)
{
NumericIntType aNum;
aNum.uintValue = shutter_speed;
// set shutter speed to manual
set_shutter_speed_auto(false);
delayMicroseconds(SPI3_DELAY); // small delay
// set specific shutter speed
write_register(ADNS3080_SHUTTER_MAX_BOUND_LOWER,aNum.byteValue[0]);
delayMicroseconds(SPI3_DELAY); // small delay
write_register(ADNS3080_SHUTTER_MAX_BOUND_UPPER,aNum.byteValue[1]);
delayMicroseconds(SPI3_DELAY); // small delay
// larger delay
delay(50);
// need to update frame period to cause shutter value to take effect
aNum.byteValue[1] = read_register(ADNS3080_FRAME_PERIOD_UPPER);
delayMicroseconds(SPI3_DELAY); // small delay
aNum.byteValue[0] = read_register(ADNS3080_FRAME_PERIOD_LOWER);
delayMicroseconds(SPI3_DELAY); // small delay
write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,aNum.byteValue[0]);
delayMicroseconds(SPI3_DELAY); // small delay
write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,aNum.byteValue[1]);
delayMicroseconds(SPI3_DELAY); // small delay
}
// clear_motion - will cause the Delta_X, Delta_Y, and internal motion registers to be cleared
void
AP_OpticalFlow_ADNS3080_APM2::clear_motion()
{
write_register(ADNS3080_MOTION_CLEAR,0xFF); // writing anything to this register will clear the sensor's motion registers
x = 0;
y = 0;
dx = 0;
dy = 0;
_motion = false;
}
// get_pixel_data - captures an image from the sensor and stores it to the pixe_data array
void
AP_OpticalFlow_ADNS3080_APM2::print_pixel_data(Stream *serPort)
{
int i,j;
bool isFirstPixel = true;
byte regValue;
byte pixelValue;
// write to frame capture register to force capture of frame
write_register(ADNS3080_FRAME_CAPTURE,0x83);
// wait 3 frame periods + 10 nanoseconds for frame to be captured
delayMicroseconds(1510); // min frame speed is 2000 frames/second so 1 frame = 500 nano seconds. so 500 x 3 + 10 = 1510
// display the pixel data
for( i=0; i<ADNS3080_PIXELS_Y; i++ ) {
for( j=0; j<ADNS3080_PIXELS_X; j++ ) {
regValue = read_register(ADNS3080_FRAME_CAPTURE);
if( isFirstPixel && (regValue & 0x40) == 0 ) {
serPort->println("failed to find first pixel");
}
isFirstPixel = false;
pixelValue = ( regValue << 2);
serPort->print(pixelValue,DEC);
if( j!= ADNS3080_PIXELS_X-1 )
serPort->print(",");
delayMicroseconds(SPI3_DELAY);
}
serPort->println();
}
// hardware reset to restore sensor to normal operation
reset();
}

141
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080_APM2.h Normal file
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@ -0,0 +1,141 @@
#ifndef AP_OPTICALFLOW_ADNS3080_APM2_H
#define AP_OPTICALFLOW_ADNS3080_APM2_H
#include "AP_OpticalFlow.h"
// default pin settings
#define ADNS3080_CHIP_SELECT 34 // PC3
#define ADNS3080_RESET 0 // reset pin is unattached by default
// orientations for ADNS3080 sensor
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD ROTATION_YAW_180
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_RIGHT ROTATION_YAW_135
#define AP_OPTICALFLOW_ADNS3080_PINS_RIGHT ROTATION_YAW_90
#define AP_OPTICALFLOW_ADNS3080_PINS_BACK_RIGHT ROTATION_YAW_45
#define AP_OPTICALFLOW_ADNS3080_PINS_BACK ROTATION_NONE
#define AP_OPTICALFLOW_ADNS3080_PINS_BACK_LEFT ROTATION_YAW_315
#define AP_OPTICALFLOW_ADNS3080_PINS_LEFT ROTATION_YAW_270
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_LEFT ROTATION_YAW_225
// field of view of ADNS3080 sensor lenses
#define AP_OPTICALFLOW_ADNS3080_08_FOV 0.202458 // 11.6 degrees
// scaler - value returned when sensor is moved equivalent of 1 pixel
#define AP_OPTICALFLOW_ADNS3080_SCALER 1.1
// ADNS3080 hardware config
#define ADNS3080_PIXELS_X 30
#define ADNS3080_PIXELS_Y 30
#define ADNS3080_CLOCK_SPEED 24000000
// Register Map for the ADNS3080 Optical OpticalFlow Sensor
#define ADNS3080_PRODUCT_ID 0x00
#define ADNS3080_REVISION_ID 0x01
#define ADNS3080_MOTION 0x02
#define ADNS3080_DELTA_X 0x03
#define ADNS3080_DELTA_Y 0x04
#define ADNS3080_SQUAL 0x05
#define ADNS3080_PIXEL_SUM 0x06
#define ADNS3080_MAXIMUM_PIXEL 0x07
#define ADNS3080_CONFIGURATION_BITS 0x0a
#define ADNS3080_EXTENDED_CONFIG 0x0b
#define ADNS3080_DATA_OUT_LOWER 0x0c
#define ADNS3080_DATA_OUT_UPPER 0x0d
#define ADNS3080_SHUTTER_LOWER 0x0e
#define ADNS3080_SHUTTER_UPPER 0x0f
#define ADNS3080_FRAME_PERIOD_LOWER 0x10
#define ADNS3080_FRAME_PERIOD_UPPER 0x11
#define ADNS3080_MOTION_CLEAR 0x12
#define ADNS3080_FRAME_CAPTURE 0x13
#define ADNS3080_SROM_ENABLE 0x14
#define ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER 0x19
#define ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER 0x1a
#define ADNS3080_FRAME_PERIOD_MIN_BOUND_LOWER 0x1b
#define ADNS3080_FRAME_PERIOD_MIN_BOUND_UPPER 0x1c
#define ADNS3080_SHUTTER_MAX_BOUND_LOWER 0x1e
#define ADNS3080_SHUTTER_MAX_BOUND_UPPER 0x1e
#define ADNS3080_SROM_ID 0x1f
#define ADNS3080_OBSERVATION 0x3d
#define ADNS3080_INVERSE_PRODUCT_ID 0x3f
#define ADNS3080_PIXEL_BURST 0x40
#define ADNS3080_MOTION_BURST 0x50
#define ADNS3080_SROM_LOAD 0x60
// Configuration Bits
#define ADNS3080_LED_MODE_ALWAYS_ON 0x00
#define ADNS3080_LED_MODE_WHEN_REQUIRED 0x01
#define ADNS3080_RESOLUTION_400 400
#define ADNS3080_RESOLUTION_1600 1600
// Extended Configuration bits
#define ADNS3080_SERIALNPU_OFF 0x02
#define ADNS3080_FRAME_RATE_MAX 6469
#define ADNS3080_FRAME_RATE_MIN 2000
class AP_OpticalFlow_ADNS3080_APM2 : public AP_OpticalFlow
{
private:
// bytes to store SPI settings
byte orig_spi_settings_ucsr3c;
byte orig_spi_settings_ubrr3;
// save and restore SPI settings
void backup_spi_settings();
void restore_spi_settings();
public:
int _cs_pin; // pin used for chip select
int _reset_pin; // pin used for chip reset
bool _motion; // true if there has been motion
bool _overflow; // true if the x or y data buffers overflowed
public:
AP_OpticalFlow_ADNS3080_APM2(int cs_pin = ADNS3080_CHIP_SELECT, int reset_pin = ADNS3080_RESET);
bool init(bool initCommAPI = true); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface)
byte read_register(byte address);
void write_register(byte address, byte value);
void reset(); // reset sensor by holding a pin high (or is it low?) for 10us.
bool update(); // read latest values from sensor and fill in x,y and totals, return true on successful read
// ADNS3080 specific features
bool motion() { if( _motion ) { _motion = false; return true; }else{ return false; } } // return true if there has been motion since the last time this was called
void disable_serial_pullup();
bool get_led_always_on(); // returns true if LED is always on, false if only on when required
void set_led_always_on( bool alwaysOn ); // set parameter to true if you want LED always on, otherwise false for only when required
int get_resolution(); // returns resolution (either 400 or 1600 counts per inch)
void set_resolution(int resolution); // set parameter to 400 or 1600 counts per inch
bool get_frame_rate_auto(); // get_frame_rate_auto - return true if frame rate is set to "auto", false if manual
void set_frame_rate_auto(bool auto_frame_rate); // set_frame_rate_auto(bool) - set frame rate to auto (true), or manual (false)
unsigned int get_frame_period(); // get_frame_period -
void set_frame_period(unsigned int period);
unsigned int get_frame_rate();
void set_frame_rate(unsigned int rate);
bool get_shutter_speed_auto(); // get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
void set_shutter_speed_auto(bool auto_shutter_speed); // set_shutter_speed_auto - set shutter speed to auto (true), or manual (false)
unsigned int get_shutter_speed();
void set_shutter_speed(unsigned int shutter_speed);
void clear_motion(); // will cause the x,y, dx, dy, and the sensor's motion registers to be cleared
void print_pixel_data(Stream *serPort); // dumps a 30x30 image to the Serial port
// SPI functions - we use UAT3 which is not supported by Arduino
unsigned char SPI_transfer(unsigned char data);
void CS_inactive();
void CS_active();
void PageErase (uint16_t PageAdr);
void ChipErase ();
};
#endif

16
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
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@ -19,19 +19,21 @@
//
FastSerialPort0(Serial); // FTDI/console
AP_OpticalFlow_ADNS3080 flowSensor;
//AP_OpticalFlow_ADNS3080 flowSensor(A3); // override chip select pin to use A3 if using APM2
AP_OpticalFlow_ADNS3080 flowSensor; // for APM1
//AP_OpticalFlow_ADNS3080_APM2 flowSensor(A3); // override chip select pin to use A3 if using APM2
void setup()
{
{
Serial.begin(115200);
Serial.println("ArduPilot Mega OpticalFlow library test ver 1.5");
delay(1000);
// flowSensor initialization
if( flowSensor.init() == false )
Serial.println("Failed to initialise ADNS3080");
if( flowSensor.init(true) == false ) {
Serial.print("Failed to initialise ADNS3080 ");
}
flowSensor.set_orientation(AP_OPTICALFLOW_ADNS3080_PINS_FORWARD);
flowSensor.set_field_of_view(AP_OPTICALFLOW_ADNS3080_08_FOV);
@ -336,7 +338,7 @@ void display_motion()
void loop()
{
int value;
// display menu to user
display_menu();

1
libraries/AP_OpticalFlow/keywords.txt
View File

@ -1,5 +1,6 @@
AP_OpticalFlow KEYWORD1
AP_OpticalFlow_ADNS3080 KEYWORD1
AP_OpticalFlow_ADNS3080_APM2 KEYWORD1
init KEYWORD2
read KEYWORD2
update KEYWORD2

322
libraries/DataFlash/DataFlash_APM2.cpp
View File

@ -91,14 +91,16 @@ unsigned char DataFlash_APM2::SPI_transfer(unsigned char data)
return UDR3;
}
// disable device
void DataFlash_APM2::CS_inactive()
{
digitalWrite(DF_SLAVESELECT,HIGH); //disable device
digitalWrite(DF_SLAVESELECT,HIGH);
}
// enable device
void DataFlash_APM2::CS_active()
{
digitalWrite(DF_SLAVESELECT,LOW); //enable device
digitalWrite(DF_SLAVESELECT,LOW);
}
// Constructors ////////////////////////////////////////////////////////////////
@ -109,223 +111,261 @@ DataFlash_APM2::DataFlash_APM2()
// Public Methods //////////////////////////////////////////////////////////////
void DataFlash_APM2::Init(void)
{
pinMode(DF_DATAOUT, OUTPUT);
pinMode(DF_DATAIN, INPUT);
pinMode(DF_SLAVESELECT,OUTPUT);
pinMode(DF_RESET,OUTPUT);
pinMode(DF_CARDDETECT, INPUT);
pinMode(DF_DATAOUT, OUTPUT);
pinMode(DF_DATAIN, INPUT);
pinMode(DF_SLAVESELECT,OUTPUT);
pinMode(DF_RESET,OUTPUT);
pinMode(DF_CARDDETECT, INPUT);
// Reset the chip
digitalWrite(DF_RESET,LOW);
delay(1);
digitalWrite(DF_RESET,HIGH);
// Reset the chip
digitalWrite(DF_RESET,LOW);
delay(1);
digitalWrite(DF_RESET,HIGH);
CS_inactive(); //disable device
// disable device
CS_inactive();
// Setup Serial Port3 in SPI mode (MSPI), Mode 0, Clock: 8Mhz
UBRR3 = 0;
DDRJ |= (1<<PJ2); // SPI clock XCK3 (PJ2) as output. This enable SPI Master mode
// Set MSPI mode of operation and SPI data mode 0.
UCSR3C = (1<<UMSEL31)|(1<<UMSEL30); //|(1<<1)|(1<<UCPOL3);
// Enable receiver and transmitter.
UCSR3B = (1<<RXEN3)|(1<<TXEN3);
// Set Baud rate
UBRR3 = 0; // SPI running at 8Mhz
// Setup Serial Port3 in SPI mode (MSPI), Mode 0, Clock: 8Mhz
UBRR3 = 0;
DDRJ |= (1<<PJ2); // SPI clock XCK3 (PJ2) as output. This enable SPI Master mode
// Set MSPI mode of operation and SPI data mode 0.
UCSR3C = (1<<UMSEL31)|(1<<UMSEL30); //|(1<<1)|(1<<UCPOL3);
// Enable receiver and transmitter.
UCSR3B = (1<<RXEN3)|(1<<TXEN3);
// Set Baud rate
UBRR3 = 0; // SPI running at 8Mhz
// get page size: 512 or 528 (by default: 528)
df_PageSize=PageSize();
// get page size: 512 or 528 (by default: 528)
df_PageSize=PageSize();
ReadManufacturerID();
ReadManufacturerID();
// see page 22 of the spec for the density code
uint8_t density_code = (df_device >> 8) & 0x1F;
// note that we set df_NumPages to one lower than the highest, as
// the last page is reserved for a config page
if (density_code == 0x7) {
// 32 Mbit
df_NumPages = 8191;
} else if (density_code == 0x6) {
// 16 Mbit
df_NumPages = 4095;
} else {
// what is this??? card not inserted perhaps?
df_NumPages = 0;
}
// see page 22 of the spec for the density code
uint8_t density_code = (df_device >> 8) & 0x1F;
// note that we set df_NumPages to one lower than the highest, as
// the last page is reserved for a config page
if (density_code == 0x7) {
// 32 Mbit
df_NumPages = 8191;
} else if (density_code == 0x6) {
// 16 Mbit
df_NumPages = 4095;
} else {
// what is this??? card not inserted perhaps?
df_NumPages = 0;
}
}
// This function is mainly to test the device
void DataFlash_APM2::ReadManufacturerID()
{
CS_inactive(); // Reset dataflash command decoder
CS_active();
// activate dataflash command decoder
CS_active();
// Read manufacturer and ID command...
SPI_transfer(DF_READ_MANUFACTURER_AND_DEVICE_ID);
// Read manufacturer and ID command...
SPI_transfer(DF_READ_MANUFACTURER_AND_DEVICE_ID);
df_manufacturer = SPI_transfer(0xff);
df_device = SPI_transfer(0xff);
df_device = (df_device<<8) | SPI_transfer(0xff);
SPI_transfer(0xff);
df_manufacturer = SPI_transfer(0xff);
df_device = SPI_transfer(0xff);
df_device = (df_device<<8) | SPI_transfer(0xff);
SPI_transfer(0xff);
// release SPI bus for use by other sensors
CS_inactive();
}
// This function return 1 if Card is inserted on SD slot
bool DataFlash_APM2::CardInserted()
{
return (df_NumPages >= 4095 && digitalRead(DF_CARDDETECT) == 0);
return (df_NumPages >= 4095 && digitalRead(DF_CARDDETECT) == 0);
}
// Read the status register
byte DataFlash_APM2::ReadStatusReg()
{
CS_inactive(); // Reset dataflash command decoder
CS_active();
byte tmp;
// Read status command
SPI_transfer(DF_STATUS_REGISTER_READ);
return SPI_transfer(0x00); // We only want to extract the READY/BUSY bit
// activate dataflash command decoder
CS_active();
// Read status command
SPI_transfer(DF_STATUS_REGISTER_READ);
tmp = SPI_transfer(0x00); // We only want to extract the READY/BUSY bit
// release SPI bus for use by other sensors
CS_inactive();
return tmp;
}
// Read the status of the DataFlash
inline
byte DataFlash_APM2::ReadStatus()
{
return(ReadStatusReg()&0x80); // We only want to extract the READY/BUSY bit
return(ReadStatusReg()&0x80); // We only want to extract the READY/BUSY bit
}
inline
uint16_t DataFlash_APM2::PageSize()
{
return(528-((ReadStatusReg()&0x01)<<4)); // if first bit 1 trhen 512 else 528 bytes
return(528-((ReadStatusReg()&0x01)<<4)); // if first bit 1 trhen 512 else 528 bytes
}
// Wait until DataFlash is in ready state...
void DataFlash_APM2::WaitReady()
{
while(!ReadStatus());
while(!ReadStatus());
}
void DataFlash_APM2::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
{
CS_inactive();
CS_active();
if (BufferNum==1)
SPI_transfer(DF_TRANSFER_PAGE_TO_BUFFER_1);
else
SPI_transfer(DF_TRANSFER_PAGE_TO_BUFFER_2);
// activate dataflash command decoder
CS_active();
if(df_PageSize==512){
SPI_transfer((unsigned char)(PageAdr >> 7));
SPI_transfer((unsigned char)(PageAdr << 1));
}else{
SPI_transfer((unsigned char)(PageAdr >> 6));
SPI_transfer((unsigned char)(PageAdr << 2));
}
SPI_transfer(0x00); // don´t care bytes
if (BufferNum==1)
SPI_transfer(DF_TRANSFER_PAGE_TO_BUFFER_1);
else
SPI_transfer(DF_TRANSFER_PAGE_TO_BUFFER_2);
CS_inactive(); //initiate the transfer
CS_active();
if(df_PageSize==512){
SPI_transfer((unsigned char)(PageAdr >> 7));
SPI_transfer((unsigned char)(PageAdr << 1));
}else{
SPI_transfer((unsigned char)(PageAdr >> 6));
SPI_transfer((unsigned char)(PageAdr << 2));
}
SPI_transfer(0x00); // don´t care bytes
while(!ReadStatus()); //monitor the status register, wait until busy-flag is high
//initiate the transfer
CS_inactive();
CS_active();
while(!ReadStatus()); //monitor the status register, wait until busy-flag is high
// release SPI bus for use by other sensors
CS_inactive();
}
void DataFlash_APM2::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
{
CS_inactive(); // Reset dataflash command decoder
CS_active();
// activate dataflash command decoder
CS_active();
if (BufferNum==1)
SPI_transfer(DF_BUFFER_1_TO_PAGE_WITH_ERASE);
else
SPI_transfer(DF_BUFFER_2_TO_PAGE_WITH_ERASE);
if (BufferNum==1)
SPI_transfer(DF_BUFFER_1_TO_PAGE_WITH_ERASE);
else
SPI_transfer(DF_BUFFER_2_TO_PAGE_WITH_ERASE);
if(df_PageSize==512){
SPI_transfer((unsigned char)(PageAdr >> 7));
SPI_transfer((unsigned char)(PageAdr << 1));
}else{
SPI_transfer((unsigned char)(PageAdr >> 6));
SPI_transfer((unsigned char)(PageAdr << 2));
}
SPI_transfer(0x00); // don´t care bytes
if(df_PageSize==512){
SPI_transfer((unsigned char)(PageAdr >> 7));
SPI_transfer((unsigned char)(PageAdr << 1));
}else{
SPI_transfer((unsigned char)(PageAdr >> 6));
SPI_transfer((unsigned char)(PageAdr << 2));
}
SPI_transfer(0x00); // don´t care bytes
CS_inactive(); //initiate the transfer
CS_active();
//initiate the transfer
CS_inactive();
CS_active();
// Check if we need to wait to write the buffer to memory or we can continue...
if (wait)
// Check if we need to wait to write the buffer to memory or we can continue...
if (wait)
while(!ReadStatus()); //monitor the status register, wait until busy-flag is high
// release SPI bus for use by other sensors
CS_inactive();
}
void DataFlash_APM2::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
{
CS_inactive(); // Reset dataflash command decoder
CS_active();
// activate dataflash command decoder
CS_active();
if (BufferNum==1)
SPI_transfer(DF_BUFFER_1_WRITE);
else
SPI_transfer(DF_BUFFER_2_WRITE);
SPI_transfer(0x00); //don't cares
SPI_transfer((unsigned char)(IntPageAdr>>8)); //upper part of internal buffer address
SPI_transfer((unsigned char)(IntPageAdr)); //lower part of internal buffer address
SPI_transfer(Data); //write data byte
if (BufferNum==1)
SPI_transfer(DF_BUFFER_1_WRITE);
else
SPI_transfer(DF_BUFFER_2_WRITE);
SPI_transfer(0x00); // don't care
SPI_transfer((unsigned char)(IntPageAdr>>8)); // upper part of internal buffer address
SPI_transfer((unsigned char)(IntPageAdr)); // lower part of internal buffer address
SPI_transfer(Data); // write data byte
// release SPI bus for use by other sensors
CS_inactive();
}
unsigned char DataFlash_APM2::BufferRead (unsigned char BufferNum, uint16_t IntPageAdr)
{
byte tmp;
byte tmp;
CS_inactive(); // Reset dataflash command decoder
CS_active();
// activate dataflash command decoder
CS_active();
if (BufferNum==1)
SPI_transfer(DF_BUFFER_1_READ);
else
SPI_transfer(DF_BUFFER_2_READ);
SPI_transfer(0x00); //don't cares
SPI_transfer((unsigned char)(IntPageAdr>>8)); //upper part of internal buffer address
SPI_transfer((unsigned char)(IntPageAdr)); //lower part of internal buffer address
SPI_transfer(0x00); //don't cares
tmp = SPI_transfer(0x00); //read data byte
if (BufferNum==1)
SPI_transfer(DF_BUFFER_1_READ);
else
SPI_transfer(DF_BUFFER_2_READ);
return (tmp);
SPI_transfer(0x00);
SPI_transfer((unsigned char)(IntPageAdr>>8)); //upper part of internal buffer address
SPI_transfer((unsigned char)(IntPageAdr)); //lower part of internal buffer address
SPI_transfer(0x00); //don't cares
tmp = SPI_transfer(0x00); //read data byte
// release SPI bus for use by other sensors
CS_inactive();
return (tmp);
}
// *** END OF INTERNAL FUNCTIONS ***
void DataFlash_APM2::PageErase (uint16_t PageAdr)
{
CS_inactive(); //make sure to toggle CS signal in order
CS_active(); //to reset Dataflash command decoder
SPI_transfer(DF_PAGE_ERASE); // Command
// activate dataflash command decoder
CS_active();
if(df_PageSize==512){
SPI_transfer((unsigned char)(PageAdr >> 7));
SPI_transfer((unsigned char)(PageAdr << 1));
}else{
SPI_transfer((unsigned char)(PageAdr >> 6));
SPI_transfer((unsigned char)(PageAdr << 2));
}
// Send page erase command
SPI_transfer(DF_PAGE_ERASE);
SPI_transfer(0x00); // "dont cares"
CS_inactive(); //initiate flash page erase
CS_active();
while(!ReadStatus());
if(df_PageSize==512){
SPI_transfer((unsigned char)(PageAdr >> 7));
SPI_transfer((unsigned char)(PageAdr << 1));
}else{
SPI_transfer((unsigned char)(PageAdr >> 6));
SPI_transfer((unsigned char)(PageAdr << 2));
}
SPI_transfer(0x00);
//initiate flash page erase
CS_inactive();
CS_active();
while(!ReadStatus());
// release SPI bus for use by other sensors
CS_inactive();
}
void DataFlash_APM2::ChipErase ()
{
CS_inactive(); //make sure to toggle CS signal in order
CS_active(); //to reset Dataflash command decoder
// opcodes for chip erase
SPI_transfer(DF_CHIP_ERASE_0);
SPI_transfer(DF_CHIP_ERASE_1);
SPI_transfer(DF_CHIP_ERASE_2);
SPI_transfer(DF_CHIP_ERASE_3);
// activate dataflash command decoder
CS_active();
CS_inactive(); //initiate flash page erase
CS_active();
while(!ReadStatus());
}
// opcodes for chip erase
SPI_transfer(DF_CHIP_ERASE_0);
SPI_transfer(DF_CHIP_ERASE_1);
SPI_transfer(DF_CHIP_ERASE_2);
SPI_transfer(DF_CHIP_ERASE_3);
//initiate flash page erase
CS_inactive();
CS_active();
while(!ReadStatus());
// release SPI bus for use by other sensors
CS_inactive();
}