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APM Planner 1.1.55

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fix issue 573
fix issue 572
fix issue 571
fix issue 570
fix issue 564
fix issue 560
fix issue 555
fix issue 536
add CH6_LOITER_RATE_D
fix joystick axis 5-8 - can use joystick for camera pan/tilt
This commit is contained in:
Michael Oborne 2012-03-21 20:13:08 +08:00
parent fe55a76335
commit 739294ca70
15 changed files with 4573 additions and 6775 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
Tools/ArdupilotMegaPlanner/Common.cs
View File

@ -380,8 +380,8 @@ namespace ArdupilotMega
CH6_OPTFLOW_KD = 19,
CH6_NAV_I = 20,
CH6_LOITER_RATE_P = 22
CH6_LOITER_RATE_P = 22,
CH6_LOITER_RATE_D = 23
}

10
Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs
View File

@ -19,6 +19,8 @@ namespace System.IO.Ports
byte[] rbuffer = new byte[0];
int rbufferread = 0;
int retrys = 3;
public int WriteBufferSize { get; set; }
public int WriteTimeout { get; set; }
public int ReceivedBytesThreshold { get; set; }
@ -121,6 +123,14 @@ namespace System.IO.Ports
client.Close();
}
catch { }
// this should only happen if we have established a connection in the first place
if (client != null && retrys > 0)
{
client.Connect(ArdupilotMega.MainV2.config["TCP_host"].ToString(), int.Parse(ArdupilotMega.MainV2.config["TCP_port"].ToString()));
retrys--;
}
throw new Exception("The socket/serialproxy is closed");
}
}

88
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs generated
View File

@ -30,8 +30,8 @@
{
this.components = new System.ComponentModel.Container();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
this.Params = new System.Windows.Forms.DataGridView();
this.Command = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Value = new System.Windows.Forms.DataGridViewTextBoxColumn();
@ -236,6 +236,8 @@
this.RATE_RLL_P = new System.Windows.Forms.NumericUpDown();
this.label91 = new System.Windows.Forms.Label();
this.TabPlanner = new System.Windows.Forms.TabPage();
this.label33 = new System.Windows.Forms.Label();
this.CMB_ratesensors = new System.Windows.Forms.ComboBox();
this.label26 = new System.Windows.Forms.Label();
this.CMB_videoresolutions = new System.Windows.Forms.ComboBox();
this.label12 = new System.Windows.Forms.Label();
@ -287,8 +289,8 @@
this.BUT_load = new ArdupilotMega.MyButton();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.BUT_compare = new ArdupilotMega.MyButton();
this.label33 = new System.Windows.Forms.Label();
this.CMB_ratesensors = new System.Windows.Forms.ComboBox();
this.myLabel3 = new ArdupilotMega.MyLabel();
this.myLabel4 = new ArdupilotMega.MyLabel();
((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
this.ConfigTabs.SuspendLayout();
this.TabAP.SuspendLayout();
@ -409,14 +411,14 @@
this.Params.AllowUserToAddRows = false;
this.Params.AllowUserToDeleteRows = false;
resources.ApplyResources(this.Params, "Params");
dataGridViewCellStyle3.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle3.BackColor = System.Drawing.Color.Maroon;
dataGridViewCellStyle3.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle3.ForeColor = System.Drawing.Color.White;
dataGridViewCellStyle3.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle3.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle3.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle3;
dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle1.BackColor = System.Drawing.Color.Maroon;
dataGridViewCellStyle1.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle1.ForeColor = System.Drawing.Color.White;
dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle1;
this.Params.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.Params.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Command,
@ -425,14 +427,14 @@
this.mavScale,
this.RawValue});
this.Params.Name = "Params";
dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle4.BackColor = System.Drawing.SystemColors.ActiveCaption;
dataGridViewCellStyle4.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle4.ForeColor = System.Drawing.SystemColors.WindowText;
dataGridViewCellStyle4.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle4.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle4.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle4;
dataGridViewCellStyle2.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle2.BackColor = System.Drawing.SystemColors.ActiveCaption;
dataGridViewCellStyle2.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle2.ForeColor = System.Drawing.SystemColors.WindowText;
dataGridViewCellStyle2.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle2.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle2.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle2;
this.Params.RowHeadersVisible = false;
this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged);
//
@ -1093,6 +1095,8 @@
//
// TabAC
//
this.TabAC.Controls.Add(this.myLabel4);
this.TabAC.Controls.Add(this.myLabel3);
this.TabAC.Controls.Add(this.TUNE_LOW);
this.TabAC.Controls.Add(this.TUNE_HIGH);
this.TabAC.Controls.Add(this.myLabel2);
@ -1765,6 +1769,25 @@
resources.ApplyResources(this.TabPlanner, "TabPlanner");
this.TabPlanner.Name = "TabPlanner";
//
// label33
//
resources.ApplyResources(this.label33, "label33");
this.label33.Name = "label33";
//
// CMB_ratesensors
//
this.CMB_ratesensors.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CMB_ratesensors.FormattingEnabled = true;
this.CMB_ratesensors.Items.AddRange(new object[] {
resources.GetString("CMB_ratesensors.Items"),
resources.GetString("CMB_ratesensors.Items1"),
resources.GetString("CMB_ratesensors.Items2"),
resources.GetString("CMB_ratesensors.Items3"),
resources.GetString("CMB_ratesensors.Items4")});
resources.ApplyResources(this.CMB_ratesensors, "CMB_ratesensors");
this.CMB_ratesensors.Name = "CMB_ratesensors";
this.CMB_ratesensors.SelectedIndexChanged += new System.EventHandler(this.CMB_ratesensors_SelectedIndexChanged);
//
// label26
//
resources.ApplyResources(this.label26, "label26");
@ -2136,24 +2159,17 @@
this.BUT_compare.UseVisualStyleBackColor = true;
this.BUT_compare.Click += new System.EventHandler(this.BUT_compare_Click);
//
// label33
// myLabel3
//
resources.ApplyResources(this.label33, "label33");
this.label33.Name = "label33";
resources.ApplyResources(this.myLabel3, "myLabel3");
this.myLabel3.Name = "myLabel3";
this.myLabel3.resize = false;
//
// CMB_ratesensors
// myLabel4
//
this.CMB_ratesensors.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CMB_ratesensors.FormattingEnabled = true;
this.CMB_ratesensors.Items.AddRange(new object[] {
resources.GetString("CMB_ratesensors.Items"),
resources.GetString("CMB_ratesensors.Items1"),
resources.GetString("CMB_ratesensors.Items2"),
resources.GetString("CMB_ratesensors.Items3"),
resources.GetString("CMB_ratesensors.Items4")});
resources.ApplyResources(this.CMB_ratesensors, "CMB_ratesensors");
this.CMB_ratesensors.Name = "CMB_ratesensors";
this.CMB_ratesensors.SelectedIndexChanged += new System.EventHandler(this.CMB_ratesensors_SelectedIndexChanged);
resources.ApplyResources(this.myLabel4, "myLabel4");
this.myLabel4.Name = "myLabel4";
this.myLabel4.resize = false;
//
// Configuration
//
@ -2546,5 +2562,7 @@
private System.Windows.Forms.NumericUpDown TUNE_HIGH;
private System.Windows.Forms.Label label33;
private System.Windows.Forms.ComboBox CMB_ratesensors;
private MyLabel myLabel4;
private MyLabel myLabel3;
}
}

12
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
View File

@ -363,7 +363,9 @@ namespace ArdupilotMega.GCSViews
thisctl.Minimum = -9000;
thisctl.Value = (decimal)(float)param[value];
thisctl.Increment = (decimal)0.001;
if (thisctl.Name.EndsWith("_P") || thisctl.Name.EndsWith("_I") || thisctl.Name.EndsWith("_D") || thisctl.Value == 0 || thisctl.Value.ToString("0.###", new System.Globalization.CultureInfo("en-US")).Contains("."))
if (thisctl.Name.EndsWith("_P") || thisctl.Name.EndsWith("_I") || thisctl.Name.EndsWith("_D")
|| thisctl.Name.EndsWith("_LOW") || thisctl.Name.EndsWith("_HIGH") || thisctl.Value == 0
|| thisctl.Value.ToString("0.###", new System.Globalization.CultureInfo("en-US")).Contains("."))
{
thisctl.DecimalPlaces = 3;
}
@ -373,6 +375,12 @@ namespace ArdupilotMega.GCSViews
thisctl.DecimalPlaces = 1;
}
if (thisctl.Name.EndsWith("_IMAX"))
{
thisctl.Maximum = 180;
thisctl.Minimum = -180;
}
thisctl.Enabled = true;
thisctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
@ -403,7 +411,7 @@ namespace ArdupilotMega.GCSViews
}
if (text.Length == 0)
{
Console.WriteLine(name + " not found");
//Console.WriteLine(name + " not found");
}
}

11167
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.resx
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File diff suppressed because it is too large Load Diff

11
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
View File

@ -74,6 +74,8 @@ namespace ArdupilotMega.GCSViews
public static hud.HUD myhud = null;
public static GMapControl mymap = null;
bool playingLog = false;
public static PointLatLngAlt GuidedModeWP = new PointLatLngAlt();
@ -360,6 +362,11 @@ namespace ArdupilotMega.GCSViews
if (MainV2.comPort.logreadmode)
MainV2.comPort.logreadmode = false;
updatePlayPauseButton(false);
if (!playingLog && MainV2.comPort.logplaybackfile != null)
{
continue;
}
}
@ -1025,10 +1032,11 @@ namespace ArdupilotMega.GCSViews
{
MainV2.comPort.logreadmode = false;
ZedGraphTimer.Stop();
playingLog = false;
}
else
{
BUT_clear_track_Click(sender, e);
// BUT_clear_track_Click(sender, e);
MainV2.comPort.logreadmode = true;
list1.Clear();
list2.Clear();
@ -1045,6 +1053,7 @@ namespace ArdupilotMega.GCSViews
zg1.GraphPane.XAxis.Scale.Min = 0;
zg1.GraphPane.XAxis.Scale.Max = 1;
ZedGraphTimer.Start();
playingLog = true;
}
}

9
Tools/ArdupilotMegaPlanner/Joystick.cs
View File

@ -320,6 +320,15 @@ namespace ArdupilotMega
if (getJoystickAxis(4) != Joystick.joystickaxis.None)
MainV2.cs.rcoverridech4 = pickchannel(4, JoyChannels[4].axis, JoyChannels[4].reverse, JoyChannels[4].expo);//(ushort)(((int)state.X / 65.535) + 1000);
if (getJoystickAxis(5) != Joystick.joystickaxis.None)
MainV2.cs.rcoverridech5 = pickchannel(5, JoyChannels[5].axis, JoyChannels[5].reverse, JoyChannels[5].expo);
if (getJoystickAxis(6) != Joystick.joystickaxis.None)
MainV2.cs.rcoverridech6 = pickchannel(6, JoyChannels[6].axis, JoyChannels[6].reverse, JoyChannels[6].expo);
if (getJoystickAxis(7) != Joystick.joystickaxis.None)
MainV2.cs.rcoverridech7 = pickchannel(7, JoyChannels[7].axis, JoyChannels[7].reverse, JoyChannels[7].expo);
if (getJoystickAxis(8) != Joystick.joystickaxis.None)
MainV2.cs.rcoverridech8 = pickchannel(8, JoyChannels[8].axis, JoyChannels[8].reverse, JoyChannels[8].expo);
foreach (JoyButton but in JoyButtons)
{
if (but.buttonno != -1 && getButtonState(but.buttonno))

2
Tools/ArdupilotMegaPlanner/Log.cs
View File

@ -785,7 +785,7 @@ namespace ArdupilotMega
System.Threading.Thread.Sleep(500);
comPort.Write("erase\r");
System.Threading.Thread.Sleep(100);
TXT_seriallog.AppendText("!!Allow 30 seconds for erase\n");
TXT_seriallog.AppendText("!!Allow 30-90 seconds for erase\n");
status = serialstatus.Done;
CHK_logs.Items.Clear();
}

2
Tools/ArdupilotMegaPlanner/MagCalib.cs
View File

@ -227,7 +227,7 @@ namespace ArdupilotMega
/// <param name="ofs">offsets</param>
public static void SaveOffsets(double[] ofs)
{
if (MainV2.comPort.param.ContainsKey("COMPASS_OFS_X"))
if (MainV2.comPort.param.ContainsKey("COMPASS_OFS_X") && MainV2.comPort.BaseStream.IsOpen)
{
try
{

10
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -547,7 +547,7 @@ namespace ArdupilotMega
try
{
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
comPort.logfile = new BinaryWriter(File.Open(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm-ss") + ".tlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.Read));
comPort.logfile = new BinaryWriter(File.Open(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.Read));
}
catch { CustomMessageBox.Show("Failed to create log - wont log this session"); } // soft fail
@ -863,11 +863,13 @@ namespace ArdupilotMega
}
}
DateTime connectButtonUpdate = DateTime.Now;
private void updateConnectIcon()
{
DateTime menuupdate = DateTime.Now;
if ((DateTime.Now - menuupdate).Milliseconds > 500)
if ((DateTime.Now - connectButtonUpdate).Milliseconds > 500)
{
// Console.WriteLine(DateTime.Now.Millisecond);
if (comPort.BaseStream.IsOpen)
@ -896,7 +898,7 @@ namespace ArdupilotMega
});
}
}
menuupdate = DateTime.Now;
connectButtonUpdate = DateTime.Now;
}
}

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

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.1.54")]
[assembly: AssemblyFileVersion("1.1.55")]
[assembly: NeutralResourcesLanguageAttribute("")]

14
Tools/ArdupilotMegaPlanner/Setup/Setup.cs
View File

@ -453,15 +453,17 @@ namespace ArdupilotMega.Setup
CMB_batmontype.SelectedIndex = getIndex(CMB_batmontype,(int)float.Parse(MainV2.comPort.param["BATT_MONITOR"].ToString()));
}
if (TXT_ampspervolt.Text == "13.6612")
// ignore language re . vs ,
if (TXT_ampspervolt.Text == (13.6612).ToString())
{
CMB_batmonsensortype.SelectedIndex = 1;
}
else if (TXT_ampspervolt.Text == "27.3224")
else if (TXT_ampspervolt.Text == (27.3224).ToString())
{
CMB_batmonsensortype.SelectedIndex = 2;
}
else if (TXT_ampspervolt.Text == "54.64481")
else if (TXT_ampspervolt.Text == (54.64481).ToString())
{
CMB_batmonsensortype.SelectedIndex = 3;
}
@ -1682,6 +1684,12 @@ namespace ArdupilotMega.Setup
MainV2.cs.ratesensors = backupratesens;
if (data.Count < 10)
{
CustomMessageBox.Show("Log does not contain enough data");
return;
}
double[] ans = MagCalib.LeastSq(data);
MagCalib.SaveOffsets(ans);

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

Binary file not shown.

12
Tools/ArdupilotMegaPlanner/temp.Designer.cs generated
View File

@ -47,6 +47,7 @@
this.BUT_georefimage = new ArdupilotMega.MyButton();
this.BUT_follow_me = new ArdupilotMega.MyButton();
this.BUT_ant_track = new ArdupilotMega.MyButton();
this.BUT_magcalib = new ArdupilotMega.MyButton();
this.SuspendLayout();
//
// button1
@ -234,11 +235,21 @@
this.BUT_ant_track.UseVisualStyleBackColor = true;
this.BUT_ant_track.Click += new System.EventHandler(this.BUT_ant_track_Click);
//
// BUT_magcalib
//
this.BUT_magcalib.Location = new System.Drawing.Point(161, 164);
this.BUT_magcalib.Name = "BUT_magcalib";
this.BUT_magcalib.Size = new System.Drawing.Size(96, 23);
this.BUT_magcalib.TabIndex = 19;
this.BUT_magcalib.Text = "Mag Calib";
this.BUT_magcalib.Click += new System.EventHandler(this.BUT_magcalib_Click);
//
// temp
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(731, 281);
this.Controls.Add(this.BUT_magcalib);
this.Controls.Add(this.BUT_ant_track);
this.Controls.Add(this.BUT_follow_me);
this.Controls.Add(this.BUT_georefimage);
@ -287,6 +298,7 @@
private MyButton BUT_georefimage;
private MyButton BUT_follow_me;
private MyButton BUT_ant_track;
private MyButton BUT_magcalib;
//private SharpVectors.Renderers.Forms.SvgPictureBox svgPictureBox1;
}

5
Tools/ArdupilotMegaPlanner/temp.cs
View File

@ -886,5 +886,10 @@ namespace ArdupilotMega
{
new Antenna.Tracker().Show();
}
private void BUT_magcalib_Click(object sender, EventArgs e)
{
MagCalib.ProcessLog();
}
}
}