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APM Planner 1.1.62

Browse Source 
3dr Radio support
update mavlink library
This commit is contained in:
Michael Oborne 2012-04-07 07:51:00 +08:00
parent 127a990509
commit 762b1ea0df
32 changed files with 3299 additions and 2233 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
View File

@ -45,7 +45,7 @@
<DefineConstants>TRACE;DEBUG;MAVLINK10cra</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
<AllowUnsafeBlocks>false</AllowUnsafeBlocks>
<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
<DocumentationFile>
</DocumentationFile>
<CheckForOverflowUnderflow>false</CheckForOverflowUnderflow>
@ -61,7 +61,7 @@
<DefineConstants>TRACE;DEBUG;MAVLINK10cra</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
<AllowUnsafeBlocks>false</AllowUnsafeBlocks>
<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
<DocumentationFile>
</DocumentationFile>
<CheckForOverflowUnderflow>false</CheckForOverflowUnderflow>
@ -318,6 +318,7 @@
<DependentUpon>Setup.cs</DependentUpon>
</Compile>
<Compile Include="MagCalib.cs" />
<Compile Include="Mavlink\MavlinkOther.cs" />
<Compile Include="PIDTunning.cs" />
<Compile Include="Radio\3DRradio.cs">
<SubType>UserControl</SubType>

13
Tools/ArdupilotMegaPlanner/CodeGen.cs
View File

@ -49,13 +49,12 @@ namespace ArdupilotMega
return answer;
}
static ICodeCompiler CreateCompiler()
static CodeDomProvider CreateCompiler()
{
//Create an instance of the C# compiler
CodeDomProvider codeProvider = null;
codeProvider = new CSharpCodeProvider();
ICodeCompiler compiler = codeProvider.CreateCompiler();
return compiler;
CodeDomProvider codeProvider = CodeDomProvider.CreateProvider("CSharp");
//ICodeCompiler compiler = codeProvider.CreateCompiler();
return codeProvider;
}
/// <summary>
@ -88,7 +87,7 @@ namespace ArdupilotMega
/// <param name="parms"></param>
/// <param name="source"></param>
/// <returns></returns>
static private CompilerResults CompileCode(ICodeCompiler compiler, CompilerParameters parms, string source)
static private CompilerResults CompileCode(CodeDomProvider compiler, CompilerParameters parms, string source)
{
//actually compile the code
CompilerResults results = compiler.CompileAssemblyFromSource(
@ -144,7 +143,7 @@ namespace ArdupilotMega
static private CompilerResults CompileAssembly()
{
// create a compiler
ICodeCompiler compiler = CreateCompiler();
CodeDomProvider compiler = CreateCompiler();
// get all the compiler parameters
CompilerParameters parms = CreateCompilerParameters();
// compile the code into an assembly

9
Tools/ArdupilotMegaPlanner/Common.cs
View File

@ -448,7 +448,7 @@ namespace ArdupilotMega
case (int)Common.apmmodes.LOITER:
case (int)Common.apmmodes.FLY_BY_WIRE_A:
case (int)Common.apmmodes.FLY_BY_WIRE_B:
mode.base_mode = (byte)MAVLink.MAV_MODE_FLAG.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
mode.base_mode = (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED;
mode.custom_mode = (uint)(int)Enum.Parse(Common.getModes(), modein);
break;
default:
@ -468,7 +468,7 @@ namespace ArdupilotMega
case (int)Common.ac2modes.ALT_HOLD:
case (int)Common.ac2modes.CIRCLE:
case (int)Common.ac2modes.POSITION:
mode.base_mode = (byte)MAVLink.MAV_MODE_FLAG.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
mode.base_mode = (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED;
mode.custom_mode = (uint)(int)Enum.Parse(Common.getModes(), modein);
break;
default:
@ -576,7 +576,10 @@ namespace ArdupilotMega
try
{
// this is for mono to a ssl server
ServicePointManager.CertificatePolicy = new NoCheckCertificatePolicy();
//ServicePointManager.CertificatePolicy = new NoCheckCertificatePolicy();
ServicePointManager.ServerCertificateValidationCallback =
new System.Net.Security.RemoteCertificateValidationCallback((sender, certificate, chain, policyErrors) => { return true; });
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(url);

14
Tools/ArdupilotMegaPlanner/CurrentState.cs
View File

@ -385,9 +385,9 @@ namespace ArdupilotMega
mode = "Unknown";
if ((hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) != 0)
if ((hb.base_mode & (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED) != 0)
{
if (hb.type == (byte)MAVLink.MAV_TYPE.MAV_TYPE_FIXED_WING)
if (hb.type == (byte)MAVLink.MAV_TYPE.FIXED_WING)
{
switch (hb.custom_mode)
{
@ -423,7 +423,7 @@ namespace ArdupilotMega
break;
}
}
else if (hb.type == (byte)MAVLink.MAV_TYPE.MAV_TYPE_QUADROTOR)
else if (hb.type == (byte)MAVLink.MAV_TYPE.QUADROTOR)
{
switch (hb.custom_mode)
{
@ -461,9 +461,9 @@ namespace ArdupilotMega
}
}
if (oldmode != mode && MainV2.speechenable && MainV2.getConfig("speechmodeenabled") == "True")
if (oldmode != mode && MainV2.speechEnable && MainV2.getConfig("speechmodeenabled") == "True")
{
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
}
}
@ -726,9 +726,9 @@ namespace ArdupilotMega
wpno = wpcur.seq;
if (oldwp != wpno && MainV2.speechenable && MainV2.getConfig("speechwaypointenabled") == "True")
if (oldwp != wpno && MainV2.speechEnable && MainV2.getConfig("speechwaypointenabled") == "True")
{
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
}
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;

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

@ -579,7 +579,6 @@ namespace ArdupilotMega.GCSViews
}
}
catch { ((Control)text[0]).BackColor = Color.Red; }
Params.Focus();
}
@ -712,13 +711,6 @@ namespace ArdupilotMega.GCSViews
{
if (ConfigTabs.SelectedTab == TabSetup)
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
CustomMessageBox.Show("Please Connect First");
ConfigTabs.SelectedIndex = 0;
}
else
{
GCSViews.ConfigurationView.Setup temp = new GCSViews.ConfigurationView.Setup();
@ -729,7 +721,6 @@ namespace ArdupilotMega.GCSViews
startup = true;
processToScreen();
startup = false;
}
}
}
@ -1106,7 +1097,7 @@ namespace ArdupilotMega.GCSViews
{
param2 = loadParamFile(ofd.FileName);
ParamCompare temp = new ParamCompare(this, param, param2);
ParamCompare temp = new ParamCompare(Params, param, param2);
ThemeManager.ApplyThemeTo(temp);
temp.ShowDialog();
}

4
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.Designer.cs generated
View File

@ -28,6 +28,7 @@
/// </summary>
private void InitializeComponent()
{
this.components = new System.ComponentModel.Container();
this.myLabel3 = new ArdupilotMega.MyLabel();
this.TUNE_LOW = new System.Windows.Forms.NumericUpDown();
this.TUNE_HIGH = new System.Windows.Forms.NumericUpDown();
@ -123,6 +124,7 @@
this.label90 = new System.Windows.Forms.Label();
this.RATE_RLL_P = new System.Windows.Forms.NumericUpDown();
this.label91 = new System.Windows.Forms.Label();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
((System.ComponentModel.ISupportInitialize)(this.TUNE_LOW)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.TUNE_HIGH)).BeginInit();
this.groupBox5.SuspendLayout();
@ -1090,6 +1092,7 @@
this.Controls.Add(this.groupBox25);
this.Name = "ConfigArducopter";
this.Size = new System.Drawing.Size(728, 393);
this.Load += new System.EventHandler(this.ConfigArducopter_Load);
((System.ComponentModel.ISupportInitialize)(this.TUNE_LOW)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.TUNE_HIGH)).EndInit();
this.groupBox5.ResumeLayout(false);
@ -1243,5 +1246,6 @@
private System.Windows.Forms.Label label90;
private System.Windows.Forms.NumericUpDown RATE_RLL_P;
private System.Windows.Forms.Label label91;
private System.Windows.Forms.ToolTip toolTip1;
}
}

329
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.cs
View File

@ -7,14 +7,343 @@ using System.Linq;
using System.Text;
using System.Windows.Forms;
using ArdupilotMega.Controls.BackstageView;
using System.Collections;
namespace ArdupilotMega.GCSViews.ConfigurationView
{
public partial class ConfigArducopter : BackStageViewContentPanel
{
Hashtable changes = new Hashtable();
static Hashtable tooltips = new Hashtable();
internal bool startup = true;
public ConfigArducopter()
{
InitializeComponent();
}
public struct paramsettings // hk's
{
public string name;
public float minvalue;
public float maxvalue;
public float normalvalue;
public float scale;
public string desc;
}
private void ConfigArducopter_Load(object sender, EventArgs e)
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
this.Enabled = false;
return;
}
else
{
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
this.Enabled = true;
}
else
{
this.Enabled = false;
return;
}
}
startup = true;
changes.Clear();
// read tooltips
if (tooltips.Count == 0)
readToolTips();
// ensure the fields are populated before setting them
CH7_OPT.DataSource = Enum.GetNames(typeof(Common.ac2ch7modes));
TUNE.DataSource = Enum.GetNames(typeof(Common.ac2ch6modes));
// prefill all fields
processToScreen();
startup = false;
}
void readToolTips()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
string data = resources.GetString("MAVParam");
if (data == null)
{
data = global::ArdupilotMega.Properties.Resources.MAVParam;
}
string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
foreach (var tip in tips)
{
if (!tip.StartsWith("||"))
continue;
string[] cols = tip.Split(new string[] { "||" }, 9, StringSplitOptions.None);
if (cols.Length >= 8)
{
paramsettings param = new paramsettings();
try
{
param.name = cols[1];
param.desc = AddNewLinesForTooltip(cols[7]);
param.scale = float.Parse(cols[5]);
param.minvalue = float.Parse(cols[2]);
param.maxvalue = float.Parse(cols[3]);
param.normalvalue = float.Parse(cols[4]);
}
catch { }
tooltips[cols[1]] = param;
}
}
}
// from http://stackoverflow.com/questions/2512781/winforms-big-paragraph-tooltip/2512895#2512895
private const int maximumSingleLineTooltipLength = 50;
private static string AddNewLinesForTooltip(string text)
{
if (text.Length < maximumSingleLineTooltipLength)
return text;
int lineLength = (int)Math.Sqrt((double)text.Length) * 2;
StringBuilder sb = new StringBuilder();
int currentLinePosition = 0;
for (int textIndex = 0; textIndex < text.Length; textIndex++)
{
// If we have reached the target line length and the next
// character is whitespace then begin a new line.
if (currentLinePosition >= lineLength &&
char.IsWhiteSpace(text[textIndex]))
{
sb.Append(Environment.NewLine);
currentLinePosition = 0;
}
// If we have just started a new line, skip all the whitespace.
if (currentLinePosition == 0)
while (textIndex < text.Length && char.IsWhiteSpace(text[textIndex]))
textIndex++;
// Append the next character.
if (textIndex < text.Length) sb.Append(text[textIndex]);
currentLinePosition++;
}
return sb.ToString();
}
void disableNumericUpDownControls(Control inctl)
{
foreach (Control ctl in inctl.Controls)
{
if (ctl.Controls.Count > 0)
{
disableNumericUpDownControls(ctl);
}
if (ctl.GetType() == typeof(NumericUpDown))
{
ctl.Enabled = false;
}
}
}
internal void processToScreen()
{
toolTip1.RemoveAll();
disableNumericUpDownControls(this);
// process hashdefines and update display
foreach (string value in MainV2.comPort.param.Keys)
{
if (value == null || value == "")
continue;
//System.Diagnostics.Debug.WriteLine("Doing: " + value);
string name = value;
Control[] text = this.Controls.Find(name, true);
foreach (Control ctl in text)
{
try
{
if (ctl.GetType() == typeof(NumericUpDown))
{
NumericUpDown thisctl = ((NumericUpDown)ctl);
thisctl.Maximum = 9000;
thisctl.Minimum = -9000;
thisctl.Value = (decimal)(float)MainV2.comPort.param[value];
thisctl.Increment = (decimal)0.001;
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;
}
else
{
thisctl.Increment = (decimal)1;
thisctl.DecimalPlaces = 1;
}
if (thisctl.Name.EndsWith("_IMAX"))
{
thisctl.Maximum = 180;
thisctl.Minimum = -180;
}
thisctl.Enabled = true;
thisctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
thisctl.Validated += null;
if (tooltips[value] != null)
{
try
{
toolTip1.SetToolTip(ctl, ((paramsettings)tooltips[value]).desc);
}
catch { }
}
thisctl.Validated += new EventHandler(EEPROM_View_float_TextChanged);
}
else if (ctl.GetType() == typeof(ComboBox))
{
ComboBox thisctl = ((ComboBox)ctl);
thisctl.SelectedIndex = (int)(float)MainV2.comPort.param[value];
thisctl.Validated += new EventHandler(ComboBox_Validated);
thisctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
}
}
catch { }
}
if (text.Length == 0)
{
//Console.WriteLine(name + " not found");
}
}
}
void ComboBox_Validated(object sender, EventArgs e)
{
EEPROM_View_float_TextChanged(sender, e);
}
void Configuration_Validating(object sender, CancelEventArgs e)
{
EEPROM_View_float_TextChanged(sender, e);
}
internal void EEPROM_View_float_TextChanged(object sender, EventArgs e)
{
if (startup == true)
return;
float value = 0;
string name = ((Control)sender).Name;
// do domainupdown state check
try
{
if (sender.GetType() == typeof(NumericUpDown))
{
value = float.Parse(((Control)sender).Text);
changes[name] = value;
}
else if (sender.GetType() == typeof(ComboBox))
{
value = ((ComboBox)sender).SelectedIndex;
changes[name] = value;
}
((Control)sender).BackColor = Color.Green;
}
catch (Exception)
{
((Control)sender).BackColor = Color.Red;
}
try
{
// enable roll and pitch pairing for ac2
if (CHK_lockrollpitch.Checked)
{
if (name.StartsWith("RATE_") || name.StartsWith("STB_") || name.StartsWith("ACRO_"))
{
if (name.Contains("_RLL_"))
{
string newname = name.Replace("_RLL_", "_PIT_");
Control[] arr = this.Controls.Find(newname, true);
changes[newname] = float.Parse(((Control)sender).Text);
if (arr.Length > 0)
{
arr[0].Text = ((Control)sender).Text;
arr[0].BackColor = Color.Green;
}
}
else if (name.Contains("_PIT_"))
{
string newname = name.Replace("_PIT_", "_RLL_");
Control[] arr = this.Controls.Find(newname, true);
changes[newname] = float.Parse(((Control)sender).Text);
if (arr.Length > 0)
{
arr[0].Text = ((Control)sender).Text;
arr[0].BackColor = Color.Green;
}
}
}
}
// keep nav_lat and nav_lon paired
if (name.Contains("NAV_LAT_"))
{
string newname = name.Replace("NAV_LAT_", "NAV_LON_");
Control[] arr = this.Controls.Find(newname, true);
changes[newname] = float.Parse(((Control)sender).Text);
if (arr.Length > 0)
{
arr[0].Text = ((Control)sender).Text;
arr[0].BackColor = Color.Green;
}
}
// keep nav_lat and nav_lon paired
if (name.Contains("HLD_LAT_"))
{
string newname = name.Replace("HLD_LAT_", "HLD_LON_");
Control[] arr = this.Controls.Find(newname, true);
changes[newname] = float.Parse(((Control)sender).Text);
if (arr.Length > 0)
{
arr[0].Text = ((Control)sender).Text;
arr[0].BackColor = Color.Green;
}
}
}
catch { }
}
}
}

3
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.resx
View File

@ -117,4 +117,7 @@
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
</root>

4
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.Designer.cs generated
View File

@ -28,6 +28,7 @@
/// </summary>
private void InitializeComponent()
{
this.components = new System.ComponentModel.Container();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.THR_FS_VALUE = new System.Windows.Forms.NumericUpDown();
this.label5 = new System.Windows.Forms.Label();
@ -128,6 +129,7 @@
this.label51 = new System.Windows.Forms.Label();
this.RLL2SRV_P = new System.Windows.Forms.NumericUpDown();
this.label52 = new System.Windows.Forms.Label();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.groupBox3.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.THR_FS_VALUE)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.THR_MAX)).BeginInit();
@ -1104,6 +1106,7 @@
this.Controls.Add(this.groupBox8);
this.Name = "ConfigArduplane";
this.Size = new System.Drawing.Size(621, 456);
this.Load += new System.EventHandler(this.ConfigArduplane_Load);
this.groupBox3.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.THR_FS_VALUE)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.THR_MAX)).EndInit();
@ -1266,5 +1269,6 @@
private System.Windows.Forms.Label label51;
private System.Windows.Forms.NumericUpDown RLL2SRV_P;
private System.Windows.Forms.Label label52;
private System.Windows.Forms.ToolTip toolTip1;
}
}

251
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.cs
View File

@ -7,14 +7,265 @@ using System.Linq;
using System.Text;
using System.Windows.Forms;
using ArdupilotMega.Controls.BackstageView;
using System.Collections;
namespace ArdupilotMega.GCSViews.ConfigurationView
{
public partial class ConfigArduplane : BackStageViewContentPanel
{
Hashtable changes = new Hashtable();
static Hashtable tooltips = new Hashtable();
internal bool startup = true;
public ConfigArduplane()
{
InitializeComponent();
}
private void ConfigArduplane_Load(object sender, EventArgs e)
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
this.Enabled = false;
return;
}
else
{
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
this.Enabled = true;
}
else
{
this.Enabled = false;
return;
}
}
startup = true;
changes.Clear();
// read tooltips
if (tooltips.Count == 0)
readToolTips();
processToScreen();
startup = false;
}
public struct paramsettings // hk's
{
public string name;
public float minvalue;
public float maxvalue;
public float normalvalue;
public float scale;
public string desc;
}
void readToolTips()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
string data = resources.GetString("MAVParam");
if (data == null)
{
data = global::ArdupilotMega.Properties.Resources.MAVParam;
}
string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
foreach (var tip in tips)
{
if (!tip.StartsWith("||"))
continue;
string[] cols = tip.Split(new string[] { "||" }, 9, StringSplitOptions.None);
if (cols.Length >= 8)
{
paramsettings param = new paramsettings();
try
{
param.name = cols[1];
param.desc = AddNewLinesForTooltip(cols[7]);
param.scale = float.Parse(cols[5]);
param.minvalue = float.Parse(cols[2]);
param.maxvalue = float.Parse(cols[3]);
param.normalvalue = float.Parse(cols[4]);
}
catch { }
tooltips[cols[1]] = param;
}
}
}
// from http://stackoverflow.com/questions/2512781/winforms-big-paragraph-tooltip/2512895#2512895
private const int maximumSingleLineTooltipLength = 50;
private static string AddNewLinesForTooltip(string text)
{
if (text.Length < maximumSingleLineTooltipLength)
return text;
int lineLength = (int)Math.Sqrt((double)text.Length) * 2;
StringBuilder sb = new StringBuilder();
int currentLinePosition = 0;
for (int textIndex = 0; textIndex < text.Length; textIndex++)
{
// If we have reached the target line length and the next
// character is whitespace then begin a new line.
if (currentLinePosition >= lineLength &&
char.IsWhiteSpace(text[textIndex]))
{
sb.Append(Environment.NewLine);
currentLinePosition = 0;
}
// If we have just started a new line, skip all the whitespace.
if (currentLinePosition == 0)
while (textIndex < text.Length && char.IsWhiteSpace(text[textIndex]))
textIndex++;
// Append the next character.
if (textIndex < text.Length) sb.Append(text[textIndex]);
currentLinePosition++;
}
return sb.ToString();
}
void disableNumericUpDownControls(Control inctl)
{
foreach (Control ctl in inctl.Controls)
{
if (ctl.Controls.Count > 0)
{
disableNumericUpDownControls(ctl);
}
if (ctl.GetType() == typeof(NumericUpDown))
{
ctl.Enabled = false;
}
}
}
internal void processToScreen()
{
toolTip1.RemoveAll();
disableNumericUpDownControls(this);
// process hashdefines and update display
foreach (string value in MainV2.comPort.param.Keys)
{
if (value == null || value == "")
continue;
string name = value;
Control[] text = this.Controls.Find(name, true);
foreach (Control ctl in text)
{
try
{
if (ctl.GetType() == typeof(NumericUpDown))
{
NumericUpDown thisctl = ((NumericUpDown)ctl);
thisctl.Maximum = 9000;
thisctl.Minimum = -9000;
thisctl.Value = (decimal)(float)MainV2.comPort.param[value];
thisctl.Increment = (decimal)0.001;
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;
}
else
{
thisctl.Increment = (decimal)1;
thisctl.DecimalPlaces = 1;
}
if (thisctl.Name.EndsWith("_IMAX"))
{
thisctl.Maximum = 180;
thisctl.Minimum = -180;
}
thisctl.Enabled = true;
thisctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
thisctl.Validated += null;
if (tooltips[value] != null)
{
try
{
toolTip1.SetToolTip(ctl, ((paramsettings)tooltips[value]).desc);
}
catch { }
}
thisctl.Validated += new EventHandler(EEPROM_View_float_TextChanged);
}
else if (ctl.GetType() == typeof(ComboBox))
{
ComboBox thisctl = ((ComboBox)ctl);
thisctl.SelectedIndex = (int)(float)MainV2.comPort.param[value];
thisctl.Validated += new EventHandler(ComboBox_Validated);
}
}
catch { }
}
if (text.Length == 0)
{
//Console.WriteLine(name + " not found");
}
}
}
void ComboBox_Validated(object sender, EventArgs e)
{
EEPROM_View_float_TextChanged(sender, e);
}
void Configuration_Validating(object sender, CancelEventArgs e)
{
EEPROM_View_float_TextChanged(sender, e);
}
internal void EEPROM_View_float_TextChanged(object sender, EventArgs e)
{
float value = 0;
string name = ((Control)sender).Name;
// do domainupdown state check
try
{
if (sender.GetType() == typeof(NumericUpDown))
{
value = float.Parse(((Control)sender).Text);
changes[name] = value;
}
else if (sender.GetType() == typeof(ComboBox))
{
value = ((ComboBox)sender).SelectedIndex;
changes[name] = value;
}
((Control)sender).BackColor = Color.Green;
}
catch (Exception)
{
((Control)sender).BackColor = Color.Red;
}
}
}
}

3
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.resx
View File

@ -117,4 +117,7 @@
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
</root>

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

@ -32,7 +32,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
MainV2.cs.ratesensors = 10;
MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // mag captures at 10 hz
MainV2.comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // mag captures at 10 hz
CustomMessageBox.Show("Data will be collected for 30 seconds, Please click ok and move the apm around all axises");

4
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRadioInput.cs
View File

@ -115,7 +115,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
try
{
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, 10);
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, 10);
}
catch { }
@ -229,7 +229,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
try
{
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, oldrc);
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, oldrc);
}
catch { }

16
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.Designer.cs generated
View File

@ -28,6 +28,7 @@
/// </summary>
private void InitializeComponent()
{
this.components = new System.ComponentModel.Container();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
this.BUT_compare = new ArdupilotMega.MyButton();
@ -41,11 +42,13 @@
this.Default = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.mavScale = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.RawValue = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
this.SuspendLayout();
//
// BUT_compare
//
this.BUT_compare.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.BUT_compare.ImeMode = System.Windows.Forms.ImeMode.NoControl;
this.BUT_compare.Location = new System.Drawing.Point(341, 119);
this.BUT_compare.Name = "BUT_compare";
@ -57,6 +60,7 @@
//
// BUT_rerequestparams
//
this.BUT_rerequestparams.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.BUT_rerequestparams.ImeMode = System.Windows.Forms.ImeMode.NoControl;
this.BUT_rerequestparams.Location = new System.Drawing.Point(341, 94);
this.BUT_rerequestparams.Name = "BUT_rerequestparams";
@ -68,6 +72,7 @@
//
// BUT_writePIDS
//
this.BUT_writePIDS.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.BUT_writePIDS.ImeMode = System.Windows.Forms.ImeMode.NoControl;
this.BUT_writePIDS.Location = new System.Drawing.Point(341, 69);
this.BUT_writePIDS.Name = "BUT_writePIDS";
@ -79,6 +84,7 @@
//
// BUT_save
//
this.BUT_save.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.BUT_save.ImeMode = System.Windows.Forms.ImeMode.NoControl;
this.BUT_save.Location = new System.Drawing.Point(341, 35);
this.BUT_save.Margin = new System.Windows.Forms.Padding(0);
@ -91,6 +97,7 @@
//
// BUT_load
//
this.BUT_load.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.BUT_load.ImeMode = System.Windows.Forms.ImeMode.NoControl;
this.BUT_load.Location = new System.Drawing.Point(341, 7);
this.BUT_load.Margin = new System.Windows.Forms.Padding(0);
@ -105,8 +112,9 @@
//
this.Params.AllowUserToAddRows = false;
this.Params.AllowUserToDeleteRows = false;
this.Params.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)));
this.Params.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
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)));
@ -136,6 +144,7 @@
this.Params.RowHeadersWidth = 150;
this.Params.Size = new System.Drawing.Size(321, 302);
this.Params.TabIndex = 68;
this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged);
//
// Command
//
@ -181,8 +190,6 @@
this.Name = "ConfigRawParams";
this.Size = new System.Drawing.Size(460, 305);
this.Load += new System.EventHandler(this.ConfigRawParams_Load);
this.ControlAdded += new System.Windows.Forms.ControlEventHandler(this.ConfigRawParams_ControlAdded);
this.ControlRemoved += new System.Windows.Forms.ControlEventHandler(this.ConfigRawParams_ControlRemoved);
((System.ComponentModel.ISupportInitialize)(this.Params)).EndInit();
this.ResumeLayout(false);
@ -201,5 +208,6 @@
private System.Windows.Forms.DataGridViewTextBoxColumn Default;
private System.Windows.Forms.DataGridViewTextBoxColumn mavScale;
private System.Windows.Forms.DataGridViewTextBoxColumn RawValue;
private System.Windows.Forms.ToolTip toolTip1;
}
}

171
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.cs
View File

@ -21,9 +21,21 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
// Changes made to the params between writing to the copter
readonly Hashtable _changes = new Hashtable();
static Hashtable tooltips = new Hashtable();
// ?
internal bool startup = true;
public struct paramsettings // hk's
{
public string name;
public float minvalue;
public float maxvalue;
public float normalvalue;
public float scale;
public string desc;
}
public ConfigRawParams()
{
@ -234,11 +246,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
{
param2 = loadParamFile(ofd.FileName);
int fixme;
//var paramCompareForm = new ParamCompare((Form)this, MainV2.comPort.param, param2);
Form paramCompareForm = new ParamCompare(Params, MainV2.comPort.param, param2);
//ThemeManager.ApplyThemeTo(paramCompareForm);
//paramCompareForm.ShowDialog();
ThemeManager.ApplyThemeTo(paramCompareForm);
paramCompareForm.ShowDialog();
}
}
@ -264,25 +275,155 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
((Control)sender).Enabled = true;
startup = true;
processToScreen();
startup = false;
// Todo: this populates or the combos etc and what not. This shoudl prob be a bsv button
}
void Params_CellValueChanged(object sender, DataGridViewCellEventArgs e)
{
if (e.RowIndex == -1 || e.ColumnIndex == -1 || startup == true || e.ColumnIndex != 1)
return;
try
{
if (Params[Command.Index, e.RowIndex].Value.ToString().EndsWith("_REV") && (Params[Command.Index, e.RowIndex].Value.ToString().StartsWith("RC") || Params[Command.Index, e.RowIndex].Value.ToString().StartsWith("HS")))
{
if (Params[e.ColumnIndex, e.RowIndex].Value.ToString() == "0")
Params[e.ColumnIndex, e.RowIndex].Value = "-1";
}
Params[e.ColumnIndex, e.RowIndex].Style.BackColor = Color.Green;
_changes[Params[0, e.RowIndex].Value] = float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString());
}
catch (Exception)
{
Params[e.ColumnIndex, e.RowIndex].Style.BackColor = Color.Red;
}
Params.Focus();
}
void readToolTips()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
string data = resources.GetString("MAVParam");
if (data == null)
{
data = global::ArdupilotMega.Properties.Resources.MAVParam;
}
string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
foreach (var tip in tips)
{
if (!tip.StartsWith("||"))
continue;
string[] cols = tip.Split(new string[] { "||" }, 9, StringSplitOptions.None);
if (cols.Length >= 8)
{
paramsettings param = new paramsettings();
try
{
param.name = cols[1];
param.desc = AddNewLinesForTooltip(cols[7]);
param.scale = float.Parse(cols[5]);
param.minvalue = float.Parse(cols[2]);
param.maxvalue = float.Parse(cols[3]);
param.normalvalue = float.Parse(cols[4]);
}
catch { }
tooltips[cols[1]] = param;
}
}
}
// from http://stackoverflow.com/questions/2512781/winforms-big-paragraph-tooltip/2512895#2512895
private const int maximumSingleLineTooltipLength = 50;
private static string AddNewLinesForTooltip(string text)
{
if (text.Length < maximumSingleLineTooltipLength)
return text;
int lineLength = (int)Math.Sqrt((double)text.Length) * 2;
StringBuilder sb = new StringBuilder();
int currentLinePosition = 0;
for (int textIndex = 0; textIndex < text.Length; textIndex++)
{
// If we have reached the target line length and the next
// character is whitespace then begin a new line.
if (currentLinePosition >= lineLength &&
char.IsWhiteSpace(text[textIndex]))
{
sb.Append(Environment.NewLine);
currentLinePosition = 0;
}
// If we have just started a new line, skip all the whitespace.
if (currentLinePosition == 0)
while (textIndex < text.Length && char.IsWhiteSpace(text[textIndex]))
textIndex++;
// Append the next character.
if (textIndex < text.Length) sb.Append(text[textIndex]);
currentLinePosition++;
}
return sb.ToString();
}
internal void processToScreen()
{
toolTip1.RemoveAll();
Params.Rows.Clear();
// process hashdefines and update display
foreach (string value in MainV2.comPort.param.Keys)
{
if (value == null || value == "")
continue;
//System.Diagnostics.Debug.WriteLine("Doing: " + value);
Params.Rows.Add();
Params.Rows[Params.RowCount - 1].Cells[Command.Index].Value = value;
Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = ((float)MainV2.comPort.param[value]).ToString("0.###");
try
{
if (tooltips[value] != null)
{
Params.Rows[Params.RowCount - 1].Cells[Command.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
//Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
Params.Rows[Params.RowCount - 1].Cells[Value.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
//Params.Rows[Params.RowCount - 1].Cells[Default.Index].Value = ((paramsettings)tooltips[value]).normalvalue;
//Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value = ((paramsettings)tooltips[value]).scale;
//Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = float.Parse(Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].Value.ToString()) / float.Parse(Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value.ToString());
}
}
catch { }
}
Params.Sort(Params.Columns[0], ListSortDirection.Ascending);
}
private void ConfigRawParams_Load(object sender, EventArgs e)
{
// read tooltips
if (tooltips.Count == 0)
readToolTips();
startup = true;
processToScreen();
startup = false;
}
private void ConfigRawParams_ControlRemoved(object sender, ControlEventArgs e)
{
}
private void ConfigRawParams_ControlAdded(object sender, ControlEventArgs e)
{
}
}
}

3
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.resx
View File

@ -129,4 +129,7 @@
<metadata name="RawValue.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
</root>

1
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Configuration.Designer.cs generated
View File

@ -47,6 +47,7 @@
this.Controls.Add(this.backstageView);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.Name = "Configuration";
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Configuration_FormClosing);
this.ResumeLayout(false);
this.PerformLayout();

7
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Configuration.cs
View File

@ -23,9 +23,14 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigAccelerometerCalibration(), "Level Calibration"));
this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigArducopter(), "Arducopter Setup"));
this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigArduplane(), "Arduplane Setup"));
this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigArduplane(), "Heli Setup"));
this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigTradHeli(), "Heli Setup"));
this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigRawParams(), "Raw params (Advanced)"));
this.backstageView.AddPage(new BackstageView.BackstageViewPage(new ConfigPlanner(), "Planner"));
}
private void Configuration_FormClosing(object sender, FormClosingEventArgs e)
{
backstageView.Close();
}
}
}

13
Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Setup.Designer.cs generated
View File

@ -29,20 +29,9 @@
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Setup));
this.lbl_pleaseconnect = new System.Windows.Forms.Label();
this.backstageView = new ArdupilotMega.Controls.BackstageView.BackstageView();
this.SuspendLayout();
//
// lbl_pleaseconnect
//
this.lbl_pleaseconnect.AutoSize = true;
this.lbl_pleaseconnect.Location = new System.Drawing.Point(297, 284);
this.lbl_pleaseconnect.Name = "lbl_pleaseconnect";
this.lbl_pleaseconnect.Size = new System.Drawing.Size(104, 13);
this.lbl_pleaseconnect.TabIndex = 1;
this.lbl_pleaseconnect.Text = "Please Connect First";
this.lbl_pleaseconnect.Visible = false;
//
// backstageView
//
this.backstageView.AutoSize = true;
@ -55,7 +44,6 @@
// Setup
//
this.ClientSize = new System.Drawing.Size(823, 468);
this.Controls.Add(this.lbl_pleaseconnect);
this.Controls.Add(this.backstageView);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.MinimumSize = new System.Drawing.Size(839, 506);
@ -71,6 +59,5 @@
#endregion
private Controls.BackstageView.BackstageView backstageView;
private System.Windows.Forms.Label lbl_pleaseconnect;
}
}

18
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
View File

@ -276,14 +276,14 @@ namespace ArdupilotMega.GCSViews
{
//System.Threading.Thread.Sleep(1000);
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER, 0); // request servoout
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTENDED_STATUS, MainV2.cs.ratestatus); // mode
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION, MainV2.cs.rateposition); // request gps
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA1, MainV2.cs.rateattitude); // request attitude
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA2, MainV2.cs.rateattitude); // request vfr
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA3, MainV2.cs.ratesensors); // request extra stuff - tridge
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, MainV2.cs.raterc); // request rc info
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.cs.ratestatus); // mode
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.cs.rateposition); // request gps
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.cs.rateattitude); // request attitude
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.cs.rateattitude); // request vfr
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.cs.ratesensors); // request extra stuff - tridge
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.cs.raterc); // request rc info
}
catch { }
lastdata = DateTime.Now.AddSeconds(12); // prevent flooding
@ -927,7 +927,7 @@ namespace ArdupilotMega.GCSViews
{
MainV2.giveComport = true;
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT, (byte)2);
GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt,"Guided Mode");

10
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
View File

@ -1164,7 +1164,7 @@ namespace ArdupilotMega.GCSViews
sw.Write((a + 1)); // seq
sw.Write("\t" + 0); // current
sw.Write("\t" + (CHK_altmode.Checked == true ? (byte)MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL : (byte)MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT)); //frame
sw.Write("\t" + (CHK_altmode.Checked == true ? (byte)MAVLink.MAV_FRAME.GLOBAL : (byte)MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT)); //frame
sw.Write("\t" + mode);
sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Param1.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
sw.Write("\t" + double.Parse(Commands.Rows[a].Cells[Param2.Index].Value.ToString()).ToString("0.000000", new System.Globalization.CultureInfo("en-US")));
@ -1352,9 +1352,9 @@ namespace ArdupilotMega.GCSViews
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(0, "Set Home");
port.setWP(home, (ushort)0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL, 0);
port.setWP(home, (ushort)0, MAVLink.MAV_FRAME.GLOBAL, 0);
MAVLink.MAV_FRAME frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT;
MAVLink.MAV_FRAME frame = MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT;
// process grid to memory eeprom
for (int a = 0; a < Commands.Rows.Count - 0; a++)
@ -1368,11 +1368,11 @@ namespace ArdupilotMega.GCSViews
{
if (CHK_altmode.Checked)
{
frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL;
frame = MAVLink.MAV_FRAME.GLOBAL;
}
else
{
frame = MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT;
frame = MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT;
}
}

17
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
View File

@ -51,7 +51,11 @@ namespace ArdupilotMega.GCSViews
// gps buffer
int gpsbufferindex = 0;
#if !MAVLINK10
ArdupilotMega.MAVLink.mavlink_gps_raw_t[] gpsbuffer = new MAVLink.mavlink_gps_raw_t[5];
#else
ArdupilotMega.MAVLink.mavlink_gps_raw_int_t[] gpsbuffer = new MAVLink.mavlink_gps_raw_int_t[5];
#endif
// set defaults
int rollgain = 10000;
@ -374,7 +378,6 @@ namespace ArdupilotMega.GCSViews
/// <param name="write">true/false</param>
private void xmlconfig(bool write)
{
int fixme; // add profiles?
if (write)
{
ArdupilotMega.MainV2.config["REV_roll"] = CHKREV_roll.Checked.ToString();
@ -576,11 +579,11 @@ namespace ArdupilotMega.GCSViews
{
if (CHK_quad.Checked && !RAD_aerosimrc.Checked)// || chkSensor.Checked && RAD_JSBSim.Checked)
{
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER, 0); // request servoout
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
}
else
{
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER, 50); // request servoout
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_CONTROLLER, 50); // request servoout
}
}
catch { }
@ -834,11 +837,11 @@ namespace ArdupilotMega.GCSViews
gps.fix_type = 3;
if (xplane9)
{
gps.cog = ((float)DATA[19][2]);
gps.cog = (ushort)((float)DATA[19][2]);
}
else
{
gps.cog = ((float)DATA[18][2]);
gps.cog = (ushort)((float)DATA[18][2]);
}
gps.lat = (int)(DATA[20][0] * 1.0e7);
gps.lon = (int)(DATA[20][1] * 1.0e7);
@ -1167,7 +1170,11 @@ namespace ArdupilotMega.GCSViews
sitlout.alt = gps.alt;
sitlout.lat = gps.lat;
sitlout.lon = gps.lon;
#if !MAVLINK10
sitlout.heading = gps.hdg;
#else
sitlout.heading = gps.cog;
#endif
sitlout.v_north = DATA[21][4];
sitlout.v_east = DATA[21][5];

52
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -799,7 +799,7 @@ namespace ArdupilotMega
public bool setWPCurrent(ushort index)
{
#if MAVLINK10
MainV2.givecomport = true;
MainV2.giveComport = true;
byte[] buffer;
mavlink_mission_set_current_t req = new mavlink_mission_set_current_t();
@ -825,7 +825,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
throw new Exception("Timeout on read - setWPCurrent");
}
@ -834,7 +834,7 @@ namespace ArdupilotMega
{
if (buffer[5] == MAVLINK_MSG_ID_MISSION_CURRENT)
{
MainV2.givecomport = false;
MainV2.giveComport = false;
return true;
}
}
@ -844,7 +844,7 @@ namespace ArdupilotMega
public bool doCommand(MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
{
MainV2.givecomport = true;
MainV2.giveComport = true;
byte[] buffer;
mavlink_command_long_t req = new mavlink_command_long_t();
@ -888,7 +888,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
throw new Exception("Timeout on read - doAction");
}
@ -902,14 +902,14 @@ namespace ArdupilotMega
var ack = buffer.ByteArrayToStructure<mavlink_command_ack_t>(6);
if (ack.result == (byte)MAV_RESULT.MAV_RESULT_ACCEPTED)
if (ack.result == (byte)MAV_RESULT.ACCEPTED)
{
MainV2.givecomport = false;
MainV2.giveComport = false;
return true;
}
else
{
MainV2.givecomport = false;
MainV2.giveComport = false;
return false;
}
}
@ -1032,10 +1032,10 @@ namespace ArdupilotMega
switch (id)
{
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL:
case (byte)MAVLink.MAV_DATA_STREAM.ALL:
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTENDED_STATUS:
case (byte)MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS:
if (packetspersecondbuild[MAVLINK_MSG_ID_SYS_STATUS] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_SYS_STATUS];
@ -1044,7 +1044,7 @@ namespace ArdupilotMega
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA1:
case (byte)MAVLink.MAV_DATA_STREAM.EXTRA1:
if (packetspersecondbuild[MAVLINK_MSG_ID_ATTITUDE] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_ATTITUDE];
@ -1053,7 +1053,7 @@ namespace ArdupilotMega
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA2:
case (byte)MAVLink.MAV_DATA_STREAM.EXTRA2:
if (packetspersecondbuild[MAVLINK_MSG_ID_VFR_HUD] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_VFR_HUD];
@ -1062,7 +1062,7 @@ namespace ArdupilotMega
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA3:
case (byte)MAVLink.MAV_DATA_STREAM.EXTRA3:
if (packetspersecondbuild[MAVLINK_MSG_ID_AHRS] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_AHRS];
@ -1071,7 +1071,7 @@ namespace ArdupilotMega
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION:
case (byte)MAVLink.MAV_DATA_STREAM.POSITION:
// ac2 does not send rate position
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
return;
@ -1083,7 +1083,7 @@ namespace ArdupilotMega
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_CONTROLLER:
case (byte)MAVLink.MAV_DATA_STREAM.RAW_CONTROLLER:
if (packetspersecondbuild[MAVLINK_MSG_ID_RC_CHANNELS_SCALED] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_RC_CHANNELS_SCALED];
@ -1092,7 +1092,7 @@ namespace ArdupilotMega
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS:
case (byte)MAVLink.MAV_DATA_STREAM.RAW_SENSORS:
if (packetspersecondbuild[MAVLINK_MSG_ID_RAW_IMU] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_RAW_IMU];
@ -1101,7 +1101,7 @@ namespace ArdupilotMega
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS:
case (byte)MAVLink.MAV_DATA_STREAM.RC_CHANNELS:
if (packetspersecondbuild[MAVLINK_MSG_ID_RC_CHANNELS_RAW] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_RC_CHANNELS_RAW];
@ -1193,13 +1193,13 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport);
log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.giveComport);
generatePacket(MAVLINK_MSG_ID_MISSION_REQUEST_LIST, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
//return (byte)int.Parse(param["WP_TOTAL"].ToString());
throw new Exception("Timeout on read - getWPCount");
}
@ -1216,7 +1216,7 @@ namespace ArdupilotMega
log.Info("wpcount: " + count.count);
MainV2.givecomport = false;
MainV2.giveComport = false;
return (byte)count.count; // should be ushort, but apm has limited wp count < byte
}
else
@ -1311,7 +1311,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
throw new Exception("Timeout on read - getWP");
}
//Console.WriteLine("getwp read " + DateTime.Now.Millisecond);
@ -1561,7 +1561,7 @@ namespace ArdupilotMega
public void setWPTotal(ushort wp_total)
{
#if MAVLINK10
MainV2.givecomport = true;
MainV2.giveComport = true;
mavlink_mission_count_t req = new mavlink_mission_count_t();
req.target_system = sysid;
@ -1586,7 +1586,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
throw new Exception("Timeout on read - setWPTotal");
}
byte[] buffer = readPacket();
@ -1605,7 +1605,7 @@ namespace ArdupilotMega
param["WP_TOTAL"] = (float)wp_total - 1;
if (param["CMD_TOTAL"] != null)
param["CMD_TOTAL"] = (float)wp_total - 1;
MainV2.givecomport = false;
MainV2.giveComport = false;
return;
}
}
@ -1813,12 +1813,12 @@ namespace ArdupilotMega
if (ans.seq == (index + 1))
{
log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
MainV2.givecomport = false;
MainV2.giveComport = false;
break;
}
else
{
log.Info("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
log.InfoFormat("set wp fail doing " + index + " req " + ans.seq + " ACK 47 or REQ 40 : " + buffer[5] + " seq {0} ts {1} tc {2}", req.seq, req.target_system, req.target_component);
//break;
}
}

4309
Tools/ArdupilotMegaPlanner/MAVLinkTypes.cs
View File

File diff suppressed because it is too large Load Diff

222
Tools/ArdupilotMegaPlanner/MAVLinkTypes0.9.cs
View File

@ -5,10 +5,10 @@ using System.Runtime.InteropServices;
namespace ArdupilotMega
{
#if !MAVLINK10
#if !MAVLINK10
partial class MAVLink
{
public const string MAVLINK_BUILD_DATE = "Wed Apr 4 18:13:05 2012";
public const string MAVLINK_BUILD_DATE = "Fri Apr 6 21:10:55 2012";
public const string MAVLINK_WIRE_PROTOCOL_VERSION = "0.9";
public const int MAVLINK_MAX_DIALECT_PAYLOAD_SIZE = 42;
@ -155,6 +155,51 @@ namespace ArdupilotMega
};
/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages. */
public enum MAV_DATA_STREAM
{
///<summary> Enable all data streams | </summary>
ALL=0,
///<summary> Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | </summary>
RAW_SENSORS=1,
///<summary> Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | </summary>
EXTENDED_STATUS=2,
///<summary> Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | </summary>
RC_CHANNELS=3,
///<summary> Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | </summary>
RAW_CONTROLLER=4,
///<summary> Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | </summary>
POSITION=6,
///<summary> Dependent on the autopilot | </summary>
EXTRA1=10,
///<summary> Dependent on the autopilot | </summary>
EXTRA2=11,
///<summary> Dependent on the autopilot | </summary>
EXTRA3=12,
///<summary> | </summary>
ENUM_END=13,
};
/** @brief The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI). */
public enum MAV_ROI
{
///<summary> No region of interest. | </summary>
NONE=0,
///<summary> Point toward next waypoint. | </summary>
WPNEXT=1,
///<summary> Point toward given waypoint. | </summary>
WPINDEX=2,
///<summary> Point toward fixed location. | </summary>
LOCATION=3,
///<summary> Point toward of given id. | </summary>
TARGET=4,
///<summary> | </summary>
ENUM_END=5,
};
public const byte MAVLINK_MSG_ID_SENSOR_OFFSETS = 150;
[StructLayout(LayoutKind.Sequential,Pack=1,Size=42)]
@ -1780,175 +1825,10 @@ namespace ArdupilotMega
/// <summary> index of debug variable </summary>
public byte ind;
/// <summary> DEBUG value </summary>
public Single value; };
public enum MAV_CLASS
{
MAV_CLASS_GENERIC = 0, /// Generic autopilot, full support for everything
MAV_CLASS_PIXHAWK = 1, /// PIXHAWK autopilot, http://pixhawk.ethz.ch
MAV_CLASS_SLUGS = 2, /// SLUGS autopilot, http://slugsuav.soe.ucsc.edu
MAV_CLASS_ARDUPILOTMEGA = 3, /// ArduPilotMega / ArduCopter, http://diydrones.com
MAV_CLASS_OPENPILOT = 4, /// OpenPilot, http://openpilot.org
MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5, /// Generic autopilot only supporting simple waypoints
MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, /// Generic autopilot supporting waypoints and other simple navigation commands
MAV_CLASS_GENERIC_MISSION_FULL = 7, /// Generic autopilot supporting the full mission command set
MAV_CLASS_NONE = 8, /// No valid autopilot
MAV_CLASS_NB /// Number of autopilot classes
};
public enum MAV_ACTION
{
MAV_ACTION_HOLD = 0,
MAV_ACTION_MOTORS_START = 1,
MAV_ACTION_LAUNCH = 2,
MAV_ACTION_RETURN = 3,
MAV_ACTION_EMCY_LAND = 4,
MAV_ACTION_EMCY_KILL = 5,
MAV_ACTION_CONFIRM_KILL = 6,
MAV_ACTION_CONTINUE = 7,
MAV_ACTION_MOTORS_STOP = 8,
MAV_ACTION_HALT = 9,
MAV_ACTION_SHUTDOWN = 10,
MAV_ACTION_REBOOT = 11,
MAV_ACTION_SET_MANUAL = 12,
MAV_ACTION_SET_AUTO = 13,
MAV_ACTION_STORAGE_READ = 14,
MAV_ACTION_STORAGE_WRITE = 15,
MAV_ACTION_CALIBRATE_RC = 16,
MAV_ACTION_CALIBRATE_GYRO = 17,
MAV_ACTION_CALIBRATE_MAG = 18,
MAV_ACTION_CALIBRATE_ACC = 19,
MAV_ACTION_CALIBRATE_PRESSURE = 20,
MAV_ACTION_REC_START = 21,
MAV_ACTION_REC_PAUSE = 22,
MAV_ACTION_REC_STOP = 23,
MAV_ACTION_TAKEOFF = 24,
MAV_ACTION_NAVIGATE = 25,
MAV_ACTION_LAND = 26,
MAV_ACTION_LOITER = 27,
MAV_ACTION_SET_ORIGIN = 28,
MAV_ACTION_RELAY_ON = 29,
MAV_ACTION_RELAY_OFF = 30,
MAV_ACTION_GET_IMAGE = 31,
MAV_ACTION_VIDEO_START = 32,
MAV_ACTION_VIDEO_STOP = 33,
MAV_ACTION_RESET_MAP = 34,
MAV_ACTION_RESET_PLAN = 35,
MAV_ACTION_DELAY_BEFORE_COMMAND = 36,
MAV_ACTION_ASCEND_AT_RATE = 37,
MAV_ACTION_CHANGE_MODE = 38,
MAV_ACTION_LOITER_MAX_TURNS = 39,
MAV_ACTION_LOITER_MAX_TIME = 40,
MAV_ACTION_START_HILSIM = 41,
MAV_ACTION_STOP_HILSIM = 42,
MAV_ACTION_NB /// Number of MAV actions
};
public enum MAV_MODE
{
MAV_MODE_UNINIT = 0, /// System is in undefined state
MAV_MODE_LOCKED = 1, /// Motors are blocked, system is safe
MAV_MODE_MANUAL = 2, /// System is allowed to be active, under manual (RC) control
MAV_MODE_GUIDED = 3, /// System is allowed to be active, under autonomous control, manual setpoint
MAV_MODE_AUTO = 4, /// System is allowed to be active, under autonomous control and navigation
MAV_MODE_TEST1 = 5, /// Generic test mode, for custom use
MAV_MODE_TEST2 = 6, /// Generic test mode, for custom use
MAV_MODE_TEST3 = 7, /// Generic test mode, for custom use
MAV_MODE_READY = 8, /// System is ready, motors are unblocked, but controllers are inactive
MAV_MODE_RC_TRAINING = 9 /// System is blocked, only RC valued are read and reported back
};
public enum MAV_STATE
{
MAV_STATE_UNINIT = 0,
MAV_STATE_BOOT,
MAV_STATE_CALIBRATING,
MAV_STATE_STANDBY,
MAV_STATE_ACTIVE,
MAV_STATE_CRITICAL,
MAV_STATE_EMERGENCY,
MAV_STATE_HILSIM,
MAV_STATE_POWEROFF
};
public enum MAV_NAV
{
MAV_NAV_GROUNDED = 0,
MAV_NAV_LIFTOFF,
MAV_NAV_HOLD,
MAV_NAV_WAYPOINT,
MAV_NAV_VECTOR,
MAV_NAV_RETURNING,
MAV_NAV_LANDING,
MAV_NAV_LOST,
MAV_NAV_LOITER,
MAV_NAV_FREE_DRIFT
};
public enum MAV_TYPE
{
MAV_GENERIC = 0,
MAV_FIXED_WING = 1,
MAV_QUADROTOR = 2,
MAV_COAXIAL = 3,
MAV_HELICOPTER = 4,
MAV_GROUND = 5,
OCU = 6,
MAV_AIRSHIP = 7,
MAV_FREE_BALLOON = 8,
MAV_ROCKET = 9,
UGV_GROUND_ROVER = 10,
UGV_SURFACE_SHIP = 11
};
public enum MAV_AUTOPILOT_TYPE
{
MAV_AUTOPILOT_GENERIC = 0,
MAV_AUTOPILOT_PIXHAWK = 1,
MAV_AUTOPILOT_SLUGS = 2,
MAV_AUTOPILOT_ARDUPILOTMEGA = 3,
MAV_AUTOPILOT_NONE = 4
};
public enum MAV_COMPONENT
{
MAV_COMP_ID_GPS,
MAV_COMP_ID_WAYPOINTPLANNER,
MAV_COMP_ID_BLOBTRACKER,
MAV_COMP_ID_PATHPLANNER,
MAV_COMP_ID_AIRSLAM,
MAV_COMP_ID_MAPPER,
MAV_COMP_ID_CAMERA,
MAV_COMP_ID_IMU = 200,
MAV_COMP_ID_IMU_2 = 201,
MAV_COMP_ID_IMU_3 = 202,
MAV_COMP_ID_UDP_BRIDGE = 240,
MAV_COMP_ID_UART_BRIDGE = 241,
MAV_COMP_ID_SYSTEM_CONTROL = 250
};
public enum MAV_FRAME
{
MAV_FRAME_GLOBAL = 0,
MAV_FRAME_LOCAL = 1,
MAV_FRAME_MISSION = 2,
MAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
MAV_FRAME_LOCAL_ENU = 4
};
public enum MAV_DATA_STREAM
{
MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */
MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | */
MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | */
MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | */
MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | */
MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | */
MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot | */
MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */
MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */
MAV_DATA_STREAM_ENUM_END=13, /* | */
};
public Single value;
};
}
#endif
#endif
}

6
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -993,8 +993,8 @@ namespace ArdupilotMega
MAVLink.mavlink_heartbeat_t htb = new MAVLink.mavlink_heartbeat_t();
#if MAVLINK10
htb.type = (byte)MAVLink.MAV_TYPE.MAV_TYPE_GCS;
htb.autopilot = (byte)MAVLink.MAV_AUTOPILOT.MAV_AUTOPILOT_ARDUPILOTMEGA;
htb.type = (byte)MAVLink.MAV_TYPE.GCS;
htb.autopilot = (byte)MAVLink.MAV_AUTOPILOT.ARDUPILOTMEGA;
htb.mavlink_version = 3;
#else
htb.type = (byte)MAVLink.MAV_TYPE.MAV_GENERIC;
@ -1896,7 +1896,7 @@ namespace ArdupilotMega
}
if (keyData == (Keys.Control | Keys.W)) // test
{
Form frm = new GCSViews.ConfigurationView.Setup();
Form frm = new GCSViews.ConfigurationView.Configuration();
ThemeManager.ApplyThemeTo(frm);
frm.Show();
return true;

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("1.0.0.0")]
[assembly: AssemblyFileVersion("1.1.61")]
[assembly: AssemblyFileVersion("1.1.62")]
[assembly: NeutralResourcesLanguageAttribute("")]

16
Tools/ArdupilotMegaPlanner/RAW_Sensor.cs
View File

@ -217,7 +217,7 @@ namespace ArdupilotMega
MainV2.cs.ratesensors = 3; // hardcode 3 hz
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
}
catch { }
}
@ -242,12 +242,12 @@ namespace ArdupilotMega
//comPort.stopall(true); // ensure off
Console.WriteLine("Req streams {0} {1}", comPort.bps, DateTime.Now);
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTENDED_STATUS, 0); // mode gps raw
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION, 3); // request location
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA1, 3); // request attitude
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA2, 3); // request vfr
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, 3); // request rc info
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, 0); // mode gps raw
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, 3); // request location
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, 3); // request attitude
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, 3); // request vfr
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, 3); // request rc info
}
catch
{
@ -260,7 +260,7 @@ namespace ArdupilotMega
private void CMB_rawupdaterate_SelectedIndexChanged(object sender, EventArgs e)
{
MainV2.cs.ratesensors = (byte)int.Parse(CMB_rawupdaterate.Text);
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RAW_SENSORS, (byte)int.Parse(CMB_rawupdaterate.Text)); // request raw sensor
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, (byte)int.Parse(CMB_rawupdaterate.Text)); // request raw sensor
}
System.IO.StreamWriter sw = null;

2
Tools/ArdupilotMegaPlanner/SerialInput.cs
View File

@ -159,7 +159,7 @@ namespace ArdupilotMega
{
MainV2.giveComport = true;
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT, (byte)2);
GCSViews.FlightData.GuidedModeWP = new PointLatLngAlt(gotohere);

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

Binary file not shown.

15
Tools/ArdupilotMegaPlanner/paramcompare.cs
View File

@ -11,16 +11,16 @@ namespace ArdupilotMega
{
public partial class ParamCompare : Form
{
GCSViews.Configuration config;
DataGridView dgv;
Hashtable param = new Hashtable();
Hashtable param2 = new Hashtable();
public ParamCompare(GCSViews.Configuration config, Hashtable param, Hashtable param2)
public ParamCompare(DataGridView dgv, Hashtable param, Hashtable param2)
{
InitializeComponent();
this.param = param;
this.param2 = param2;
this.config = config;
this.dgv = dgv;
processToScreen();
}
@ -61,7 +61,14 @@ namespace ArdupilotMega
{
if ((bool)row.Cells[Use.Index].Value == true)
{
config.EEPROM_View_float_TextChanged(new Control() { Name = row.Cells[Command.Index].Value.ToString(), Text = row.Cells[newvalue.Index].Value.ToString() }, null);
foreach (DataGridViewRow dgvr in dgv.Rows)
{
if (dgvr.Cells[0].Value.ToString() == row.Cells[Command.Index].Value.ToString())
{
dgvr.Cells[1].Value = row.Cells[newvalue.Index].Value.ToString();
break;
}
}
}
}
this.Close();