From 79abfc2a96ff582ea7a1b90b2458a4b7622cd59c Mon Sep 17 00:00:00 2001 From: Michael Oborne Date: Thu, 1 Mar 2012 21:27:03 +0800 Subject: [PATCH] APM Planner 1.1.45 add tcp and udp port remeber issue 533 add udp listern wait issue 534 fix wp receive on mono part issue 530 allow logging of unknown packets mav 0.9 do_speed_change fix issue 531 remember last video res issue 521 fix issue 528 - ch 6 and ch 7 options --- .../ArdupilotMegaPlanner/ArdupilotMega.csproj | 1 + Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs | 10 ++ Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs | 70 ++++++--- .../GCSViews/FlightPlanner.cs | 23 ++- Tools/ArdupilotMegaPlanner/MAVLink.cs | 17 ++- Tools/ArdupilotMegaPlanner/MagCalib.cs | 138 ++++++++++++++++++ Tools/ArdupilotMegaPlanner/MainV2.cs | 2 +- Tools/ArdupilotMegaPlanner/Program.cs | 4 + .../Properties/AssemblyInfo.cs | 2 +- Tools/ArdupilotMegaPlanner/Protocol.cs | 65 +++++++++ Tools/ArdupilotMegaPlanner/Speech.cs | 27 +++- .../ArdupilotMegaPlanner/bin/Release/.gdbinit | 29 ++++ .../bin/Release/ArdupilotMegaPlanner.pdb | Bin 968192 -> 972288 bytes .../bin/Release/mavcmd.xml | 4 +- Tools/ArdupilotMegaPlanner/bin/Release/runme | 3 + Tools/ArdupilotMegaPlanner/mavcmd.xml | 4 +- 16 files changed, 361 insertions(+), 38 deletions(-) create mode 100644 Tools/ArdupilotMegaPlanner/MagCalib.cs create mode 100644 Tools/ArdupilotMegaPlanner/Protocol.cs create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/.gdbinit create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/runme diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj index 5806ac70d5..8d80840653 100644 --- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj +++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj @@ -243,6 +243,7 @@ ProgressReporterDialogue.cs + Form diff --git a/Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs b/Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs index b9c2fbc5b8..aa42322d42 100644 --- a/Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs +++ b/Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs @@ -82,6 +82,13 @@ namespace System.IO.Ports string dest = Port; string host = "127.0.0.1"; + + if (ArdupilotMega.MainV2.config["TCP_port"] != null) + dest = ArdupilotMega.MainV2.config["TCP_port"].ToString(); + + if (ArdupilotMega.MainV2.config["TCP_host"] != null) + host = ArdupilotMega.MainV2.config["TCP_host"].ToString(); + if (Windows.Forms.DialogResult.Cancel == ArdupilotMega.Common.InputBox("remote host", "Enter host name/ip (ensure remote end is already started)", ref host)) { throw new Exception("Canceled by request"); @@ -92,6 +99,9 @@ namespace System.IO.Ports } Port = dest; + ArdupilotMega.MainV2.config["TCP_port"] = Port; + ArdupilotMega.MainV2.config["TCP_host"] = host; + client = new TcpClient(host, int.Parse(Port)); client.NoDelay = true; diff --git a/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs b/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs index e446c4df94..a5ac6dbf51 100644 --- a/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs +++ b/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs @@ -3,6 +3,7 @@ using System.Text; using System.Net; // dns, ip address using System.Net.Sockets; // tcplistner using log4net; +using ArdupilotMega.Controls; namespace System.IO.Ports { @@ -59,7 +60,7 @@ namespace System.IO.Ports get { return client.Available + rbuffer.Length - rbufferread; } } - public bool IsOpen { get { return client.Client.Connected; } } + public bool IsOpen { get { if (client.Client == null) return false; return client.Client.Connected; } } public bool DtrEnable { @@ -75,22 +76,59 @@ namespace System.IO.Ports return; } + ProgressReporterDialogue frmProgressReporter = new ProgressReporterDialogue + { + StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen, + Text = "Connecting Mavlink UDP" + }; + + frmProgressReporter.DoWork += frmProgressReporter_DoWork; + + frmProgressReporter.UpdateProgressAndStatus(-1, "Connecting Mavlink UDP"); + + ArdupilotMega.MainV2.fixtheme(frmProgressReporter); + + frmProgressReporter.RunBackgroundOperationAsync(); + + + } + + void frmProgressReporter_DoWork(object sender, ArdupilotMega.Controls.ProgressWorkerEventArgs e) + { string dest = Port; + + if (ArdupilotMega.MainV2.config["UDP_port"] != null) + dest = ArdupilotMega.MainV2.config["UDP_port"].ToString(); + ArdupilotMega.Common.InputBox("Listern Port", "Enter Local port (ensure remote end is already sending)", ref dest); Port = dest; + ArdupilotMega.MainV2.config["UDP_port"] = Port; + client = new UdpClient(int.Parse(Port)); - int timeout = 5; - while (timeout > 0) - { - if (BytesToRead > 0) - break; - System.Threading.Thread.Sleep(1000); - timeout--; - } - if (BytesToRead == 0) - return; + while (true) + { + ((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Waiting for UDP"); + System.Threading.Thread.Sleep(500); + + if (((ProgressReporterDialogue)sender).doWorkArgs.CancelRequested) + { + ((ProgressReporterDialogue)sender).doWorkArgs.CancelAcknowledged = true; + try + { + client.Close(); + } + catch { } + return; + } + + if (BytesToRead > 0) + break; + } + + if (BytesToRead == 0) + return; try { @@ -98,18 +136,16 @@ namespace System.IO.Ports log.InfoFormat("NetSerial connecting to {0} : {1}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port); client.Connect(RemoteIpEndPoint); } - catch (Exception e) - { + catch (Exception ex) + { if (client != null && client.Client.Connected) { client.Close(); } - log.Info(e.ToString()); + log.Info(ex.ToString()); System.Windows.Forms.MessageBox.Show("Please check your Firewall settings\nPlease try running this command\n1. Run the following command in an elevated command prompt to disable Windows Firewall temporarily:\n \nNetsh advfirewall set allprofiles state off\n \nNote: This is just for test; please turn it back on with the command 'Netsh advfirewall set allprofiles state on'.\n"); throw new Exception("The socket/serialproxy is closed " + e); } - - return; } void VerifyConnected() @@ -251,7 +287,7 @@ namespace System.IO.Ports public void Close() { - if (client.Client.Connected) + if (client.Client != null && client.Client.Connected) { client.Client.Close(); client.Close(); diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs index 8a446a2516..04e5e0de87 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs +++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs @@ -1251,7 +1251,7 @@ namespace ArdupilotMega.GCSViews catch (Exception ex) { error = 1; MessageBox.Show("Error : " + ex.ToString()); } try { - this.BeginInvoke((System.Threading.ThreadStart)delegate() + this.BeginInvoke((MethodInvoker)delegate() { if (error == 0) { @@ -1508,29 +1508,44 @@ namespace ArdupilotMega.GCSViews } } + log.Info("Setting wp params"); + string hold_alt = ((int)((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist)).ToString(); + log.Info("param ALT_HOLD_RTL " + hold_alt); + if (!hold_alt.Equals("-1")) { TXT_DefaultAlt.Text = hold_alt; } TXT_WPRad.Text = ((int)((float)param["WP_RADIUS"] * MainV2.cs.multiplierdist)).ToString(); + + log.Info("param WP_RADIUS " + TXT_WPRad.Text); + try { - TXT_loiterrad.Text = ((int)((float)param["LOITER_RADIUS"] * MainV2.cs.multiplierdist)).ToString(); + if (param["LOITER_RADIUS"] != null) + TXT_loiterrad.Text = ((int)((float)param["LOITER_RADIUS"] * MainV2.cs.multiplierdist)).ToString(); + + if (param["WP_LOITER_RAD"] != null) + TXT_loiterrad.Text = ((int)((float)param["WP_LOITER_RAD"] * MainV2.cs.multiplierdist)).ToString(); + + log.Info("param LOITER_RADIUS " + TXT_loiterrad.Text); } catch { - TXT_loiterrad.Text = ((int)((float)param["WP_LOITER_RAD"] * MainV2.cs.multiplierdist)).ToString(); + } CHK_holdalt.Checked = Convert.ToBoolean((float)param["ALT_HOLD_RTL"] > 0); + log.Info("param ALT_HOLD_RTL " + CHK_holdalt.Checked.ToString()); } - catch (Exception) { } // if there is no valid home + catch (Exception ex) { log.Info(ex.ToString()); } // if there is no valid home if (Commands.RowCount > 0) { + log.Info("remove home from list"); Commands.Rows.Remove(Commands.Rows[0]); // remove home row } diff --git a/Tools/ArdupilotMegaPlanner/MAVLink.cs b/Tools/ArdupilotMegaPlanner/MAVLink.cs index e5cb32bc07..36b70180b2 100644 --- a/Tools/ArdupilotMegaPlanner/MAVLink.cs +++ b/Tools/ArdupilotMegaPlanner/MAVLink.cs @@ -178,6 +178,7 @@ namespace ArdupilotMega lock (objlock) // so we dont have random traffic { + log.Info("Open port with " + BaseStream.PortName + " " + BaseStream.BaudRate); BaseStream.Open(); @@ -222,7 +223,7 @@ namespace ArdupilotMega // incase we are in setup mode BaseStream.WriteLine("planner\rgcs\r"); - log.Info(DateTime.Now.Millisecond + " start "); + log.Info(DateTime.Now.Millisecond + " Start connect loop "); if (lastbad[0] == '!' && lastbad[1] == 'G' || lastbad[0] == 'G' && lastbad[1] == '!') // waiting for gps lock { @@ -257,7 +258,7 @@ namespace ArdupilotMega try { - log.Info("MAv Data: len " + buffer.Length + " btr " + BaseStream.BytesToRead); + log.Debug("MAv Data: len " + buffer.Length + " btr " + BaseStream.BytesToRead); } catch { } @@ -325,6 +326,7 @@ namespace ArdupilotMega byte[] buffer = readPacket(); if (buffer.Length > 5) { + log.Info("getHB packet received: " + buffer.Length + " btr " + BaseStream.BytesToRead + " type " + buffer[5] ); if (buffer[5] == MAVLINK_MSG_ID_HEARTBEAT) { return buffer; @@ -2074,12 +2076,19 @@ namespace ArdupilotMega if (temp.Length > 5 && temp[1] != MAVLINK_MESSAGE_LENGTHS[temp[5]]) { - log.InfoFormat("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", temp.Length, temp[5]); + if (MAVLINK_MESSAGE_LENGTHS[temp[5]] == 0) // pass for unknown packets + { + + } + else + { + log.InfoFormat("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", temp.Length, temp[5]); #if MAVLINK10 if (temp.Length == 11 && temp[0] == 'U' && temp[5] == 0) throw new Exception("Mavlink 0.9 Heartbeat, Please upgrade your AP, This planner is for Mavlink 1.0\n\n"); #endif - return new byte[0]; + return new byte[0]; + } } if (temp.Length < 5 || temp[temp.Length - 1] != (crc >> 8) || temp[temp.Length - 2] != (crc & 0xff)) diff --git a/Tools/ArdupilotMegaPlanner/MagCalib.cs b/Tools/ArdupilotMegaPlanner/MagCalib.cs new file mode 100644 index 0000000000..5edd807b18 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/MagCalib.cs @@ -0,0 +1,138 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Windows.Forms; +using System.IO; + +namespace ArdupilotMega +{ + public class MagCalib + { + + //alglib.lsfit. + + public static void doWork() + { + /* + double[,] x = new double[,] { { -1 }, { -0.8 }, { -0.6 }, { -0.4 }, { -0.2 }, { 0 }, { 0.2 }, { 0.4 }, { 0.6 }, { 0.8 }, { 1.0 } }; + double[] y = new double[] { 0.223130, 0.382893, 0.582748, 0.786628, 0.941765, 1.000000, 0.941765, 0.786628, 0.582748, 0.382893, 0.223130 }; + double[] c = new double[] { 0.3 }; + double epsf = 0; + double epsx = 0.000001; + int maxits = 0; + int info; + alglib.lsfitstate state; + alglib.lsfitreport rep; + double diffstep = 0.0001; + + // + // Fitting without weights + // + alglib.lsfitcreatef(x, y, c, diffstep, out state); + alglib.lsfitsetcond(state, epsf, epsx, maxits); + alglib.lsfitfit(state, function_cx_1_func, null, null); + alglib.lsfitresults(state, out info, out c, out rep); + System.Console.WriteLine("{0}", info); // EXPECTED: 2 + System.Console.WriteLine("{0}", alglib.ap.format(c, 1)); // EXPECTED: [1.5] + */ + + // based of tridge's work + + Tuple offset = new Tuple(0, 0, 0); + List> data = new List>(); + + + OpenFileDialog openFileDialog1 = new OpenFileDialog(); + openFileDialog1.Filter = "*.tlog|*.tlog"; + openFileDialog1.FilterIndex = 2; + openFileDialog1.RestoreDirectory = true; + openFileDialog1.Multiselect = true; + try + { + openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar; + } + catch { } // incase dir doesnt exist + + if (openFileDialog1.ShowDialog() == DialogResult.OK) + { + foreach (string logfile in openFileDialog1.FileNames) + { + + MAVLink mine = new MAVLink(); + mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)); + mine.logreadmode = true; + + mine.packets.Initialize(); // clear + + // gather data + while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length) + { + // bar moves to 100 % in this step + //progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 1.0f); + + //progressBar1.Refresh(); + //Application.DoEvents(); + + byte[] packet = mine.readPacket(); + + var pack = mine.DebugPacket(packet); + + if (pack.GetType() == typeof(MAVLink.__mavlink_sensor_offsets_t)) + { + offset = new Tuple( + ((MAVLink.__mavlink_sensor_offsets_t)pack).mag_ofs_x, + ((MAVLink.__mavlink_sensor_offsets_t)pack).mag_ofs_y, + ((MAVLink.__mavlink_sensor_offsets_t)pack).mag_ofs_z); + } + else if (pack.GetType() == typeof(MAVLink.__mavlink_raw_imu_t)) + { + data.Add(new Tuple( + ((MAVLink.__mavlink_raw_imu_t)pack).xmag - offset.Item1, + ((MAVLink.__mavlink_raw_imu_t)pack).ymag - offset.Item2, + ((MAVLink.__mavlink_raw_imu_t)pack).zmag - offset.Item3)); + } + + } + + + + + + + //progressBar1.Value = 100; + + mine.logreadmode = false; + mine.logplaybackfile.Close(); + mine.logplaybackfile = null; + + } + } + } + + public static List sphere_error(double[,] p, double[] data) + { + double xofs = p[0, 0]; + double yofs = p[0, 1]; + double zofs = p[0, 2]; + double r = p[0, 3]; + List ret = new List(); + foreach (var d in data) + { + //double x, y, z = d; + //double err = r - Math.Sqrt(Math.Pow((x + xofs), 2) + Math.Pow((y + yofs), 2) + Math.Pow((z + zofs), 2)); + //ret.Add(err); + } + return ret; + } + + public static void function_cx_1_func(double[] c, double[] x, ref double func, object obj) + { + // this callback calculates f(c,x)=exp(-c0*sqr(x0)) + // where x is a position on X-axis and c is adjustable parameter + func = System.Math.Exp(-c[0] * x[0] * x[0]); + } + + + } +} \ No newline at end of file diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs index 89af4071ef..3ab2c80f11 100644 --- a/Tools/ArdupilotMegaPlanner/MainV2.cs +++ b/Tools/ArdupilotMegaPlanner/MainV2.cs @@ -264,7 +264,7 @@ namespace ArdupilotMega if (Directory.Exists("/dev/")) { if (Directory.Exists("/dev/serial/by-id/")) - devs = Directory.GetFiles("/dev/serial/by-id/", "*usb*"); + devs = Directory.GetFiles("/dev/serial/by-id/", "*"); devs = Directory.GetFiles("/dev/", "*ACM*"); devs = Directory.GetFiles("/dev/", "ttyUSB*"); } diff --git a/Tools/ArdupilotMegaPlanner/Program.cs b/Tools/ArdupilotMegaPlanner/Program.cs index 4dd0cef969..a0792ca57c 100644 --- a/Tools/ArdupilotMegaPlanner/Program.cs +++ b/Tools/ArdupilotMegaPlanner/Program.cs @@ -28,6 +28,10 @@ namespace ArdupilotMega Application.Idle += Application_Idle; + //MagCalib.doWork(); + + //return; + //MessageBox.Show("NOTE: This version may break advanced mission scripting"); //Common.linearRegression(); diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs index d8f39f2103..a45540e1e7 100644 --- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs +++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs @@ -34,5 +34,5 @@ using System.Resources; // by using the '*' as shown below: // [assembly: AssemblyVersion("1.0.*")] [assembly: AssemblyVersion("1.0.0.0")] -[assembly: AssemblyFileVersion("1.1.44")] +[assembly: AssemblyFileVersion("1.1.45")] [assembly: NeutralResourcesLanguageAttribute("")] diff --git a/Tools/ArdupilotMegaPlanner/Protocol.cs b/Tools/ArdupilotMegaPlanner/Protocol.cs new file mode 100644 index 0000000000..395fb2aeda --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/Protocol.cs @@ -0,0 +1,65 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Collections; +using System.IO; + +namespace ArdupilotMega +{ + partial interface Protocol + { + byte[][] packets { get; set; } + + PointLatLngAlt[] wps { get; set; } + + ICommsSerial BaseStream { get; set; } + + int bps { get; set; } + bool debugmavlink { get; set; } + + DateTime lastvalidpacket {get;set;} + + bool logreadmode { get; set; } + DateTime lastlogread { get; set; } + BinaryReader logplaybackfile { get; set; } + BinaryWriter logfile { get; set; } + + byte sysid { get; set; } + byte compid { get; set; } + Hashtable param { get; set; } + + void UpdateCurrentSettings(ref CurrentState cs); + + void Close(); + + void Open(); + void Open(bool getparams); + + void sendPacket(object indata); + bool Write(string line); + bool setParam(string paramname, float value); + Hashtable getParamList(); + void modifyParamForDisplay(bool fromapm, string paramname, ref float value); + + void stopall(bool forget); + void setWPACK(); + bool setWPCurrent(ushort index); + bool doAction(byte actionid); // MAV_ACTION + + void requestDatastream(byte id, byte hzrate); + byte getWPCount(); + Locationwp getWP(ushort index); + object DebugPacket(byte[] datin); + object DebugPacket(byte[] datin, ref string text); + void setWPTotal(ushort wp_total); + void setWP(Locationwp loc, ushort index, byte frame, byte current); //MAV_FRAME + + void setMountConfigure(byte mountmode, bool stabroll, bool stabpitch, bool stabyaw); //MAV_MOUNT_MODE + void setMountControl(double pa, double pb, double pc, bool islatlng); + void setMode(string modein); + byte[] readPacket(); + + bool translateMode(string modein, ref object navmode, ref object mode); + } +} diff --git a/Tools/ArdupilotMegaPlanner/Speech.cs b/Tools/ArdupilotMegaPlanner/Speech.cs index 7e5c50ba87..baa8cd0b0e 100644 --- a/Tools/ArdupilotMegaPlanner/Speech.cs +++ b/Tools/ArdupilotMegaPlanner/Speech.cs @@ -11,20 +11,21 @@ namespace ArdupilotMega SpeechSynthesizer _speechwindows; System.Diagnostics.Process _speechlinux; + System.Speech.Synthesis.SynthesizerState _state = SynthesizerState.Ready; + bool MONO = false; public SynthesizerState State { get { if (MONO) { - return SynthesizerState.Ready; + return _state; } else { return _speechwindows.State; } - } - private set { } + } } public Speech() @@ -34,8 +35,7 @@ namespace ArdupilotMega if (MONO) { - _speechlinux = new System.Diagnostics.Process(); - _speechlinux.StartInfo.FileName = "festival"; + _state = SynthesizerState.Ready; } else { @@ -47,7 +47,14 @@ namespace ArdupilotMega { if (MONO) { - + if (_speechlinux == null || _speechlinux.HasExited) + { + _state = SynthesizerState.Speaking; + _speechlinux = new System.Diagnostics.Process(); + _speechlinux.StartInfo.FileName = "echo " + text + " | festival --tts"; + _speechlinux.Start(); + _speechlinux.Exited += new EventHandler(_speechlinux_Exited); + } } else { @@ -55,11 +62,17 @@ namespace ArdupilotMega } } + void _speechlinux_Exited(object sender, EventArgs e) + { + _state = SynthesizerState.Ready; + } + public void SpeakAsyncCancelAll() { if (MONO) { - + _speechlinux.Close(); + _state = SynthesizerState.Ready; } else { diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/.gdbinit b/Tools/ArdupilotMegaPlanner/bin/Release/.gdbinit new file mode 100644 index 0000000000..c8b95361b0 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/.gdbinit @@ -0,0 +1,29 @@ +handle SIGXCPU SIG33 SIG35 SIGPWR nostop noprint + +define mono_backtrace + select-frame 0 + set $i = 0 + while ($i < $arg0) + set $foo = (char*) mono_pmip ($pc) + if ($foo) + printf "#%d %p in %s\n", $i, $pc, $foo + else + frame + end + up-silently + set $i = $i + 1 + end +end + + +define mono_stack + set $mono_thread = mono_thread_current () + if ($mono_thread == 0x00) + printf "No mono thread associated with this thread\n" + else + set $ucp = malloc (sizeof (ucontext_t)) + call (void) getcontext ($ucp) + call (void) mono_print_thread_dump ($ucp) + call (void) free ($ucp) + end +end diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb index 39326966bce269b353513e8b6549884de3dfa5d9..1edad2b768fbd41d7eb1eed16b382927768e69b8 100644 GIT binary patch delta 172329 zcmagH2YeOP);>IY&*YGV5ON@p-XV<;k`PJ~2q}<|5JIm?2~{wJDoqFpO-iH)WC_wj z6OgWO0Fh?7VnOhF@rr_GR9fnFP)YtmIFzrA=uoE*Dl-@ZQ8 zLM75`!>bz}gaqx~JYm33wh2Fbsnys7FR$t6-oHO0Zu^+@a~B6?)pGUDD&v)FsOT z{+r(8@Q*q+Fz?O0?Y5BRUA4+xb+k8KKWgJezwGz)TG8|3TH12J)64eW0Z&(9`|eH8 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a/Tools/ArdupilotMegaPlanner/mavcmd.xml b/Tools/ArdupilotMegaPlanner/mavcmd.xml index a1912a3368..1ae20b7986 100644 --- a/Tools/ArdupilotMegaPlanner/mavcmd.xml +++ b/Tools/ArdupilotMegaPlanner/mavcmd.xml @@ -377,8 +377,8 @@ Type (0=as 1=gs) - Throttle(%) - Speed (m/s) + Speed (m/s) + Throttle(%)