diff --git a/ArduPlane/radio.pde b/ArduPlane/radio.pde index 6cacb73e86..674c096e25 100644 --- a/ArduPlane/radio.pde +++ b/ArduPlane/radio.pde @@ -24,10 +24,6 @@ static void init_rc_in() //set auxiliary ranges update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8); - G_RC_AUX(k_flap)->set_range(0,100); - G_RC_AUX(k_flap_auto)->set_range(0,100); - G_RC_AUX(k_aileron)->set_angle(SERVO_MAX); - G_RC_AUX(k_flaperon)->set_range(0,100); } static void init_rc_out() diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj index 6ac38ed914..ddfdd3e8d6 100644 --- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj +++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj @@ -232,7 +232,6 @@ UserControl - Component @@ -302,7 +301,6 @@ ElevationProfile.cs - Component @@ -338,6 +336,7 @@ Splash.cs + Form @@ -374,6 +373,7 @@ Firmware.cs + Designer FlightData.cs @@ -424,6 +424,7 @@ Firmware.cs Always + Designer FlightData.cs diff --git a/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs b/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs index 99660f265f..94e3281f84 100644 --- a/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs +++ b/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs @@ -6,7 +6,6 @@ using System.IO.Ports; using System.Threading; using System.Net; // dns, ip address using System.Net.Sockets; // tcplistner -using SerialProxy; namespace System.IO.Ports { diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs index 9dba66f3d1..8758775aac 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs +++ b/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs @@ -257,6 +257,8 @@ namespace ArdupilotMega.GCSViews internal void processToScreen() { + + Params.Rows.Clear(); // process hashdefines and update display @@ -541,7 +543,10 @@ namespace ArdupilotMega.GCSViews private void BUT_writePIDS_Click(object sender, EventArgs e) { - foreach (string value in changes.Keys) + + Hashtable temp = (Hashtable)changes.Clone(); + + foreach (string value in temp.Keys) { try { @@ -566,6 +571,7 @@ namespace ArdupilotMega.GCSViews if (row.Cells[0].Value.ToString() == value) { row.Cells[1].Style.BackColor = Color.FromArgb(0x43, 0x44, 0x45); + changes.Remove(value); break; } } @@ -575,8 +581,6 @@ namespace ArdupilotMega.GCSViews } catch { MessageBox.Show("Set " + value + " Failed"); } } - - changes.Clear(); } const float rad2deg = (float)(180 / Math.PI); @@ -600,9 +604,11 @@ namespace ArdupilotMega.GCSViews MainV2.fixtheme(temp); - TabSetup.Controls.Clear(); + temp.ShowDialog(); - TabSetup.Controls.Add(temp.Controls[0]); + startup = true; + processToScreen(); + startup = false; } } } diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs index 1e7c2544c7..15f3a849f7 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs +++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs @@ -519,13 +519,18 @@ namespace ArdupilotMega.GCSViews } catch (Exception ex) { lbl_status.Text = "Failed download"; MessageBox.Show("Failed to download new firmware : " + ex.Message); return; } + UploadFlash(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", board); + } + + void UploadFlash(string filename, string board) + { byte[] FLASH = new byte[1]; StreamReader sr = null; try { lbl_status.Text = "Reading Hex File"; this.Refresh(); - sr = new StreamReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex"); + sr = new StreamReader(filename); FLASH = readIntelHEXv2(sr); sr.Close(); Console.WriteLine("\n\nSize: {0}\n\n", FLASH.Length); diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx index 95f999f7a7..7283c0a474 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx +++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx @@ -343,16 +343,16 @@ NoControl - 101, 165 + 113, 167 - 79, 13 + 56, 13 8 - ArduPilot Mega + ArduPlane label1 @@ -403,16 +403,16 @@ NoControl - 57, 362 + 74, 361 - 168, 13 + 142, 13 10 - ArduPilot Mega (Xplane simulator) + ArduPlane (Xplane simulator) label3 diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs index 21732c373e..e144fa180a 100644 --- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs +++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs @@ -347,7 +347,7 @@ namespace ArdupilotMega.GCSViews { TXT_mouselat.Text = lat.ToString(); TXT_mouselong.Text = lng.ToString(); - TXT_mousealt.Text = alt.ToString(); + TXT_mousealt.Text = srtm.getAltitude(lat, lng).ToString("0"); try { diff --git a/Tools/ArdupilotMegaPlanner/HUD.cs b/Tools/ArdupilotMegaPlanner/HUD.cs index b4e8e178f4..b95cd51577 100644 --- a/Tools/ArdupilotMegaPlanner/HUD.cs +++ b/Tools/ArdupilotMegaPlanner/HUD.cs @@ -236,7 +236,7 @@ System.ComponentModel.Category("Values")] { //Console.WriteLine("ms "+(DateTime.Now - starttime).TotalMilliseconds); //e.Graphics.DrawImageUnscaled(objBitmap, 0, 0); - return; + //return; } starttime = DateTime.Now; @@ -1365,6 +1365,18 @@ System.ComponentModel.Category("Values")] charbitmaps = new Bitmap[charbitmaps.Length]; + try + { + + foreach (int texid in charbitmaptexid) + { + if (texid != 0) + GL.DeleteTexture(texid); + } + + } + catch { } + GC.Collect(); try diff --git a/Tools/ArdupilotMegaPlanner/Log.cs b/Tools/ArdupilotMegaPlanner/Log.cs index e47cb2c35d..e51d159de0 100644 --- a/Tools/ArdupilotMegaPlanner/Log.cs +++ b/Tools/ArdupilotMegaPlanner/Log.cs @@ -366,45 +366,6 @@ namespace ArdupilotMega } } - private byte[] readline(NetSerial comport) - { - byte[] temp = new byte[1024]; - int count = 0; - int timeout = 0; - - while (timeout <= 100) - { - if (!comport.IsOpen) { break; } - if (comport.BytesToRead > 0) - { - byte letter = (byte)comport.ReadByte(); - - temp[count] = letter; - - if (letter == '\n') // normal line - { - break; - } - - - count++; - if (count == temp.Length) - break; - timeout = 0; - } else { - timeout++; - System.Threading.Thread.Sleep(5); - } - } - if (timeout >= 100) { - Console.WriteLine("readline timeout"); - } - - Array.Resize(ref temp, count + 1); - - return temp; - } - List modelist = new List(); List[] position = new List[200]; int positionindex = 0; diff --git a/Tools/ArdupilotMegaPlanner/MAVLink.cs b/Tools/ArdupilotMegaPlanner/MAVLink.cs index 0c26ebb6cd..242b2818aa 100644 --- a/Tools/ArdupilotMegaPlanner/MAVLink.cs +++ b/Tools/ArdupilotMegaPlanner/MAVLink.cs @@ -951,6 +951,8 @@ namespace ArdupilotMega req.seq = index; + //Console.WriteLine("getwp req "+ DateTime.Now.Millisecond); + // request generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST, req); @@ -972,11 +974,14 @@ namespace ArdupilotMega MainV2.givecomport = false; throw new Exception("Timeout on read - getWP"); } + //Console.WriteLine("getwp read " + DateTime.Now.Millisecond); byte[] buffer = readPacket(); + //Console.WriteLine("getwp readend " + DateTime.Now.Millisecond); if (buffer.Length > 5) { if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT) { + //Console.WriteLine("getwp ans " + DateTime.Now.Millisecond); __mavlink_waypoint_t wp = new __mavlink_waypoint_t(); object temp = (object)wp; @@ -1070,7 +1075,7 @@ namespace ArdupilotMega } else { - //Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]); + Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]); } } } @@ -1455,16 +1460,18 @@ namespace ArdupilotMega else { int to = 0; - while (BaseStream.BytesToRead < length) + while (BaseStream.BytesToRead < (length - 4)) { if (to > 1000) { Console.WriteLine("MAVLINK: wait time out btr {0} len {1}", BaseStream.BytesToRead, length); break; } - System.Threading.Thread.Sleep(2); - System.Windows.Forms.Application.DoEvents(); + System.Threading.Thread.Sleep(1); + //System.Windows.Forms.Application.DoEvents(); to++; + + //Console.WriteLine("data " + 0 + " " + length + " aval " + BaseStream.BytesToRead); } int read = BaseStream.Read(temp, 6, length - 4); } diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs index 48dac31e32..451e8acea8 100644 --- a/Tools/ArdupilotMegaPlanner/MainV2.cs +++ b/Tools/ArdupilotMegaPlanner/MainV2.cs @@ -76,6 +76,8 @@ namespace ArdupilotMega //System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US"); //System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US"); + srtm.datadirectory = @"C:\srtm"; + var t = Type.GetType("Mono.Runtime"); MAC = (t != null); diff --git a/Tools/ArdupilotMegaPlanner/MyButton.cs b/Tools/ArdupilotMegaPlanner/MyButton.cs index 12508be1f7..11bf6cd531 100644 --- a/Tools/ArdupilotMegaPlanner/MyButton.cs +++ b/Tools/ArdupilotMegaPlanner/MyButton.cs @@ -50,7 +50,7 @@ namespace ArdupilotMega if (!this.Enabled) { - SolidBrush brush = new SolidBrush(Color.FromArgb(200, 0x2b, 0x3a, 0x03)); + SolidBrush brush = new SolidBrush(Color.FromArgb(150, 0x2b, 0x3a, 0x03)); gr.FillRectangle(brush, 0, 0, this.Width, this.Height); } diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs index 25abe98b99..d4f74b5646 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("1.0.67")] +[assembly: AssemblyFileVersion("1.0.68")] [assembly: NeutralResourcesLanguageAttribute("")] diff --git a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs index 53279ab634..17c296b914 100644 --- a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs +++ b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs @@ -231,7 +231,6 @@ namespace ArdupilotMega.Setup MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, oldrc); - MainV2.comPort.param = MainV2.comPort.getParamList(); if (Configuration != null) { Configuration.startup = true; diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/Firmware.resx b/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/Firmware.resx index 95f999f7a7..7283c0a474 100644 --- a/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/Firmware.resx +++ b/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/Firmware.resx @@ -343,16 +343,16 @@ NoControl - 101, 165 + 113, 167 - 79, 13 + 56, 13 8 - ArduPilot Mega + ArduPlane label1 @@ -403,16 +403,16 @@ NoControl - 57, 362 + 74, 361 - 168, 13 + 142, 13 10 - ArduPilot Mega (Xplane simulator) + ArduPlane (Xplane simulator) label3 diff --git a/Tools/ArdupilotMegaPlanner/srtm.cs b/Tools/ArdupilotMegaPlanner/srtm.cs new file mode 100644 index 0000000000..e11c6ecb9b --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/srtm.cs @@ -0,0 +1,76 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.IO; + +namespace ArdupilotMega +{ + class srtm + { + public static string datadirectory; + + public static int getAltitude(double lat, double lng) + { + short alt = -32768; + + lat += 0.0008; + //lng += 0.0008; + + int x = (int)Math.Floor(lng); + int y = (int)Math.Floor(lat); + + string ns; + if (y > 0) + ns = "N"; + else + ns = "S"; + + string ew; + if (x > 0) + ew = "E"; + else + ew = "W"; + + string filename = ns+ Math.Abs(y).ToString("00")+ew+ Math.Abs(x).ToString("000")+".hgt"; + + if (!File.Exists(datadirectory + Path.DirectorySeparatorChar + filename)) + { + return alt; + } + + FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open,FileAccess.Read); + + float posx = 0; + float row = 0; + + if (fs.Length <= (1201 * 1201 * 2)) { + posx = (int)(((float)(lng - x)) * (1201 * 2)); + row = (int)(((float)(lat - y)) * 1201) * (1201 * 2); + row = (1201 * 1201 * 2) - row; + } else { + posx = (int)(((float)(lng - x)) * (3601 * 2)); + row = (int)(((float)(lat - y)) * 3601) * (3601 * 2); + row = (3601 * 3601 * 2) - row; + } + + if (posx % 2 == 1) + { + posx--; + } + + //Console.WriteLine(filename + " row " + row + " posx" + posx); + + byte[] data = new byte[2]; + + fs.Seek((int)(row + posx), SeekOrigin.Begin); + fs.Read(data, 0, data.Length); + + Array.Reverse(data); + + alt = BitConverter.ToInt16(data,0); + + return alt; + } + } +} diff --git a/libraries/RC_Channel/RC_Channel_aux.cpp b/libraries/RC_Channel/RC_Channel_aux.cpp index 18b35ea05e..1ff7b45326 100644 --- a/libraries/RC_Channel/RC_Channel_aux.cpp +++ b/libraries/RC_Channel/RC_Channel_aux.cpp @@ -47,4 +47,9 @@ void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Ch g_rc_function[aux_servo_function[CH_6]] = rc_6; g_rc_function[aux_servo_function[CH_7]] = rc_7; g_rc_function[aux_servo_function[CH_8]] = rc_8; + + G_RC_AUX(k_flap)->set_range(0,100); + G_RC_AUX(k_flap_auto)->set_range(0,100); + G_RC_AUX(k_aileron)->set_angle(4500); + G_RC_AUX(k_flaperon)->set_range(0,100); } diff --git a/libraries/RC_Channel/RC_Channel_aux.h b/libraries/RC_Channel/RC_Channel_aux.h index 556ffa6c3b..7e091bf18f 100644 --- a/libraries/RC_Channel/RC_Channel_aux.h +++ b/libraries/RC_Channel/RC_Channel_aux.h @@ -14,7 +14,6 @@ /// @class RC_Channel_aux /// @brief Object managing one aux. RC channel (CH5-8), with information about its function -/// Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements class RC_Channel_aux : public RC_Channel{ public: /// Constructor @@ -24,9 +23,7 @@ public: /// RC_Channel_aux(AP_Var::Key key, const prog_char_t *name) : RC_Channel(key, name), - function (&_group, 4, k_none, name ? PSTR("FUNCTION") : 0), // suppress name if group has no name - angle_min (&_group, 5, -4500, name ? PSTR("ANGLE_MIN") : 0), // assume -45 degrees min deflection - angle_max (&_group, 6, 4500, name ? PSTR("ANGLE_MAX") : 0) // assume 45 degrees max deflection + function (&_group, 4, k_none, name ? PSTR("FUNCTION") : 0) // suppress name if group has no name {} typedef enum @@ -41,8 +38,6 @@ public: } Aux_servo_function_t; AP_Int8 function; // 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop - AP_Int16 angle_min; // min angle limit of actuated surface in 0.01 degree units - AP_Int16 angle_max; // max angle limit of actuated surface in 0.01 degree units void output_ch(unsigned char ch_nr); // map a function to a servo channel and output it