Mission Planner 1.2.11

Fix ac crosstrack display
tweak ap_mount
speed up Terminal

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -160,7 +160,7 @@
     </Reference>
     <Reference Include="Microsoft.DirectX.DirectInput, Version=1.0.2902.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35">
       <SpecificVersion>False</SpecificVersion>
-      <Private>True</Private>
+      <Private>False</Private>
     </Reference>
     <Reference Include="Microsoft.Dynamic">
     </Reference>
@@ -1330,9 +1330,7 @@
       <Install>true</Install>
     </BootstrapperPackage>
   </ItemGroup>
-  <ItemGroup>
+  <ItemGroup />
-    <Folder Include="px4\" />
-  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <PropertyGroup>
     <PostBuildEvent>"$(TargetDir)version.exe" "$(TargetPath)" &gt; "$(TargetDir)version.txt"</PostBuildEvent>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAP_Limits.Designer.cs

@@ -30,7 +30,7 @@
         {
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(ConfigAP_Limits));
             this.LNK_wiki = new System.Windows.Forms.LinkLabel();
-            this.LIM_ENABLED = new System.Windows.Forms.CheckBox();
+            this.LIM_ENABLED = new Controls.MavlinkCheckBox();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.textBox1 = new System.Windows.Forms.TextBox();
             this.groupBox5 = new System.Windows.Forms.GroupBox();
@@ -43,7 +43,7 @@
             this.LIM_CHANNEL = new System.Windows.Forms.NumericUpDown();
             this.myLabel3 = new ArdupilotMega.Controls.MyLabel();
             this.LIM_FNC_RAD = new System.Windows.Forms.NumericUpDown();
-            this.LIM_FNC_SMPL = new System.Windows.Forms.CheckBox();
+            this.LIM_FNC_SMPL = new Controls.MavlinkCheckBox();
             this.groupBox3 = new System.Windows.Forms.GroupBox();
             this.LIM_GPSLCK_ON = new System.Windows.Forms.CheckBox();
             this.groupBox2 = new System.Windows.Forms.GroupBox();
@@ -281,7 +281,7 @@
         #endregion
 
         private System.Windows.Forms.LinkLabel LNK_wiki;
-        private System.Windows.Forms.CheckBox LIM_ENABLED;
+        private Controls.MavlinkCheckBox LIM_ENABLED;
         private System.Windows.Forms.GroupBox groupBox1;
         private Controls.MyLabel myLabel2;
         private Controls.MyLabel myLabel1;
@@ -294,7 +294,7 @@
         private System.Windows.Forms.GroupBox groupBox4;
         private Controls.MyLabel myLabel3;
         private System.Windows.Forms.NumericUpDown LIM_FNC_RAD;
-        private System.Windows.Forms.CheckBox LIM_FNC_SMPL;
+        private Controls.MavlinkCheckBox LIM_FNC_SMPL;
         private Controls.MyLabel myLabel4;
         private System.Windows.Forms.NumericUpDown LIM_CHANNEL;
         private System.Windows.Forms.CheckBox LIM_REQUIRED;

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationPlane.cs

@@ -67,7 +67,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             try
             {
 #if MAVLINK10              
-                            MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,1,1,0,0,0,0);
+                            MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,0,1,0,0,0,0);
 #else
                 MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
 #endif

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationQuad.cs

@@ -25,7 +25,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             {
 #if MAVLINK10
                 Log.Info("Sending level command (mavlink 1.0)");                
-                MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,0,0,0,0,0,0);
+                MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,0,0,0,1,0,0);
 #else
                 Log.Info("Sending level command (mavlink 0.9)");
                 MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.Designer.cs

@@ -59,7 +59,7 @@
             this.NAV_LAT_P = new System.Windows.Forms.NumericUpDown();
             this.label16 = new System.Windows.Forms.Label();
             this.groupBox6 = new System.Windows.Forms.GroupBox();
-            this.XTRK_GAIN_SC1 = new System.Windows.Forms.NumericUpDown();
+            this.XTRK_GAIN_SC = new System.Windows.Forms.NumericUpDown();
             this.label18 = new System.Windows.Forms.Label();
             this.groupBox7 = new System.Windows.Forms.GroupBox();
             this.THR_ALT_IMAX = new System.Windows.Forms.NumericUpDown();
@@ -151,7 +151,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.NAV_LAT_I)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.NAV_LAT_P)).BeginInit();
             this.groupBox6.SuspendLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.XTRK_GAIN_SC1)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.XTRK_GAIN_SC)).BeginInit();
             this.groupBox7.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.THR_ALT_IMAX)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.THR_ALT_I)).BeginInit();
@@ -406,16 +406,16 @@
             // 
             // groupBox6
             // 
-            this.groupBox6.Controls.Add(this.XTRK_GAIN_SC1);
+            this.groupBox6.Controls.Add(this.XTRK_GAIN_SC);
             this.groupBox6.Controls.Add(this.label18);
             resources.ApplyResources(this.groupBox6, "groupBox6");
             this.groupBox6.Name = "groupBox6";
             this.groupBox6.TabStop = false;
             // 
-            // XTRK_GAIN_SC1
+            // XTRK_GAIN_SC
             // 
-            resources.ApplyResources(this.XTRK_GAIN_SC1, "XTRK_GAIN_SC1");
+            resources.ApplyResources(this.XTRK_GAIN_SC, "XTRK_GAIN_SC");
-            this.XTRK_GAIN_SC1.Name = "XTRK_GAIN_SC1";
+            this.XTRK_GAIN_SC.Name = "XTRK_GAIN_SC";
             // 
             // label18
             // 
@@ -915,7 +915,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.NAV_LAT_I)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.NAV_LAT_P)).EndInit();
             this.groupBox6.ResumeLayout(false);
-            ((System.ComponentModel.ISupportInitialize)(this.XTRK_GAIN_SC1)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.XTRK_GAIN_SC)).EndInit();
             this.groupBox7.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.THR_ALT_IMAX)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.THR_ALT_I)).EndInit();
@@ -993,7 +993,7 @@
         private System.Windows.Forms.NumericUpDown NAV_LAT_P;
         private System.Windows.Forms.Label label16;
         private System.Windows.Forms.GroupBox groupBox6;
-        private System.Windows.Forms.NumericUpDown XTRK_GAIN_SC1;
+        private System.Windows.Forms.NumericUpDown XTRK_GAIN_SC;
         private System.Windows.Forms.Label label18;
         private System.Windows.Forms.GroupBox groupBox7;
         private System.Windows.Forms.NumericUpDown THR_ALT_IMAX;

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.resx

@@ -135,7 +135,7 @@
     <value>myLabel3</value>
   </data>
   <data name="&gt;&gt;myLabel3.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4607.22021, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4629.11875, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;myLabel3.Parent" xml:space="preserve">
     <value>$this</value>
@@ -201,7 +201,7 @@
     <value>myLabel2</value>
   </data>
   <data name="&gt;&gt;myLabel2.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4607.22021, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4629.11875, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;myLabel2.Parent" xml:space="preserve">
     <value>$this</value>
@@ -312,7 +312,7 @@
     <value>myLabel1</value>
   </data>
   <data name="&gt;&gt;myLabel1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4607.22021, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4629.11875, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;myLabel1.Parent" xml:space="preserve">
     <value>$this</value>
@@ -876,25 +876,25 @@
   <data name="&gt;&gt;groupBox4.ZOrder" xml:space="preserve">
     <value>12</value>
   </data>
-  <data name="XTRK_GAIN_SC1.Location" type="System.Drawing.Point, System.Drawing">
+  <data name="XTRK_GAIN_SC.Location" type="System.Drawing.Point, System.Drawing">
     <value>80, 13</value>
   </data>
-  <data name="XTRK_GAIN_SC1.Size" type="System.Drawing.Size, System.Drawing">
+  <data name="XTRK_GAIN_SC.Size" type="System.Drawing.Size, System.Drawing">
     <value>78, 20</value>
   </data>
-  <data name="XTRK_GAIN_SC1.TabIndex" type="System.Int32, mscorlib">
+  <data name="XTRK_GAIN_SC.TabIndex" type="System.Int32, mscorlib">
     <value>5</value>
   </data>
-  <data name="&gt;&gt;XTRK_GAIN_SC1.Name" xml:space="preserve">
+  <data name="&gt;&gt;XTRK_GAIN_SC.Name" xml:space="preserve">
-    <value>XTRK_GAIN_SC1</value>
+    <value>XTRK_GAIN_SC</value>
   </data>
-  <data name="&gt;&gt;XTRK_GAIN_SC1.Type" xml:space="preserve">
+  <data name="&gt;&gt;XTRK_GAIN_SC.Type" xml:space="preserve">
     <value>System.Windows.Forms.NumericUpDown, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;XTRK_GAIN_SC1.Parent" xml:space="preserve">
+  <data name="&gt;&gt;XTRK_GAIN_SC.Parent" xml:space="preserve">
     <value>groupBox6</value>
   </data>
-  <data name="&gt;&gt;XTRK_GAIN_SC1.ZOrder" xml:space="preserve">
+  <data name="&gt;&gt;XTRK_GAIN_SC.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
   <data name="label18.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
@@ -2506,7 +2506,7 @@
     <value>BUT_writePIDS</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4607.22021, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4629.11875, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.Parent" xml:space="preserve">
     <value>$this</value>
@@ -2536,7 +2536,7 @@
     <value>BUT_rerequestparams</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4607.22021, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4629.11875, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.Parent" xml:space="preserve">
     <value>$this</value>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFriendlyParams.cs

@@ -238,6 +238,21 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                                 rangeRaw = (lowerRange / 100) + " " + (upperRange / 100);
                             }
                         }
+                        else if (units.ToLower() == "centimeters")
+                        {
+                            units = "Meters";
+                            incrementRaw = "0.1";
+                            string[] rangeParts = rangeRaw.Split(new[] { ' ' });
+                            if (rangeParts.Count() == 2)
+                            {
+                                float lowerRange;
+                                float.TryParse(rangeParts[0], out lowerRange);
+                                float upperRange;
+                                float.TryParse(rangeParts[1], out upperRange);
+
+                                rangeRaw = (lowerRange / 100) + " " + (upperRange / 100);
+                            }
+                        }
                         else
                         {
                             units += " / " + (int)(1 / test);

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigMount.cs

@@ -7,6 +7,7 @@ using System.Windows.Forms;
 using ArdupilotMega.Controls.BackstageView;
 using ArdupilotMega.Presenter;
 using Transitions;
+using System.Collections;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
@@ -14,6 +15,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
     {
         private Transition[] _ErrorTransition;
         private Transition _NoErrorTransition;
+        bool startup = true;
 
         public ConfigMount()
         {
@@ -21,9 +23,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             PBOX_WarningIcon.Opacity = 0.0F;
             LBL_Error.Opacity = 0.0F;
 
-
-
-
             var delay = new Transition(new TransitionType_Linear(2000));
             var fadeIn = new Transition(new TransitionType_Linear(800));
             fadeIn.add(PBOX_WarningIcon, "Opacity", 1.0F);
@@ -65,21 +64,36 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             RC5 = 1,
             RC6 = 1,
             RC7 = 1,
-            RC8 = 1
+            RC8 = 1,
+            RC9 = 1,
+            RC10 = 1,
+            RC11 = 1
         }
 
         // 0 = disabled 1 = enabled
         enum Channelac
         {
             Disable = 0,
-            CAM_P = 1,
+            RC5 = 1,
-            CAM_R = 1,
+            RC6 = 1,
-            CAM_Y = 1
+            RC7 = 1,
+            RC8 = 1,
+            RC10 = 1,
+            RC11 = 1
+        }
+
+        enum Channelinput
+        {
+            Disable = 0,
+            RC6 = 6,
+            RC7 = 7
         }
 
         public void Activate()
         {
-            foreach (string item in MainV2.comPort.param.Keys)
+            Hashtable copy = new Hashtable(MainV2.comPort.param);
+
+            foreach (string item in copy.Keys)
             {
                 if (item.EndsWith("_FUNCTION"))
                 {
@@ -100,6 +114,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 }
             }
 
+            startup = false;
+
             try
             {
                 updatePitch();
@@ -109,13 +125,16 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             catch (Exception ex) { CustomMessageBox.Show("Failed to set Param\n" + ex.ToString()); this.Enabled = false; return; }
         }
 
-        void ensureDisabled(ComboBox cmb, int number)
+        void ensureDisabled(ComboBox cmb, int number, string exclude = "")
         {
             foreach (string item in cmb.Items) 
             {
                 if (MainV2.comPort.param.ContainsKey(item+"_FUNCTION")) {
                     float ans = (float)MainV2.comPort.param[item+"_FUNCTION"];
 
+                    if (item == exclude)
+                        continue;
+
                     if (ans == number)
                     {
                         MainV2.comPort.setParam(item + "_FUNCTION",0);
@@ -138,14 +157,16 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             else
             {
                 MainV2.comPort.setParam("MNT_STAB_TILT", 0);
-                ensureDisabled(mavlinkComboBoxTilt,7);
+                ensureDisabled(mavlinkComboBoxTilt, 7);    
             }
+            
 
             mavlinkNumericUpDownTSM.setup(800, 2200, 1, 1, mavlinkComboBoxTilt.Text +"_MIN", MainV2.comPort.param);
             mavlinkNumericUpDownTSMX.setup(800, 2200, 1, 1, mavlinkComboBoxTilt.Text + "_MAX", MainV2.comPort.param);
             mavlinkNumericUpDownTAM.setup(-90, 0, 100, 1, "MNT_ANGMIN_TIL", MainV2.comPort.param);
             mavlinkNumericUpDownTAMX.setup(0, 90, 100, 1, "MNT_ANGMAX_TIL", MainV2.comPort.param);
             mavlinkCheckBoxTR.setup(-1, 1, mavlinkComboBoxTilt.Text + "_REV", MainV2.comPort.param);
+            CMB_inputch_tilt.setup(typeof(Channelinput), "MNT_RC_IN_TILT", MainV2.comPort.param);
         }
 
         void updateRoll()
@@ -170,6 +191,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             mavlinkNumericUpDownRAM.setup(-90, 0, 100, 1, "MNT_ANGMIN_ROL", MainV2.comPort.param);
             mavlinkNumericUpDownRAMX.setup(0, 90, 100, 1, "MNT_ANGMAX_ROL", MainV2.comPort.param);
             mavlinkCheckBoxRR.setup(-1, 1, mavlinkComboBoxRoll.Text + "_REV", MainV2.comPort.param);
+            CMB_inputch_roll.setup(typeof(Channelinput), "MNT_RC_IN_ROLL", MainV2.comPort.param);
         }
 
         void updateYaw()
@@ -194,6 +216,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             mavlinkNumericUpDownPAM.setup(-90, 0, 100, 1, "MNT_ANGMIN_PAN", MainV2.comPort.param);
             mavlinkNumericUpDownPAMX.setup(0, 90, 100, 1, "MNT_ANGMAX_PAN", MainV2.comPort.param);
             mavlinkCheckBoxPR.setup(-1, 1, mavlinkComboBoxPan.Text + "_REV", MainV2.comPort.param);
+            CMB_inputch_pan.setup(typeof(Channelinput), "MNT_RC_IN_PAN", MainV2.comPort.param);
         }
 
         private void SetErrorMessageOpacity()
@@ -254,17 +277,28 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         private void mavlinkComboBox_SelectedIndexChanged(object sender, EventArgs e)
         {
-            // enable 3 axis stabilize
+            if (startup == true)
-            if (MainV2.comPort.param.ContainsKey("MNT_MODE"))
+                return;
-                MainV2.comPort.setParam("MNT_MODE",3);
+
+            ComboBox cmb = sender as ComboBox;
 
             try
             {
+
+                // cleanup all others - disableing any previous selection
+                ensureDisabled(cmb, 6, mavlinkComboBoxPan.Text);
+                ensureDisabled(cmb, 7, mavlinkComboBoxTilt.Text);
+                ensureDisabled(cmb, 8, mavlinkComboBoxRoll.Text);
+
+                // enable 3 axis stabilize
+                if (MainV2.comPort.param.ContainsKey("MNT_MODE"))
+                    MainV2.comPort.setParam("MNT_MODE", 3);
+
                 updatePitch();
                 updateRoll();
                 updateYaw();
             }
-            catch (Exception ex) { CustomMessageBox.Show("Failed to set Param\n"+ex.ToString()); return; }
+            catch (Exception ex) { CustomMessageBox.Show("Failed to set Param\n" + ex.ToString()); return; }
         }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigMount.designer.cs

@@ -79,6 +79,12 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             this.mavlinkComboBoxTilt = new System.Windows.Forms.ComboBox();
             this.mavlinkComboBoxRoll = new System.Windows.Forms.ComboBox();
             this.mavlinkComboBoxPan = new System.Windows.Forms.ComboBox();
+            this.CMB_inputch_tilt = new MavlinkComboBox();
+            this.label22 = new System.Windows.Forms.Label();
+            this.label23 = new System.Windows.Forms.Label();
+            this.CMB_inputch_roll = new MavlinkComboBox();
+            this.label24 = new System.Windows.Forms.Label();
+            this.CMB_inputch_pan = new MavlinkComboBox();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.PBOX_WarningIcon)).BeginInit();
@@ -856,9 +862,72 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             this.mavlinkComboBoxPan.TabIndex = 130;
             this.mavlinkComboBoxPan.SelectedIndexChanged += new System.EventHandler(this.mavlinkComboBox_SelectedIndexChanged);
             // 
+            // CMB_inputch_tilt
+            // 
+            this.CMB_inputch_tilt.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_inputch_tilt.FormattingEnabled = true;
+            this.CMB_inputch_tilt.Location = new System.Drawing.Point(450, 54);
+            this.CMB_inputch_tilt.Name = "CMB_inputch_tilt";
+            this.CMB_inputch_tilt.Size = new System.Drawing.Size(83, 21);
+            this.CMB_inputch_tilt.TabIndex = 131;
+            // 
+            // label22
+            // 
+            this.label22.AutoSize = true;
+            this.label22.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label22.Location = new System.Drawing.Point(453, 31);
+            this.label22.Name = "label22";
+            this.label22.Size = new System.Drawing.Size(70, 20);
+            this.label22.TabIndex = 132;
+            this.label22.Text = "Input Ch";
+            // 
+            // label23
+            // 
+            this.label23.AutoSize = true;
+            this.label23.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label23.Location = new System.Drawing.Point(453, 158);
+            this.label23.Name = "label23";
+            this.label23.Size = new System.Drawing.Size(70, 20);
+            this.label23.TabIndex = 134;
+            this.label23.Text = "Input Ch";
+            // 
+            // CMB_inputch_roll
+            // 
+            this.CMB_inputch_roll.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_inputch_roll.FormattingEnabled = true;
+            this.CMB_inputch_roll.Location = new System.Drawing.Point(450, 181);
+            this.CMB_inputch_roll.Name = "CMB_inputch_roll";
+            this.CMB_inputch_roll.Size = new System.Drawing.Size(83, 21);
+            this.CMB_inputch_roll.TabIndex = 133;
+            // 
+            // label24
+            // 
+            this.label24.AutoSize = true;
+            this.label24.Font = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label24.Location = new System.Drawing.Point(453, 282);
+            this.label24.Name = "label24";
+            this.label24.Size = new System.Drawing.Size(70, 20);
+            this.label24.TabIndex = 136;
+            this.label24.Text = "Input Ch";
+            // 
+            // CMB_inputch_pan
+            // 
+            this.CMB_inputch_pan.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CMB_inputch_pan.FormattingEnabled = true;
+            this.CMB_inputch_pan.Location = new System.Drawing.Point(450, 305);
+            this.CMB_inputch_pan.Name = "CMB_inputch_pan";
+            this.CMB_inputch_pan.Size = new System.Drawing.Size(83, 21);
+            this.CMB_inputch_pan.TabIndex = 135;
+            // 
             // ConfigMount
             // 
             this.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(38)))), ((int)(((byte)(39)))), ((int)(((byte)(40)))));
+            this.Controls.Add(this.label24);
+            this.Controls.Add(this.CMB_inputch_pan);
+            this.Controls.Add(this.label23);
+            this.Controls.Add(this.CMB_inputch_roll);
+            this.Controls.Add(this.label22);
+            this.Controls.Add(this.CMB_inputch_tilt);
             this.Controls.Add(this.mavlinkComboBoxPan);
             this.Controls.Add(this.mavlinkComboBoxRoll);
             this.Controls.Add(this.mavlinkComboBoxTilt);
@@ -980,6 +1049,12 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         private System.Windows.Forms.ComboBox mavlinkComboBoxTilt;
         private System.Windows.Forms.ComboBox mavlinkComboBoxRoll;
         private System.Windows.Forms.ComboBox mavlinkComboBoxPan;
+        private MavlinkComboBox CMB_inputch_tilt;
+        private System.Windows.Forms.Label label22;
+        private System.Windows.Forms.Label label23;
+        private MavlinkComboBox CMB_inputch_roll;
+        private System.Windows.Forms.Label label24;
+        private MavlinkComboBox CMB_inputch_pan;
 
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -56,7 +56,7 @@ namespace ArdupilotMega.GCSViews
         //"http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex"
         readonly string oldurl = ("https://meee146-planner.googlecode.com/git-history/!Hash!/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml");
         readonly string oldfirmwareurl = ("https://meee146-planner.googlecode.com/git-history/!Hash!/Tools/ArdupilotMegaPlanner/Firmware/!Firmware!");
-        string[] oldurls = new string[] { "26305d5790333f730cd396afcd08c165cde33ed7", "bc1f26ca40b076e3d06f173adad772fb25aa6512", "dfc5737c5efc1e7b78e908829a097624c273d9d7", "682065db449b6c79d89717908ed8beea1ed6a03a", "b21116847d35472b9ab770408cbeb88ed2ed0a95", "511e00bc89a554aea8768a274bff28af532cd335", "1da56714aa1ed88dcdb078a90d33bcef4eb4315f", "8aa4c7a1ed07648f31335926cc6bcc06c87dc536" };
+        string[] oldurls = new string[] {"abe930ce723267697542388ef181328f00371f40", "26305d5790333f730cd396afcd08c165cde33ed7", "bc1f26ca40b076e3d06f173adad772fb25aa6512", "dfc5737c5efc1e7b78e908829a097624c273d9d7", "682065db449b6c79d89717908ed8beea1ed6a03a", "b21116847d35472b9ab770408cbeb88ed2ed0a95", "511e00bc89a554aea8768a274bff28af532cd335", "1da56714aa1ed88dcdb078a90d33bcef4eb4315f", "8aa4c7a1ed07648f31335926cc6bcc06c87dc536" };
 
         List<software> softwares = new List<software>();
         bool flashing = false;

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -1002,7 +1002,7 @@ namespace ArdupilotMega.GCSViews
             {
                 ((Button)sender).Enabled = false;
 #if MAVLINK10
-                comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), CMB_action.Text),1,1,1,0,0,0,0);
+                comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), CMB_action.Text),1,0,1,0,0,0,0);
 #else
                 comPort.doAction((MAVLink.MAV_ACTION)Enum.Parse(typeof(MAVLink.MAV_ACTION), "MAV_ACTION_" + CMB_action.Text));
 #endif

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs

@@ -131,6 +131,7 @@
             this.kMLOverlayToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.elevationGraphToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.cameraToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.reverseWPsToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.fileLoadSaveToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.loadWPFileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.saveWPFileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@@ -141,7 +142,7 @@
             this.panelBASE = new System.Windows.Forms.Panel();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.timer1 = new System.Windows.Forms.Timer(this.components);
-            this.reverseWPsToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.loadAndAppendToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             ((System.ComponentModel.ISupportInitialize)(this.Commands)).BeginInit();
             this.panel5.SuspendLayout();
             this.panel1.SuspendLayout();
@@ -916,10 +917,17 @@
             resources.ApplyResources(this.cameraToolStripMenuItem, "cameraToolStripMenuItem");
             this.cameraToolStripMenuItem.Click += new System.EventHandler(this.cameraToolStripMenuItem_Click);
             // 
+            // reverseWPsToolStripMenuItem
+            // 
+            this.reverseWPsToolStripMenuItem.Name = "reverseWPsToolStripMenuItem";
+            resources.ApplyResources(this.reverseWPsToolStripMenuItem, "reverseWPsToolStripMenuItem");
+            this.reverseWPsToolStripMenuItem.Click += new System.EventHandler(this.reverseWPsToolStripMenuItem_Click);
+            // 
             // fileLoadSaveToolStripMenuItem
             // 
             this.fileLoadSaveToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.loadWPFileToolStripMenuItem,
+            this.loadAndAppendToolStripMenuItem,
             this.saveWPFileToolStripMenuItem});
             this.fileLoadSaveToolStripMenuItem.Name = "fileLoadSaveToolStripMenuItem";
             resources.ApplyResources(this.fileLoadSaveToolStripMenuItem, "fileLoadSaveToolStripMenuItem");
@@ -982,11 +990,11 @@
             this.timer1.Interval = 1000;
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
-            // reverseWPsToolStripMenuItem
+            // loadAndAppendToolStripMenuItem
             // 
-            this.reverseWPsToolStripMenuItem.Name = "reverseWPsToolStripMenuItem";
+            this.loadAndAppendToolStripMenuItem.Name = "loadAndAppendToolStripMenuItem";
-            resources.ApplyResources(this.reverseWPsToolStripMenuItem, "reverseWPsToolStripMenuItem");
+            resources.ApplyResources(this.loadAndAppendToolStripMenuItem, "loadAndAppendToolStripMenuItem");
-            this.reverseWPsToolStripMenuItem.Click += new System.EventHandler(this.reverseWPsToolStripMenuItem_Click);
+            this.loadAndAppendToolStripMenuItem.Click += new System.EventHandler(this.loadAndAppendToolStripMenuItem_Click);
             // 
             // FlightPlanner
             // 
@@ -1122,5 +1130,6 @@
         private System.Windows.Forms.ToolStripMenuItem flyToHereToolStripMenuItem;
         private System.Windows.Forms.ToolStripMenuItem gridV2ToolStripMenuItem;
         private System.Windows.Forms.ToolStripMenuItem reverseWPsToolStripMenuItem;
+        private System.Windows.Forms.ToolStripMenuItem loadAndAppendToolStripMenuItem;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -1406,11 +1406,11 @@ namespace ArdupilotMega.GCSViews
         /// <summary>
         /// Processes a loaded EEPROM to the map and datagrid
         /// </summary>
-        void processToScreen(List<Locationwp> cmds)
+        void processToScreen(List<Locationwp> cmds, bool append = false)
         {
             quickadd = true;
 
-            while (Commands.Rows.Count > 0)
+            while (Commands.Rows.Count > 0 && !append)
                 Commands.Rows.RemoveAt(0);
 
             if (cmds.Count == 0)
@@ -1770,7 +1770,7 @@ namespace ArdupilotMega.GCSViews
             }
         }
 
-        void readQGC110wpfile(string file)
+        void readQGC110wpfile(string file, bool append = false)
         {
             int wp_count = 0;
             bool error = false;
@@ -1841,7 +1841,7 @@ namespace ArdupilotMega.GCSViews
 
                 sr.Close();
 
-                processToScreen(cmds);
+                processToScreen(cmds, append);
 
                 writeKML();
 
@@ -2570,8 +2570,12 @@ namespace ArdupilotMega.GCSViews
         {
             quickadd = true;
 
-            while (Commands.Rows.Count > 0)
+            try
-                Commands.Rows.RemoveAt(0);
+            {
+                Commands.Rows.Clear();
+            }
+            catch { } // this fails on mono - Exception System.ArgumentOutOfRangeException: Index is less than 0 or more than or equal to the list count. Parameter name: index
+
             selectedrow = 0;
             quickadd = false;
             writeKML();
@@ -4187,5 +4191,18 @@ namespace ArdupilotMega.GCSViews
 
                 writeKML();
         }
+
+        private void loadAndAppendToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            OpenFileDialog fd = new OpenFileDialog();
+            fd.Filter = "Ardupilot Mission (*.txt)|*.*";
+            fd.DefaultExt = ".txt";
+            DialogResult result = fd.ShowDialog();
+            string file = fd.FileName;
+            if (file != "")
+            {
+                readQGC110wpfile(file, true);
+            }
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx

@@ -556,7 +556,7 @@
     <value>BUT_write</value>
   </data>
   <data name="&gt;&gt;BUT_write.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4620.29750, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4627.35768, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_write.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -583,7 +583,7 @@
     <value>BUT_read</value>
   </data>
   <data name="&gt;&gt;BUT_read.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4620.29750, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4627.35768, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_read.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -1147,7 +1147,7 @@
     <value>BUT_Add</value>
   </data>
   <data name="&gt;&gt;BUT_Add.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4620.29750, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4627.35768, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_Add.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
@@ -1555,13 +1555,19 @@
     <value>Map Tool</value>
   </data>
   <data name="loadWPFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>142, 22</value>
+    <value>168, 22</value>
   </data>
   <data name="loadWPFileToolStripMenuItem.Text" xml:space="preserve">
     <value>Load WP File</value>
   </data>
+  <data name="loadAndAppendToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>168, 22</value>
+  </data>
+  <data name="loadAndAppendToolStripMenuItem.Text" xml:space="preserve">
+    <value>Load and Append</value>
+  </data>
   <data name="saveWPFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>142, 22</value>
+    <value>168, 22</value>
   </data>
   <data name="saveWPFileToolStripMenuItem.Text" xml:space="preserve">
     <value>Save WP File</value>
@@ -1754,7 +1760,7 @@
     <value>MainMap</value>
   </data>
   <data name="&gt;&gt;MainMap.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4620.29750, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4627.35768, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;MainMap.Parent" xml:space="preserve">
     <value>panelMap</value>
@@ -1784,7 +1790,7 @@
     <value>trackBar1</value>
   </data>
   <data name="&gt;&gt;trackBar1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4620.29750, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4627.35768, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;trackBar1.Parent" xml:space="preserve">
     <value>panelMap</value>
@@ -2191,6 +2197,12 @@
   <data name="&gt;&gt;cameraToolStripMenuItem.Type" xml:space="preserve">
     <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
+  <data name="&gt;&gt;reverseWPsToolStripMenuItem.Name" xml:space="preserve">
+    <value>reverseWPsToolStripMenuItem</value>
+  </data>
+  <data name="&gt;&gt;reverseWPsToolStripMenuItem.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
   <data name="&gt;&gt;fileLoadSaveToolStripMenuItem.Name" xml:space="preserve">
     <value>fileLoadSaveToolStripMenuItem</value>
   </data>
@@ -2233,16 +2245,16 @@
   <data name="&gt;&gt;timer1.Type" xml:space="preserve">
     <value>System.Windows.Forms.Timer, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;reverseWPsToolStripMenuItem.Name" xml:space="preserve">
+  <data name="&gt;&gt;loadAndAppendToolStripMenuItem.Name" xml:space="preserve">
-    <value>reverseWPsToolStripMenuItem</value>
+    <value>loadAndAppendToolStripMenuItem</value>
   </data>
-  <data name="&gt;&gt;reverseWPsToolStripMenuItem.Type" xml:space="preserve">
+  <data name="&gt;&gt;loadAndAppendToolStripMenuItem.Type" xml:space="preserve">
     <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;$this.Name" xml:space="preserve">
     <value>FlightPlanner</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4620.29750, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4627.35768, Culture=neutral, PublicKeyToken=null</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs

@@ -213,6 +213,23 @@ namespace ArdupilotMega.GCSViews
             e.Handled = true;*/
         }
 
+        private void waitandsleep(int time)
+        {
+            DateTime start = DateTime.Now;
+
+            while ((DateTime.Now - start).TotalMilliseconds < time)
+            {
+                try
+                {
+                    if (comPort.BytesToRead > 0)
+                    {
+                        return;
+                    }
+                }
+                catch { threadrun = false; return; }
+            }
+        }
+
         private void readandsleep(int time)
         {
              DateTime start = DateTime.Now;
@@ -247,12 +264,17 @@ namespace ArdupilotMega.GCSViews
 
                 comPort.toggleDTR();
 
+                comPort.DiscardInBuffer();
+
                 System.Threading.Thread t11 = new System.Threading.Thread(delegate()
                 {
                     threadrun = true;
 
-                    // 2 secs
+                    // 10 sec
-                    readandsleep(2000);
+                    waitandsleep(10000);
+
+                    // 100 ms
+                    readandsleep(100);
                     try
                     {
                         comPort.Write("\n\n\n");

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.1.*")]
-[assembly: AssemblyFileVersion("1.2.10")]
+[assembly: AssemblyFileVersion("1.2.11")]
 [assembly: NeutralResourcesLanguageAttribute("")]