APM Planner 1.1.99

Convert to IActivate, IDeactivate scheme, thanks andrew
add support for rfcomm* interfaces on linux
fix guage off screen draw mono issue.
remove use of BackStageViewContentPanel
andrews spacer changes - not using dues to screen space issue
change configpanel constructor to load xml directly
remove IMavlink Interface
fix hsi off screen draw issue on mono
modify hud to use sprite fonts, instead of drawing via GDI+
modify progress reporter to use a 10hz timer to update screen, using invoke/begininvoke fails on mono at 50hz (over 100ms per call).
fix targetalt and target airspeed jumping issue.
lots of cleanup on tab switching, ie stoping timers/other
3dr radio status led update
update ardurover car icon
speedup georef image screen. tested on over 1000 images.

Tools/ArdupilotMegaPlanner/Antenna/Tracker.Designer.cs

@@ -253,7 +253,6 @@
             this.Controls.Add(this.label1);
             this.Controls.Add(this.CMB_interface);
             this.Name = "Tracker";
-            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Tracker_FormClosing);
             ((System.ComponentModel.ISupportInitialize)(this.TRK_pantrim)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.TRK_tilttrim)).EndInit();
             this.ResumeLayout(false);

Tools/ArdupilotMegaPlanner/Antenna/Tracker.cs

@@ -12,7 +12,7 @@ using ArdupilotMega.Utilities;
 
 namespace ArdupilotMega.Antenna
 {
-    public partial class Tracker : BackStageViewContentPanel
+    public partial class Tracker : UserControl, IDeactivate
     {
         System.Threading.Thread t12;
         static bool threadrun = false;
@@ -217,7 +217,7 @@ namespace ArdupilotMega.Antenna
 
         }
 
-        private void Tracker_FormClosing(object sender, FormClosingEventArgs e)
+        public void Deactivate()
         {
             saveconfig();
         }

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -308,7 +308,6 @@
       <DependentUpon>ConfigArdurover.cs</DependentUpon>
     </Compile>
     <Compile Include="Presenter\ICommand.cs" />
-    <Compile Include="Mavlink\IMAVLink.cs" />
     <Compile Include="Utilities\CaptureMJPEG.cs" />
     <Compile Include="Utilities\CollectionExtensions.cs" />
     <Compile Include="Utilities\ParameterMetaDataConstants.cs" />
@@ -1208,6 +1207,8 @@
     <None Include="Resources\iconWarning48.png" />
     <None Include="Resources\cameraGimalPitch1.png" />
     <None Include="Resources\cameraGimalRoll1.png" />
+    <None Include="Resources\frames_plus.png" />
+    <None Include="Resources\frames_x.png" />
     <Content Include="Resources\MAVCmd.zh-Hans.txt" />
     <None Include="Resources\MAVParam.txt" />
     <Content Include="Resources\MAVParam.zh-Hans.txt" />

Tools/ArdupilotMegaPlanner/Common.cs

@@ -84,7 +84,7 @@ namespace ArdupilotMega
             // undo autochange in mouse over
             if (Pen.Color == Color.Blue)
                 Pen.Color = Color.White;
-            
+
                 double width = (MainMap.Manager.GetDistance(MainMap.FromLocalToLatLng(0, 0), MainMap.FromLocalToLatLng(MainMap.Width, 0)) * 1000.0);
                 double height = (MainMap.Manager.GetDistance(MainMap.FromLocalToLatLng(0, 0), MainMap.FromLocalToLatLng(MainMap.Height, 0)) * 1000.0);
                 double m2pixelwidth = MainMap.Width / width;

Tools/ArdupilotMegaPlanner/Comms/CommsSerialPort.cs

@@ -48,6 +48,7 @@ namespace ArdupilotMega.Comms
                     allPorts.AddRange(Directory.GetFiles("/dev/serial/by-id/", "*"));
                 allPorts.AddRange(Directory.GetFiles("/dev/", "ttyACM*"));
                 allPorts.AddRange(Directory.GetFiles("/dev/", "ttyUSB*"));
+                allPorts.AddRange(Directory.GetFiles("/dev/", "rfcomm*"));
             }
 
             string[] ports = System.IO.Ports.SerialPort.GetPortNames()

Tools/ArdupilotMegaPlanner/Controls/AGauge.cs

@@ -1410,6 +1410,8 @@ System.ComponentModel.Description("Enables or disables the range selected by Nee
             }
         }
 
+
+
         #endregion
 
 #region helper
@@ -1471,22 +1473,37 @@ System.ComponentModel.Description("Enables or disables the range selected by Nee
         }
 #endregion
 
+        /// <summary>
+        /// Override to prevent offscreen drawing the control - mono mac
+        /// </summary>
+        public new void Invalidate()
+        {
+            if (!ThisReallyVisible())
+            {
+                return;
+            }
+
+            base.Invalidate();
+        }
+
+        public override void Refresh()
+        {
+            base.Refresh();
+        }
+
         /// <summary>
         /// this is to fix a mono off screen drawing issue
         /// </summary>
         /// <returns></returns>
         public bool ThisReallyVisible()
         {
-            if (Parent != null)
-                return this.Bounds.IntersectsWith(Parent.ClientRectangle);
-
-            return true;
+            Control ctl = Control.FromHandle(this.Handle);
+            return ctl.Visible;
         } 
 
 #region base member overrides
         protected override void OnPaintBackground(PaintEventArgs pevent)
         {
-            base.OnPaintBackground(pevent);
         }
 
         protected override void OnPaint(PaintEventArgs pe)
@@ -1497,9 +1514,11 @@ System.ComponentModel.Description("Enables or disables the range selected by Nee
             }
 
             if (!ThisReallyVisible())
+            {
+                Console.WriteLine(this.Visible);
+                base.OnPaint(pe);
                 return;
-
-            base.OnPaint(pe);
+            }
 
             float scale = 1;
 

Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackStageViewContentPanel.cs

@@ -5,7 +5,31 @@ using System.Windows.Forms;
 
 namespace ArdupilotMega.Controls.BackstageView
 {
-    public class BackStageViewContentPanel : UserControl
+    /// <summary>
+    /// The implementor executes some logic on activation, for e.g when moving 
+    /// from not selected to selected in a tab control
+    /// </summary>
+    public interface IActivate
+    {
+        // Should be idempotent
+        void Activate();
+    }
+
+    /// <summary>
+    /// The implementor executes some logic on deactivation, for e.g when moving 
+    /// from selected to not selected in a tab control
+    /// </summary>
+    public interface IDeactivate
+    {
+        // Should be idempotent
+        void Deactivate();
+    }
+
+    /// <summary>
+    /// Base class for user controls that wish to participate as a backstage view 
+    /// </summary>
+    [Obsolete("This doesn't do much any more, and should be replaced by indicating lifecycle features with IActivate etc")]
+    public class BackStageViewContentPanel : UserControl,  IActivate, IDeactivate
     {
         public event FormClosingEventHandler FormClosing;
 
@@ -25,5 +49,15 @@ namespace ArdupilotMega.Controls.BackstageView
             // this is now done on page load via parent control
            // base.OnLoad(e);
         }
+
+        public void Activate()
+        {
+            DoLoad(EventArgs.Empty);
+        }
+
+        public void Deactivate()
+        {
+            Close();
+        }
     }
 }

Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackstageView.Designer.cs

@@ -37,10 +37,10 @@
             this.pnlPages.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)));
-            this.pnlPages.Location = new System.Drawing.Point(150, 0);
+            this.pnlPages.Location = new System.Drawing.Point(152, 0);
             this.pnlPages.MinimumSize = new System.Drawing.Size(100, 0);
             this.pnlPages.Name = "pnlPages";
-            this.pnlPages.Size = new System.Drawing.Size(297, 192);
+            this.pnlPages.Size = new System.Drawing.Size(291, 192);
             this.pnlPages.TabIndex = 0;
             // 
             // pnlMenu
@@ -49,7 +49,7 @@
             | System.Windows.Forms.AnchorStyles.Left)));
             this.pnlMenu.Location = new System.Drawing.Point(0, 0);
             this.pnlMenu.Name = "pnlMenu";
-            this.pnlMenu.Size = new System.Drawing.Size(150, 192);
+            this.pnlMenu.Size = new System.Drawing.Size(152, 192);
             this.pnlMenu.TabIndex = 1;
             // 
             // BackstageView

Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackstageView.cs

@@ -9,6 +9,12 @@ using ArdupilotMega.Utilities;
 
 namespace ArdupilotMega.Controls.BackstageView
 {
+    /// <summary>
+    /// A Control to somewhat emulate the 'backstage view' as in MS Office 2010
+    /// </summary>
+    /// <remarks>
+    /// 'Tabs' are added as a control in a <see cref="BackstageViewPage"/>
+    /// </remarks>
     public partial class BackstageView : UserControl
     {
         private Color _buttonsAreaBgColor = Color.White;
@@ -18,13 +24,14 @@ namespace ArdupilotMega.Controls.BackstageView
         private Color _highlightColor1 = Color.DarkBlue;
         private Color _highlightColor2 = Color.Blue;
 
-        private readonly List<BackstageViewPage> _pages= new List<BackstageViewPage>();
+        private readonly List<BackstageViewItem> _items = new List<BackstageViewItem>();
         private BackstageViewPage _activePage;
         private const int ButtonSpacing = 30;
         private const int ButtonHeight = 30;
 
         public BackstageViewPage SelectedPage { get { return _activePage; } }
-        public List<BackstageViewPage> Pages { get { return _pages; } }
+        
+        public List<BackstageViewPage> Pages { get { return _items.OfType<BackstageViewPage>().ToList(); } }
 
         public BackstageView()
         {
@@ -38,12 +45,6 @@ namespace ArdupilotMega.Controls.BackstageView
             pnlMenu.GradColor = this.BackColor;
         }
 
-        protected override void OnPaint(PaintEventArgs e)
-        {
-            base.OnPaint(e);
-        }
-
-
         public override Color BackColor
         {
             get
@@ -53,7 +54,7 @@ namespace ArdupilotMega.Controls.BackstageView
             set
             {
                 base.BackColor = value;
-                UpdateButtons();
+                UpdateButtonAppearance();
                 pnlMenu.GradColor = this.BackColor;
             }
         }
@@ -68,7 +69,7 @@ namespace ArdupilotMega.Controls.BackstageView
                 _buttonsAreaPencilColor = value;
                 pnlMenu.PencilBorderColor = _buttonsAreaPencilColor;
                 pnlMenu.Invalidate();
-                UpdateButtons();
+                UpdateButtonAppearance();
                 Invalidate();
             }
         }
@@ -96,7 +97,7 @@ namespace ArdupilotMega.Controls.BackstageView
             set
             {
                 _selectedTextColor = value;
-                UpdateButtons();
+                UpdateButtonAppearance();
             }
         }
 
@@ -108,7 +109,7 @@ namespace ArdupilotMega.Controls.BackstageView
             set
             {
                 _unSelectedTextColor = value;
-                UpdateButtons();
+                UpdateButtonAppearance();
                 Invalidate();
             }
         }
@@ -121,7 +122,7 @@ namespace ArdupilotMega.Controls.BackstageView
             set
             {
                 _highlightColor1 = value;
-                UpdateButtons();
+                UpdateButtonAppearance();
                 Invalidate();
             }
         }
@@ -134,36 +135,33 @@ namespace ArdupilotMega.Controls.BackstageView
             set
             {
                 _highlightColor2 = value;
-                UpdateButtons();
+                UpdateButtonAppearance();
                 Invalidate();
             }
         }
-
-       
-        private void UpdateButtons()
+          
+        /// <summary>
+        /// Add a page (tab) to this backstage view. Will be added at the end/bottom
+        /// </summary>
+        public void AddPage(UserControl userControl, string headerText)
         {
-            foreach (var backstageViewButton in pnlMenu.Controls.OfType<BackstageViewButton>())
-            {
-                backstageViewButton.HighlightColor2 = _highlightColor2;
-                backstageViewButton.HighlightColor1 = _highlightColor1;
-                backstageViewButton.UnSelectedTextColor = _unSelectedTextColor;
-                backstageViewButton.SelectedTextColor = _selectedTextColor;
-                backstageViewButton.ContentPageColor = this.BackColor;
-                backstageViewButton.PencilBorderColor = _buttonsAreaPencilColor;
+            var page = new BackstageViewPage(userControl, headerText)
+                           {
+                               Page =
+                                   {
+                                       Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top,
+                                       Location = new Point(pnlMenu.Width, 0),
+                                       Dock = DockStyle.Fill
+                                   }
+                           };
 
-                backstageViewButton.Invalidate();
-            }
-        }
-
-        public void AddPage(BackstageViewPage page)
-        {
-            page.Page.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
-            page.Page.Location = new Point(pnlMenu.Width, 0);
-            page.Page.Dock = DockStyle.Fill;
-
-            _pages.Add(page);
+            _items.Add(page);
+         
             CreateLinkButton(page);
-            //this.pnlPages.Controls.Add(page.Page);
+
+            page.Page.Visible = false;
+            
+            this.pnlPages.Controls.Add(page.Page);
 
             if (_activePage == null)
             {
@@ -173,13 +171,22 @@ namespace ArdupilotMega.Controls.BackstageView
             }
         }
 
+        /// <summary>
+        /// Add a spacer to this backstage view. Will be added at the end/bottom
+        /// </summary>
+        /// <param name="spacerheight">the amount to space by</param>
+        public void AddSpacer(int spacerheight)
+        {
+            _items.Add(new BackstageViewSpacer(spacerheight));
+        }
+
         private void CreateLinkButton(BackstageViewPage page)
         {
             var lnkButton = new BackstageViewButton
                                 {
                                     Text = page.LinkText,
                                     Tag = page,
-                                    Top = _pages.IndexOf(page) * ButtonSpacing,
+                        Top = _items.TakeWhile(i => i != page).Sum(i => i.Spacing),
                                     Width = this.pnlMenu.Width,
                                     Height = ButtonHeight,
                                     ContentPageColor = this.BackColor,
@@ -195,12 +202,32 @@ namespace ArdupilotMega.Controls.BackstageView
             lnkButton.DoubleClick += lnkButton_DoubleClick;
         }
 
-        void lnkButton_DoubleClick(object sender, EventArgs e)
+        private void UpdateButtonAppearance()
+        {
+            foreach (var backstageViewButton in pnlMenu.Controls.OfType<BackstageViewButton>())
+            {
+                backstageViewButton.HighlightColor2 = _highlightColor2;
+                backstageViewButton.HighlightColor1 = _highlightColor1;
+                backstageViewButton.UnSelectedTextColor = _unSelectedTextColor;
+                backstageViewButton.SelectedTextColor = _selectedTextColor;
+                backstageViewButton.ContentPageColor = this.BackColor;
+                backstageViewButton.PencilBorderColor = _buttonsAreaPencilColor;
+
+                backstageViewButton.Invalidate();
+            }
+        }
+
+        /*
+         * Experimental - double clicking a button will spawn it out into a new form
+         * Care must be given to lifecycle here - two pages can now be interacted with 
+         * 'simultaneously'
+         */ 
+        private void lnkButton_DoubleClick(object sender, EventArgs e)
         {
             var backstageViewButton = ((BackstageViewButton)sender);
             var associatedPage = backstageViewButton.Tag as BackstageViewPage;
 
-            Form popoutForm = new Form();
+            var popoutForm = new Form();
             popoutForm.FormClosing += popoutForm_FormClosing;
 
             int maxright = 0, maxdown = 0;
@@ -214,7 +241,7 @@ namespace ArdupilotMega.Controls.BackstageView
             // set the height to 0, so we can derive the header height in the next step
             popoutForm.Height = 0;
 
-            popoutForm.Size = new System.Drawing.Size(maxright + 20, maxdown + 20 + popoutForm.Height);
+            popoutForm.Size = new Size(maxright + 20, maxdown + 20 + popoutForm.Height);
             popoutForm.Controls.Add(associatedPage.Page);
             popoutForm.Tag = associatedPage;
 
@@ -226,19 +253,18 @@ namespace ArdupilotMega.Controls.BackstageView
             popoutForm.Show(this);
         }
 
-        void popoutForm_FormClosing(object sender, FormClosingEventArgs e)
+        private void popoutForm_FormClosing(object sender, FormClosingEventArgs e)
         {
             // get the page back
             var temp = ((Form)sender).Tag as BackstageViewPage;
+
             // add back to where it belongs
             this.pnlPages.Controls.Add(temp.Page);
 
-            // clear the controls, so we dont dispose the good control
+            // clear the controls, so we dont dispose the good control when it closes
             ((Form)sender).Controls.Clear();
-            
         }
 
-
         private void ButtonClick(object sender, EventArgs e)
         {
             var backstageViewButton = ((BackstageViewButton) sender);
@@ -248,29 +274,36 @@ namespace ArdupilotMega.Controls.BackstageView
 
         public void ActivatePage(BackstageViewPage associatedPage)
         {
-            // deactivate the old page
-            _activePage.Page.Close();
-            Pages.ForEach(x =>
+            // Deactivate old page
+            if (_activePage.Page is IDeactivate)
             {
-                x.Page.Visible = false;
-            });
-            this.pnlPages.Controls.Remove(_activePage.Page);
+                ((IDeactivate)(_activePage.Page)).Deactivate();
+            }
+
+            // deactivate the old page - obsolete way of notifying activation
+            //_activePage.Page.Close();
+
+            foreach (var p in Pages)
+                p.Page.Visible = false;
 
             // deactivate button
             _activePage.Page.Visible = false;
             var oldButton = this.pnlMenu.Controls.OfType<BackstageViewButton>().Single(b => b.Tag == _activePage);
             oldButton.IsSelected = false;
 
+            // ensure fields have been init - obsolete way of notifying activation
+            //associatedPage.Page.DoLoad(new EventArgs());
 
-            ThemeManager.ApplyThemeTo(associatedPage.Page);
+            // new way of notifying activation. Goal is to get rid of BackStageViewContentPanel
+            // so plain old user controls can be added
+            if (associatedPage.Page is IActivate)
+            {
+                ((IActivate)(associatedPage.Page)).Activate();
+            }
 
-            // ensure fields have been init
-            associatedPage.Page.DoLoad(new EventArgs());
             // show it
             associatedPage.Page.Visible = true;
-            // add control
-            this.pnlPages.Controls.Add(associatedPage.Page);
-
+            
             var newButton = this.pnlMenu.Controls.OfType<BackstageViewButton>().Single(b => b.Tag == associatedPage);
             newButton.IsSelected = true;
 
@@ -279,22 +312,70 @@ namespace ArdupilotMega.Controls.BackstageView
 
         public void Close()
         {
-            foreach (BackstageViewPage page in _pages)
+            foreach (var page in _items)
             {
-                page.Page.Close();
+                if (((BackstageViewPage)page).Page is IDeactivate)
+                {
+                    ((IDeactivate)((BackstageViewPage)(page)).Page).Deactivate();
+                }
+                else
+                {
+                    ((BackstageViewPage)page).Page.Dispose();
+                }
             }
         }
 
-        public class BackstageViewPage
+        public abstract class BackstageViewItem
+        {
+            public abstract int Spacing { get; }
+        }
+
+        /// <summary>
+        /// Place-holder for a bit of blank space in a <see cref="BackstageView"/>
+        /// Used to visually seperate logically related groups of link buttons
+        /// </summary>
+        public class BackstageViewSpacer : BackstageViewItem
+        {
+            private int _spacing;
+
+            public BackstageViewSpacer(int spacerheight)
+            {
+                _spacing = spacerheight;
+            }
+
+            // How much (vertical) space the thing takes up in the button menu
+            public override int Spacing
+            {
+                get { return _spacing; }
+            }
+        }
+
+
+        /// <summary>
+        /// Data structure to hold information about a 'tab' in the <see cref="BackstageView"/>
+        /// </summary>
+        public class BackstageViewPage : BackstageViewItem
         {            
-            public BackstageViewPage(BackStageViewContentPanel page, string linkText)
+            public BackstageViewPage(UserControl page, string linkText)
             {
                 Page = page;
                 LinkText = linkText;
             }
 
-            public BackStageViewContentPanel Page { get; set; }
+            /// <summary>
+            /// The user content of the tab
+            /// </summary>
+            public UserControl Page { get; set; }
+
+            /// <summary>
+            /// The text to go in the 'tab header'
+            /// </summary>
             public string LinkText { get; set; }
+
+            public override int Spacing
+            {
+                get { return ButtonSpacing; }
+            }
         }
     }
 

Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.cs

@@ -13,7 +13,7 @@ using ArdupilotMega.Utilities;
 
 namespace ArdupilotMega.Controls
 {
-    public partial class ConfigPanel : BackStageViewContentPanel
+    public partial class ConfigPanel : UserControl
     {
         /// <summary>
         /// store temp pending changes
@@ -22,9 +22,11 @@ namespace ArdupilotMega.Controls
         // store linked param options
         Hashtable _linkedParams = new Hashtable();
 
-        public ConfigPanel()
+        public ConfigPanel(string XMLFile)
         {
             InitializeComponent();
+
+            LoadXML(XMLFile);
         }
 
         /// <summary>

Tools/ArdupilotMegaPlanner/Controls/ConnectionStats.cs

@@ -11,10 +11,10 @@ namespace ArdupilotMega.Controls
 {
     public partial class ConnectionStats : UserControl
     {
-        private readonly IMAVLink _mavlink;
+        private readonly MAVLink _mavlink;
         private CompositeDisposable _subscriptionsDisposable;
 
-        public ConnectionStats(IMAVLink comPort)
+        public ConnectionStats(MAVLink comPort)
             : this()
         {
             _mavlink = comPort;

Tools/ArdupilotMegaPlanner/Controls/CustomMessageBox.cs

@@ -52,7 +52,7 @@ namespace System.Windows.Forms
             var msgBoxFrm = new Form
                                 {
                                     FormBorderStyle = FormBorderStyle.FixedDialog,
-                                    ShowInTaskbar = false,
+                                    ShowInTaskbar = true,
                                     StartPosition = FormStartPosition.CenterScreen,
                                     Text = caption,
                                     MaximizeBox = false,
@@ -60,7 +60,7 @@ namespace System.Windows.Forms
                                     Width = textSize.Width + 50,
                                     Height = textSize.Height + 100,
                                     TopMost = true,
-                                    TopLevel = true,
+                                    TopLevel = true
                                 };
 
             Rectangle screenRectangle = msgBoxFrm.RectangleToScreen(msgBoxFrm.ClientRectangle);
@@ -103,6 +103,8 @@ namespace System.Windows.Forms
             }
             catch { }
 
+           Console.WriteLine("CustomMessageBox 1");
+
             if (System.Windows.Forms.Application.OpenForms.Count > 0)
             {
                 msgBoxFrm.StartPosition = FormStartPosition.Manual;
@@ -110,13 +112,17 @@ namespace System.Windows.Forms
                 // center of first form
                 msgBoxFrm.Location = new Point(parentForm.Location.X + parentForm.Width / 2 - msgBoxFrm.Width / 2,
                     parentForm.Location.Y + parentForm.Height / 2 - msgBoxFrm.Height / 2);
-                DialogResult test = msgBoxFrm.ShowDialog();
+                Console.WriteLine("CustomMessageBox 2a");
+                DialogResult test = msgBoxFrm.ShowDialog(null);
             }
             else
             {
-                DialogResult test = msgBoxFrm.ShowDialog();
+                Console.WriteLine("CustomMessageBox 2b");
+                DialogResult test = msgBoxFrm.ShowDialog(null);
             }
 
+            Console.WriteLine("CustomMessageBox 3");
+
             DialogResult answer = _state;
 
             return answer;

Tools/ArdupilotMegaPlanner/Controls/HSI.cs

@@ -31,6 +31,29 @@ namespace ArdupilotMega.Controls
             set { _navbearing = value; }
         }
 
+        /// <summary>
+        /// Override to prevent offscreen drawing the control - mono mac
+        /// </summary>
+        public new void Invalidate()
+        {
+            if (!ThisReallyVisible())
+            {
+                return;
+            }
+
+            base.Invalidate();
+        }
+
+        /// <summary>
+        /// this is to fix a mono off screen drawing issue
+        /// </summary>
+        /// <returns></returns>
+        public bool ThisReallyVisible()
+        {
+            Control ctl = Control.FromHandle(this.Handle);
+            return ctl.Visible;
+        } 
+
         public HSI()
         {
             InitializeComponent();

Tools/ArdupilotMegaPlanner/Controls/HUD.cs

@@ -182,10 +182,38 @@ namespace ArdupilotMega.Controls
 
         public override void Refresh()
         {
+            if (!ThisReallyVisible())
+            {
+                return;
+            }
+
             //base.Refresh();
             OnPaint(new PaintEventArgs(this.CreateGraphics(),this.ClientRectangle));
         }
 
+        /// <summary>
+        /// Override to prevent offscreen drawing the control - mono mac
+        /// </summary>
+        public new void Invalidate()
+        {
+            if (!ThisReallyVisible())
+            {
+                return;
+            }
+
+            base.Invalidate();
+        }
+
+        /// <summary>
+        /// this is to fix a mono off screen drawing issue
+        /// </summary>
+        /// <returns></returns>
+        public bool ThisReallyVisible()
+        {
+            //Control ctl = Control.FromHandle(this.Handle);
+            return this.Visible;
+        } 
+
         protected override void OnLoad(EventArgs e)
         {
             if (opengl)
@@ -245,9 +273,11 @@ namespace ArdupilotMega.Controls
             started = true;
         }
 
+        object lockit = new object();
         bool inOnPaint = false;
         string otherthread = "";
 
+
         protected override void OnPaint(PaintEventArgs e)
         {
             //GL.Enable(EnableCap.AlphaTest)
@@ -270,16 +300,21 @@ namespace ArdupilotMega.Controls
                 return;              
             }
 
-            if (inOnPaint)
+            lock (lockit)
             {
-                log.Info("Was in onpaint Hud th:" + System.Threading.Thread.CurrentThread.Name + " in " + otherthread);
-                return;
+
+                if (inOnPaint)
+                {
+                    log.Info("Was in onpaint Hud th:" + System.Threading.Thread.CurrentThread.Name + " in " + otherthread);
+                    return;
+                }
+
+                otherthread = System.Threading.Thread.CurrentThread.Name;
+
+                inOnPaint = true;
+
             }
 
-            otherthread = System.Threading.Thread.CurrentThread.Name;
-
-            inOnPaint = true;
-
             starttime = DateTime.Now;
 
             try
@@ -701,6 +736,8 @@ namespace ArdupilotMega.Controls
                     graphicsObjectGDIP.TextRenderingHint = System.Drawing.Text.TextRenderingHint.SystemDefault;
                 }
 
+                graphicsObjectGDIP.InterpolationMode = InterpolationMode.Bilinear;
+
 
                 graphicsObject.Clear(Color.Gray);
 
@@ -1310,7 +1347,7 @@ namespace ArdupilotMega.Controls
 
                     graphicsObject.DrawLine(redPen, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2, scrollbg.Left + 50, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20);
                 }
-                drawstring(graphicsObject, _datetime.ToString("HH:mm:ss"), font, fontsize, whiteBrush, scrollbg.Left - 20, scrollbg.Top - fontsize - 2 - 20);
+                drawstring(graphicsObject, _datetime.ToString("HH:mm:ss"), font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Top - fontsize - 2 - 20);
 
 
                 // battery
@@ -1558,27 +1595,86 @@ namespace ArdupilotMega.Controls
             if (text == null || text == "")
                 return;
 
-            pth.Reset();
-            
-            if (text != null)
-                pth.AddString(text, font.FontFamily, 0, fontsize + 5, new Point((int)x, (int)y), StringFormat.GenericTypographic);
+                       
+            char[] chars = text.ToCharArray();
 
-            //Draw the edge
-            // this uses lots of cpu time
+            float maxy = 0;
 
-            //e.SmoothingMode = SmoothingMode.HighSpeed;
+            foreach (char cha in chars)
+            {
+                int charno = (int)cha;
+
+                int charid = charno + (128 * (int)fontsize);
+
+                if (charbitmaps[charid] == null)
+                {
+                    charbitmaps[charid] = new Bitmap(128, 128, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
+
+                    charbitmaps[charid].MakeTransparent(Color.Transparent);
+
+                    //charbitmaptexid
+
+                    float maxx = this.Width / 150; // for space
+
+
+                    // create bitmap
+                    using (Graphics gfx = Graphics.FromImage(charbitmaps[charid]))
+                    {
+                        pth.Reset();
+
+                        if (text != null)
+                            pth.AddString(cha + "", font.FontFamily, 0, fontsize + 5, new Point((int)0, (int)0), StringFormat.GenericTypographic);
+
+                        gfx.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
+
+                        gfx.DrawPath(P, pth);
+
+                        //Draw the face
+
+                        gfx.FillPath(brush, pth);
+
+
+                        if (pth.PointCount > 0)
+                        {
+                            foreach (PointF pnt in pth.PathPoints)
+                            {
+                                if (pnt.X > maxx)
+                                    maxx = pnt.X;
+
+                                if (pnt.Y > maxy)
+                                    maxy = pnt.Y;
+                            }
+                        }
+                    }
+
+                    charwidth[charid] = (int)(maxx + 2);
+                }
+
+                // draw it
+
+                float scale = 1.0f;
+
+                DrawImage(charbitmaps[charid], (int)x, (int)y, charbitmaps[charid].Width, charbitmaps[charid].Height);
+
+                x += charwidth[charid] * scale;
+
+                /*
+                pth.Reset();
+
+                if (text != null)
+                    pth.AddString(text, font.FontFamily, 0, fontsize + 5, new Point((int)x, (int)y), StringFormat.GenericTypographic);
+
+                if (e == null || P == null || pth == null || pth.PointCount == 0)
+                    return;
 
-            if (e == null || P == null || pth == null || pth.PointCount == 0)
-                return;
-            
-            //if (!ArdupilotMega.MainV2.MONO)
                 e.DrawPath(P, pth);
 
-            //Draw the face
+                //Draw the face
 
-            e.FillPath(brush, pth);
+                e.FillPath(brush, pth);
+                */
+            }
 
-            //pth.Dispose();
         }
 
         protected override void OnHandleCreated(EventArgs e)
@@ -1646,6 +1742,8 @@ namespace ArdupilotMega.Controls
             {
                 if (opengl)
                 {
+                    MakeCurrent();
+
                     GL.MatrixMode(MatrixMode.Projection);
                     GL.LoadIdentity();
                     GL.Ortho(0, Width, Height, 0, -1, 1);

Tools/ArdupilotMegaPlanner/Controls/LabelWithPseudoOpacity.cs

@@ -35,12 +35,7 @@ namespace ArdupilotMega.Controls
                     throw new ArgumentOutOfRangeException();
 
                 _opacity = value;
-                Console.WriteLine("Opacity:" + _opacity);
                 Invalidate();
-                Invalidate();
-                Invalidate();
-                Invalidate();
-                
             }
         }
 

Tools/ArdupilotMegaPlanner/Controls/LineSeparator.cs

@@ -1,51 +1,73 @@
 using System;
-using System.Collections.Generic;
 using System.ComponentModel;
 using System.Drawing;
-using System.Data;
-using System.Linq;
-using System.Text;
+using System.Drawing.Drawing2D;
 using System.Windows.Forms;
 
 namespace ArdupilotMega.Controls
 {
-
+    /// <summary>
+    /// A seperator that is fundamentally made from two lines the top 'Primary' and the
+    /// bottom 'Secondary' Thus the height is always 2 pixels
+    /// In addition, the opacity can be modulated for the left, middle and right most
+    /// points, and the color blended between. That way the seperator can be made to 
+    /// fade out to the left or right or both, and more subtle UI effects made etc
+    /// </summary>
     public partial class LineSeparator : UserControl
     {
+        [Description("Primary Color of the secondary line"), Category("Appearance")]
+        [DefaultValue(typeof(Color), "DarkGray")]
+        public Color PrimaryColor { get; set; }
+
+        [Description("Secondary Color of the secondary line"), Category("Appearance")]
+        [DefaultValue(typeof(Color), "White")]
+        public Color SecondaryColor { get; set; }
+
+        [Description("Opacity at the left most point"), Category("Appearance")]
+        [DefaultValue(typeof(float), "1.0")]
+        public float Opacity1 { get; set; }
+
+        [Description("Opacity at the mid point"), Category("Appearance")]
+        [DefaultValue(typeof(float), "1.0")]
+        public float Opacity2 { get; set; }
+
+        [Description("Opacity at the right most point"), Category("Appearance")]
+        [DefaultValue(typeof(float), "1.0")]
+        public float Opacity3 { get; set; }
+
         public LineSeparator()
         {
+            this.PrimaryColor = Color.DarkGray;
+            this.SecondaryColor = Color.White;
+            this.Opacity1 = Opacity2 = Opacity3 = 1f;
+
             this.Height = 2;
-
-            this.Paint += new PaintEventHandler(LineSeparator_Paint);
-
-
+            this.Paint += LineSeparator_Paint;
             this.MaximumSize = new Size(2000, 2);
-
-
             this.MinimumSize = new Size(0, 2);
-
-            //this.Width = 350;
-
         }
 
-
         private void LineSeparator_Paint(object sender, PaintEventArgs e)
         {
-
-
-
-
-            Graphics g = e.Graphics;
-
-            g.DrawLine(
-
-            Pens.DarkGray, new Point(0, 0), new Point(this.Width, 0));
-
-            g.DrawLine(
-
-            Pens.White, new Point(0, 1), new Point(this.Width, 1));
-
+            DrawLine(PrimaryColor, 0, e.Graphics);
+            DrawLine(SecondaryColor, 1, e.Graphics);
         }
 
+        private void DrawLine(Color baseColor, int y, Graphics g)
+        {
+            var c1 = Color.FromArgb((int)(Opacity1 * 255), baseColor.R, baseColor.G, baseColor.B);
+            var c2 = Color.FromArgb((int)(Opacity2 * 255), baseColor.R, baseColor.G, baseColor.B);
+            var c3 = Color.FromArgb((int)(Opacity3 * 255), baseColor.R, baseColor.G, baseColor.B);
+
+            var point1 = new Point(0, y);
+            var point2 = new Point(Width / 2, y);
+            var point = new Point(Width, y);
+
+            var b1 = new LinearGradientBrush(point1, point2, c1, c2);
+            var b2 = new LinearGradientBrush(point2, point, c2, c3);
+
+            g.DrawLine(new Pen(b1), point1, point2);
+            g.DrawLine(new Pen(b2), point2, point);
+        }
     }
 }

Tools/ArdupilotMegaPlanner/Controls/MainSwitcher.cs

@@ -7,6 +7,7 @@ using System.Linq;
 using System.Text;
 using System.Windows.Forms;
 using ArdupilotMega.Utilities;
+using ArdupilotMega.Controls.BackstageView;
 
 namespace ArdupilotMega.Controls
 {
@@ -43,6 +44,11 @@ namespace ArdupilotMega.Controls
                 // check if we need to remove the current control
                 if (!current.Persistent)
                 {
+                    if (current.Control is IDeactivate)
+                    {
+                        ((IDeactivate)(current.Control)).Deactivate();
+                    }
+
                     // cleanup
                     current.Control.Close();
 
@@ -63,6 +69,11 @@ namespace ArdupilotMega.Controls
 
             nextscreen.Visible = true;
 
+            if (nextscreen.Control is IActivate)
+            {
+                ((IActivate)(nextscreen.Control)).Activate();
+            }
+
             this.Controls.Add(nextscreen.Control);
 
             ThemeManager.ApplyThemeTo(nextscreen.Control);

Tools/ArdupilotMegaPlanner/Controls/MyLabel.cs

@@ -64,7 +64,22 @@ namespace ArdupilotMega.Controls
                 return this.Bounds.IntersectsWith(Parent.ClientRectangle);
 
             return true;
-        } 
+        }
+
+        public override void Refresh()
+        {
+            base.Refresh();
+        }
+
+        protected override void OnParentBindingContextChanged(EventArgs e)
+        {
+            base.OnParentBindingContextChanged(e);
+        }
+
+        protected override void OnVisibleChanged(EventArgs e)
+        {
+            base.OnVisibleChanged(e);
+        }
 
 
         SolidBrush s = new SolidBrush(Color.White);
@@ -75,9 +90,7 @@ namespace ArdupilotMega.Controls
         protected override void OnPaint(PaintEventArgs e)
         {
             
-            TextRenderer.DrawText(e.Graphics, label, this.Font, new Point(0, 0), ForeColor);
-            /*
-            //return;
+           // TextRenderer.DrawText(e.Graphics, label, this.Font, new Point(0, 0), ForeColor);
 
             stringFormat.Alignment = StringAlignment.Near;
             stringFormat.LineAlignment = StringAlignment.Center;
@@ -85,7 +98,7 @@ namespace ArdupilotMega.Controls
             s = new SolidBrush(ForeColor);
 
             e.Graphics.DrawString(label, this.Font, s, new PointF(0, this.Height / 2.0f), stringFormat);
-             */
+
         }
 
         protected override void OnPaintBackground(PaintEventArgs pevent)

Tools/ArdupilotMegaPlanner/Controls/MyUserControl.cs

@@ -11,6 +11,10 @@ namespace System.Windows.Forms
     /// </summary>
     public class MyUserControl : System.Windows.Forms.UserControl
     {
+        /// <summary>
+        /// implement an on closing event to tidy up enviroment. 
+        /// Using preedefined refrence as can easerly change betwen form and user control this way.
+        /// </summary>
         public event FormClosingEventHandler FormClosing;
 
         public void Close(object sender, FormClosingEventArgs e)

Tools/ArdupilotMegaPlanner/Controls/ProgressReporterDialogue.cs

@@ -17,6 +17,9 @@ namespace ArdupilotMega.Controls
         private Exception workerException;
         public ProgressWorkerEventArgs doWorkArgs;
 
+        internal int _progress = -1;
+        internal string _status = "";
+
         public delegate void DoWorkEventHandler(object sender, ProgressWorkerEventArgs e);
 
         // This is the event that will be raised on the BG thread
@@ -48,7 +51,7 @@ namespace ArdupilotMega.Controls
 
             // mono fix - ensure the dialog is running
             while (this.IsHandleCreated == false)
-                System.Threading.Thread.Sleep(5);
+                System.Threading.Thread.Sleep(1);
 
             try
             {
@@ -59,10 +62,18 @@ namespace ArdupilotMega.Controls
                 // The background operation thew an exception.
                 // Examine the work args, if there is an error, then display that and the exception details
                 // Otherwise display 'Unexpected error' and exception details
+                timer1.Stop();
                 ShowDoneWithError(e, doWorkArgs.ErrorMessage);
                 return;
             }
 
+            // stop the timer
+            timer1.Stop();
+            // run once more to do final message and progressbar
+            this.Invoke((MethodInvoker)delegate
+            {
+                timer1_Tick(null, null);
+            });
 
             if (doWorkArgs.CancelRequested && doWorkArgs.CancelAcknowledged)
             {
@@ -183,24 +194,9 @@ namespace ArdupilotMega.Controls
             if (doWorkArgs.CancelRequested && !doWorkArgs.CancelAcknowledged)
                 return;
 
-            if (this.InvokeRequired)
-            {
-                // invoke async
-                this.BeginInvoke((MethodInvoker) delegate
-                    {
+            _progress = progress;
+            _status = status;
 
-                        lblProgressMessage.Text = status;
-                        if (progress == -1)
-                        {
-                            this.progressBar1.Style = ProgressBarStyle.Marquee;
-                        }
-                        else
-                        {
-                            this.progressBar1.Style = ProgressBarStyle.Continuous;
-                            this.progressBar1.Value = progress;
-                        }
-                    });
-            }
         }
 
         private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
@@ -212,6 +208,25 @@ namespace ArdupilotMega.Controls
             CustomMessageBox.Show(message,"Exception Details",MessageBoxButtons.OK,MessageBoxIcon.Information);
         }
 
+        /// <summary>
+        /// prevent using invokes on main update status call "UpdateProgressAndStatus", as this is slow on mono
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            lblProgressMessage.Text = _status;
+            if (_progress == -1)
+            {
+                this.progressBar1.Style = ProgressBarStyle.Marquee;
+            }
+            else
+            {
+                this.progressBar1.Style = ProgressBarStyle.Continuous;
+                this.progressBar1.Value = _progress;
+            }
+        }
+
     }
 
     public class ProgressWorkerEventArgs : EventArgs

Tools/ArdupilotMegaPlanner/Controls/ProgressReporterDialogue.designer.cs

@@ -33,12 +33,14 @@ namespace ArdupilotMega.Controls
         /// </summary>
         private void InitializeComponent()
         {
+            this.components = new System.ComponentModel.Container();
             this.progressBar1 = new System.Windows.Forms.ProgressBar();
             this.lblProgressMessage = new System.Windows.Forms.Label();
             this.btnCancel = new System.Windows.Forms.Button();
             this.imgWarning = new System.Windows.Forms.PictureBox();
             this.linkLabel1 = new System.Windows.Forms.LinkLabel();
             this.btnClose = new System.Windows.Forms.Button();
+            this.timer1 = new System.Windows.Forms.Timer(this.components);
             ((System.ComponentModel.ISupportInitialize)(this.imgWarning)).BeginInit();
             this.SuspendLayout();
             // 
@@ -94,7 +96,7 @@ namespace ArdupilotMega.Controls
             this.linkLabel1.Visible = false;
             this.linkLabel1.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.linkLabel1_LinkClicked);
             // 
-            // btn_Close
+            // btnClose
             // 
             this.btnClose.Location = new System.Drawing.Point(213, 109);
             this.btnClose.Name = "btnClose";
@@ -104,6 +106,11 @@ namespace ArdupilotMega.Controls
             this.btnClose.UseVisualStyleBackColor = true;
             this.btnClose.Click += new System.EventHandler(this.btn_Close_Click);
             // 
+            // timer1
+            // 
+            this.timer1.Enabled = true;
+            this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
+            // 
             // ProgressReporterDialogue
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@@ -123,6 +130,7 @@ namespace ArdupilotMega.Controls
             this.SizeGripStyle = System.Windows.Forms.SizeGripStyle.Hide;
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterParent;
             this.Text = "Progress";
+            this.TopMost = true;
             ((System.ComponentModel.ISupportInitialize)(this.imgWarning)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();
@@ -137,5 +145,6 @@ namespace ArdupilotMega.Controls
         private PictureBox imgWarning;
         private LinkLabel linkLabel1;
         private Button btnClose;
+        private Timer timer1;
     }
 }

Tools/ArdupilotMegaPlanner/Controls/ProgressReporterDialogue.resx

@@ -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="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
 </root>

Tools/ArdupilotMegaPlanner/Controls/PseudoOpacityHelper.cs

@@ -10,9 +10,6 @@ namespace ArdupilotMega.Controls
         {
             var bgcolor = c.BackColor;
             int alpha = 255 - ((int)(opacity * 255));
-
-            Console.WriteLine("Alpha:" + alpha);
-            
             
             var opacityColor = Color.FromArgb(alpha, bgcolor.R, bgcolor.G, bgcolor.B);
             using (var brush = new SolidBrush(opacityColor))

Tools/ArdupilotMegaPlanner/CurrentState.cs

@@ -78,6 +78,7 @@ namespace ArdupilotMega
         public float mz { get; set; }
 
         public float magfield { get { return (float)Math.Sqrt(Math.Pow(mx, 2) + Math.Pow(my, 2) + Math.Pow(mz, 2)); } }
+        public float accelsq { get { return (float)Math.Sqrt(Math.Pow(ax, 2) + Math.Pow(ay, 2) + Math.Pow(az, 2)) / 980.665f; } }
 
         // calced turn rate
         public float turnrate { get { if (groundspeed <= 1) return 0; return (roll * 9.8f) / groundspeed; } }
@@ -131,9 +132,9 @@ namespace ArdupilotMega
         public float nav_bearing { get; set; }
         public float target_bearing { get; set; }
         public float wp_dist { get { return (_wpdist * multiplierdist); } set { _wpdist = value; } }
-        public float alt_error { get { return _alt_error * multiplierdist; } set { _alt_error = value; _targetalt = (float)Math.Round(alt + alt_error, 0); } }
+        public float alt_error { get { return _alt_error * multiplierdist; } set { if (_alt_error == value) return; _alt_error = value; _targetalt = _targetalt * 0.5f + (float)Math.Round(alt + alt_error, 0) * 0.5f; Console.WriteLine(_targetalt); } }
         public float ber_error { get { return (target_bearing - yaw); } set { } }
-        public float aspd_error { get { return _aspd_error * multiplierspeed; } set { _aspd_error = value; } }
+        public float aspd_error { get { return _aspd_error * multiplierspeed; } set { if (_aspd_error == value) return; _aspd_error = value; _targetairspeed = _targetairspeed * 0.5f + (float)Math.Round(airspeed + aspd_error / 100, 0) * 0.5f; } }
         public float xtrack_error { get; set; }
         public float wpno { get; set; }
         public string mode { get; set; }
@@ -142,12 +143,13 @@ namespace ArdupilotMega
         float _aspd_error;
         float _alt_error;
         float _targetalt;
+        float _targetairspeed;
 
         public float targetaltd100 { get { return (_targetalt / 100) % 10; } }
         public float targetalt { get { return _targetalt; } }
 
         //airspeed_error = (airspeed_error - airspeed);
-        public float targetairspeed { get { return (float)Math.Round(airspeed + aspd_error / 100, 0); } }
+        public float targetairspeed { get { return _targetairspeed; } }
 
 
         //message
@@ -352,7 +354,7 @@ namespace ArdupilotMega
             UpdateCurrentSettings(bs, false, MainV2.comPort);
         }
         */
-        public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow, IMAVLink mavinterface)
+        public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow, MAVLink mavinterface)
         {
             if (DateTime.Now > lastupdate.AddMilliseconds(19) || updatenow) // 50 hz
             {
@@ -430,24 +432,6 @@ namespace ArdupilotMega
                     //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_HWSTATUS] = null;
                 }
                 
-
-                bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT];
-
-                if (bytearray != null)
-                {
-                    var nav = bytearray.ByteArrayToStructure<MAVLink.mavlink_nav_controller_output_t>(6);
-
-                    nav_roll = nav.nav_roll;
-                    nav_pitch = nav.nav_pitch;
-                    nav_bearing = nav.nav_bearing;
-                    target_bearing = nav.target_bearing;
-                    wp_dist = nav.wp_dist;
-                    alt_error = nav.alt_error;
-                    aspd_error = nav.aspd_error;
-                    xtrack_error = nav.xtrack_error;
-
-                    //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] = null;
-                }
 #if MAVLINK10
 
                 
@@ -849,6 +833,26 @@ namespace ArdupilotMega
                 }
 
 #endif
+
+
+                bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT];
+
+                if (bytearray != null)
+                {
+                    var nav = bytearray.ByteArrayToStructure<MAVLink.mavlink_nav_controller_output_t>(6);
+
+                    nav_roll = nav.nav_roll;
+                    nav_pitch = nav.nav_pitch;
+                    nav_bearing = nav.nav_bearing;
+                    target_bearing = nav.target_bearing;
+                    wp_dist = nav.wp_dist;
+                    alt_error = nav.alt_error;
+                    aspd_error = nav.aspd_error;
+                    xtrack_error = nav.xtrack_error;
+
+                    //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT] = null;
+                }
+
                 bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_RAW];
                 if (bytearray != null)
                 {
@@ -964,7 +968,7 @@ namespace ArdupilotMega
                     //System.Diagnostics.Debug.WriteLine(DateTime.Now.Millisecond);
                     //Console.WriteLine(DateTime.Now.Millisecond);
                     bs.DataSource = this;
-                    //Console.WriteLine(DateTime.Now.Millisecond + " 1 " + updatenow);
+                   // Console.WriteLine(DateTime.Now.Millisecond + " 1 " + updatenow + " " + System.Threading.Thread.CurrentThread.Name);
                     bs.ResetBindings(false);
                     //Console.WriteLine(DateTime.Now.Millisecond + " done ");
                 }

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

@@ -259,7 +259,6 @@
             this.Controls.Add(this.LIM_ENABLED);
             this.Controls.Add(this.LNK_wiki);
             this.Name = "ConfigAP_Limits";
-            this.Load += new System.EventHandler(this.ConfigAP_Limits_Load);
             this.groupBox1.ResumeLayout(false);
             this.groupBox1.PerformLayout();
             this.groupBox5.ResumeLayout(false);

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAP_Limits.cs

@@ -13,7 +13,7 @@ using System.Diagnostics;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigAP_Limits : BackStageViewContentPanel
+    public partial class ConfigAP_Limits : UserControl, IActivate
     {
         public ConfigAP_Limits()
         {
@@ -73,7 +73,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             ProcessChange(sender, e);
         }
 
-        private void ConfigAP_Limits_Load(object sender, EventArgs e)
+        public void Activate()
         {
             PopulateData();
         }

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

@@ -83,7 +83,6 @@
             this.Controls.Add(this.BUT_levelplane);
             this.Name = "ConfigAccelerometerCalibrationPlane";
             this.toolTip1.SetToolTip(this, resources.GetString("$this.ToolTip"));
-            this.Load += new System.EventHandler(this.ConfigAccelerometerCalibration_Load);
             this.ResumeLayout(false);
             this.PerformLayout();
 

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationPlane.cs

@@ -11,7 +11,7 @@ using ArdupilotMega.Controls;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigAccelerometerCalibrationPlane : BackStageViewContentPanel
+    public partial class ConfigAccelerometerCalibrationPlane : UserControl, IActivate
     {
         bool startup = false;
 
@@ -20,7 +20,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             InitializeComponent();
         }
 
-        private void ConfigAccelerometerCalibration_Load(object sender, EventArgs e)
+        public void Activate()
         {
             if (!MainV2.comPort.BaseStream.IsOpen)
             {

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

@@ -1,4 +1,6 @@
-namespace ArdupilotMega.GCSViews.ConfigurationView
+using ArdupilotMega.Controls;
+
+namespace ArdupilotMega.GCSViews.ConfigurationView
 {
     partial class ConfigAccelerometerCalibrationQuad
     {
@@ -29,52 +31,77 @@
         private void InitializeComponent()
         {
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(ConfigAccelerometerCalibrationQuad));
-            this.label28 = new System.Windows.Forms.Label();
-            this.label15 = new System.Windows.Forms.Label();
-            this.pictureBoxQuadX = new System.Windows.Forms.PictureBox();
-            this.pictureBoxQuad = new System.Windows.Forms.PictureBox();
-            this.BUT_levelac2 = new ArdupilotMega.Controls.MyButton();
-            this.pictureBox1 = new System.Windows.Forms.PictureBox();
-            this.pictureBox2 = new System.Windows.Forms.PictureBox();
-            this.pictureBox3 = new System.Windows.Forms.PictureBox();
-            this.pictureBox4 = new System.Windows.Forms.PictureBox();
+            this.radioButton_Plus = new System.Windows.Forms.RadioButton();
+            this.radioButton_X = new System.Windows.Forms.RadioButton();
+            this.label5 = new System.Windows.Forms.Label();
             this.label1 = new System.Windows.Forms.Label();
-            this.lbl_frame = new System.Windows.Forms.Label();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuadX)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuad)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBox3)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBox4)).BeginInit();
+            this.label2 = new System.Windows.Forms.Label();
+            this.label3 = new System.Windows.Forms.Label();
+            this.pictureBoxPlus = new ArdupilotMega.Controls.PictureBoxWithPseudoOpacity();
+            this.pictureBoxX = new ArdupilotMega.Controls.PictureBoxWithPseudoOpacity();
+            this.BUT_levelac2 = new ArdupilotMega.Controls.MyButton();
+            this.label4 = new System.Windows.Forms.Label();
+            this.lineSeparator3 = new ArdupilotMega.Controls.LineSeparator();
+            this.lineSeparator2 = new ArdupilotMega.Controls.LineSeparator();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxPlus)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxX)).BeginInit();
             this.SuspendLayout();
             // 
-            // label28
+            // radioButton_Plus
             // 
-            resources.ApplyResources(this.label28, "label28");
-            this.label28.Name = "label28";
+            resources.ApplyResources(this.radioButton_Plus, "radioButton_Plus");
+            this.radioButton_Plus.Name = "radioButton_Plus";
+            this.radioButton_Plus.TabStop = true;
+            this.radioButton_Plus.UseVisualStyleBackColor = true;
+            this.radioButton_Plus.CheckedChanged += new System.EventHandler(this.RadioButtonPlusCheckedChanged);
             // 
-            // label15
+            // radioButton_X
             // 
-            resources.ApplyResources(this.label15, "label15");
-            this.label15.Name = "label15";
+            resources.ApplyResources(this.radioButton_X, "radioButton_X");
+            this.radioButton_X.Name = "radioButton_X";
+            this.radioButton_X.TabStop = true;
+            this.radioButton_X.UseVisualStyleBackColor = true;
+            this.radioButton_X.CheckedChanged += new System.EventHandler(this.RadioButtonPlusCheckedChanged);
             // 
-            // pictureBoxQuadX
+            // label5
             // 
-            this.pictureBoxQuadX.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxQuadX.Image = global::ArdupilotMega.Properties.Resources.quadx;
-            resources.ApplyResources(this.pictureBoxQuadX, "pictureBoxQuadX");
-            this.pictureBoxQuadX.Name = "pictureBoxQuadX";
-            this.pictureBoxQuadX.TabStop = false;
-            this.pictureBoxQuadX.Click += new System.EventHandler(this.pictureBoxQuadX_Click);
+            resources.ApplyResources(this.label5, "label5");
+            this.label5.ForeColor = System.Drawing.Color.WhiteSmoke;
+            this.label5.Name = "label5";
             // 
-            // pictureBoxQuad
+            // label1
             // 
-            this.pictureBoxQuad.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxQuad.Image = global::ArdupilotMega.Properties.Resources.quad;
-            resources.ApplyResources(this.pictureBoxQuad, "pictureBoxQuad");
-            this.pictureBoxQuad.Name = "pictureBoxQuad";
-            this.pictureBoxQuad.TabStop = false;
-            this.pictureBoxQuad.Click += new System.EventHandler(this.pictureBoxQuad_Click);
+            resources.ApplyResources(this.label1, "label1");
+            this.label1.ForeColor = System.Drawing.Color.WhiteSmoke;
+            this.label1.Name = "label1";
+            // 
+            // label2
+            // 
+            resources.ApplyResources(this.label2, "label2");
+            this.label2.Name = "label2";
+            // 
+            // label3
+            // 
+            resources.ApplyResources(this.label3, "label3");
+            this.label3.Name = "label3";
+            // 
+            // pictureBoxPlus
+            // 
+            this.pictureBoxPlus.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxPlus.Image = global::ArdupilotMega.Properties.Resources.frames_plus;
+            resources.ApplyResources(this.pictureBoxPlus, "pictureBoxPlus");
+            this.pictureBoxPlus.Name = "pictureBoxPlus";
+            this.pictureBoxPlus.TabStop = false;
+            this.pictureBoxPlus.Click += new System.EventHandler(this.pictureBox_Click);
+            // 
+            // pictureBoxX
+            // 
+            this.pictureBoxX.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxX.Image = global::ArdupilotMega.Properties.Resources.frames_x;
+            resources.ApplyResources(this.pictureBoxX, "pictureBoxX");
+            this.pictureBoxX.Name = "pictureBoxX";
+            this.pictureBoxX.TabStop = false;
+            this.pictureBoxX.Click += new System.EventHandler(this.pictureBox_Click);
             // 
             // BUT_levelac2
             // 
@@ -83,75 +110,54 @@
             this.BUT_levelac2.UseVisualStyleBackColor = true;
             this.BUT_levelac2.Click += new System.EventHandler(this.BUT_levelac2_Click);
             // 
-            // pictureBox1
+            // label4
             // 
-            this.pictureBox1.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBox1.Image = global::ArdupilotMega.Properties.Resources.frames_06;
-            resources.ApplyResources(this.pictureBox1, "pictureBox1");
-            this.pictureBox1.Name = "pictureBox1";
-            this.pictureBox1.TabStop = false;
-            this.pictureBox1.Click += new System.EventHandler(this.pictureBoxQuadX_Click);
+            resources.ApplyResources(this.label4, "label4");
+            this.label4.Name = "label4";
             // 
-            // pictureBox2
+            // lineSeparator3
             // 
-            this.pictureBox2.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBox2.Image = global::ArdupilotMega.Properties.Resources.hexa;
-            resources.ApplyResources(this.pictureBox2, "pictureBox2");
-            this.pictureBox2.Name = "pictureBox2";
-            this.pictureBox2.TabStop = false;
-            this.pictureBox2.Click += new System.EventHandler(this.pictureBoxQuad_Click);
+            resources.ApplyResources(this.lineSeparator3, "lineSeparator3");
+            this.lineSeparator3.MaximumSize = new System.Drawing.Size(2000, 2);
+            this.lineSeparator3.MinimumSize = new System.Drawing.Size(0, 2);
+            this.lineSeparator3.Name = "lineSeparator3";
+            this.lineSeparator3.Opacity1 = 0.6F;
+            this.lineSeparator3.Opacity2 = 0.7F;
+            this.lineSeparator3.Opacity3 = 0.1F;
+            this.lineSeparator3.PrimaryColor = System.Drawing.Color.Black;
+            this.lineSeparator3.SecondaryColor = System.Drawing.Color.Gainsboro;
             // 
-            // pictureBox3
+            // lineSeparator2
             // 
-            this.pictureBox3.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBox3.Image = global::ArdupilotMega.Properties.Resources.octox;
-            resources.ApplyResources(this.pictureBox3, "pictureBox3");
-            this.pictureBox3.Name = "pictureBox3";
-            this.pictureBox3.TabStop = false;
-            this.pictureBox3.Click += new System.EventHandler(this.pictureBoxQuadX_Click);
-            // 
-            // pictureBox4
-            // 
-            this.pictureBox4.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBox4.Image = global::ArdupilotMega.Properties.Resources.octo;
-            resources.ApplyResources(this.pictureBox4, "pictureBox4");
-            this.pictureBox4.Name = "pictureBox4";
-            this.pictureBox4.TabStop = false;
-            this.pictureBox4.Click += new System.EventHandler(this.pictureBoxQuad_Click);
-            // 
-            // label1
-            // 
-            resources.ApplyResources(this.label1, "label1");
-            this.label1.Name = "label1";
-            // 
-            // lbl_frame
-            // 
-            resources.ApplyResources(this.lbl_frame, "lbl_frame");
-            this.lbl_frame.Name = "lbl_frame";
+            resources.ApplyResources(this.lineSeparator2, "lineSeparator2");
+            this.lineSeparator2.MaximumSize = new System.Drawing.Size(2000, 2);
+            this.lineSeparator2.MinimumSize = new System.Drawing.Size(0, 2);
+            this.lineSeparator2.Name = "lineSeparator2";
+            this.lineSeparator2.Opacity1 = 0.6F;
+            this.lineSeparator2.Opacity2 = 0.7F;
+            this.lineSeparator2.Opacity3 = 0.1F;
+            this.lineSeparator2.PrimaryColor = System.Drawing.Color.Black;
+            this.lineSeparator2.SecondaryColor = System.Drawing.Color.Gainsboro;
             // 
             // ConfigAccelerometerCalibrationQuad
             // 
             resources.ApplyResources(this, "$this");
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.Controls.Add(this.lbl_frame);
+            this.Controls.Add(this.lineSeparator2);
+            this.Controls.Add(this.lineSeparator3);
+            this.Controls.Add(this.label4);
+            this.Controls.Add(this.label3);
+            this.Controls.Add(this.label2);
             this.Controls.Add(this.label1);
-            this.Controls.Add(this.pictureBox3);
-            this.Controls.Add(this.pictureBox4);
-            this.Controls.Add(this.pictureBox1);
-            this.Controls.Add(this.pictureBox2);
-            this.Controls.Add(this.label28);
-            this.Controls.Add(this.label15);
-            this.Controls.Add(this.pictureBoxQuadX);
-            this.Controls.Add(this.pictureBoxQuad);
+            this.Controls.Add(this.label5);
+            this.Controls.Add(this.radioButton_X);
+            this.Controls.Add(this.radioButton_Plus);
+            this.Controls.Add(this.pictureBoxPlus);
+            this.Controls.Add(this.pictureBoxX);
             this.Controls.Add(this.BUT_levelac2);
             this.Name = "ConfigAccelerometerCalibrationQuad";
-            this.Load += new System.EventHandler(this.ConfigAccelerometerCalibration_Load);
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuadX)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuad)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBox3)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBox4)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxPlus)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxX)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -159,16 +165,17 @@
 
         #endregion
 
-        private System.Windows.Forms.Label label28;
-        private System.Windows.Forms.Label label15;
-        private System.Windows.Forms.PictureBox pictureBoxQuadX;
-        private System.Windows.Forms.PictureBox pictureBoxQuad;
+        private PictureBoxWithPseudoOpacity pictureBoxX;
         private ArdupilotMega.Controls.MyButton BUT_levelac2;
-        private System.Windows.Forms.PictureBox pictureBox1;
-        private System.Windows.Forms.PictureBox pictureBox2;
-        private System.Windows.Forms.PictureBox pictureBox3;
-        private System.Windows.Forms.PictureBox pictureBox4;
+        private PictureBoxWithPseudoOpacity pictureBoxPlus;
+        private System.Windows.Forms.RadioButton radioButton_Plus;
+        private System.Windows.Forms.RadioButton radioButton_X;
+        private System.Windows.Forms.Label label5;
         private System.Windows.Forms.Label label1;
-        private System.Windows.Forms.Label lbl_frame;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.Label label4;
+        private LineSeparator lineSeparator3;
+        private LineSeparator lineSeparator2;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationQuad.cs

@@ -1,90 +1,118 @@
 using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Drawing;
-using System.Data;
-using System.Linq;
-using System.Text;
+using System.Reflection;
 using System.Windows.Forms;
 using ArdupilotMega.Controls.BackstageView;
-using ArdupilotMega.Controls;
+using log4net;
+using Transitions;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigAccelerometerCalibrationQuad : BackStageViewContentPanel
+    public partial class ConfigAccelerometerCalibrationQuad : UserControl, IActivate, IDeactivate
     {
+        private static readonly ILog Log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private const float DisabledOpacity = 0.2F;
+        private const float EnabledOpacity = 1.0F;
+
         public ConfigAccelerometerCalibrationQuad()
         {
             InitializeComponent();
         }
 
-        private void pictureBoxQuadX_Click(object sender, EventArgs e)
-        {
-            try
-            {
-                MainV2.comPort.setParam("FRAME", 1f);
-                CustomMessageBox.Show("Set to x");
-
-                lbl_frame.Text = "X";
-            }
-            catch { CustomMessageBox.Show("Set frame failed"); }
-        }
-
         private void BUT_levelac2_Click(object sender, EventArgs e)
         {
             try
             {
 #if MAVLINK10
+                Log.Info("Sending level command (mavlink 1.0)");                
                 int fixme; // needs to be accel only
                 MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,1,1,1,1,1,1);
 #else
+                log.Info("Sending level command (mavlink 0.9)");
                 MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
 #endif
 
                 BUT_levelac2.Text = "Complete";
             }
-            catch
+            catch(Exception ex)
             {
+                Log.Error("Exception on level", ex);
                 CustomMessageBox.Show("Failed to level : ac2 2.0.37+ is required");
             }
         }
 
-        private void pictureBoxQuad_Click(object sender, EventArgs e)
+        private void pictureBox_Click(object sender, EventArgs e)
         {
-            try
-            {
-                MainV2.comPort.setParam("FRAME", 0f);
-                CustomMessageBox.Show("Set to +");
-                lbl_frame.Text = "+";
-            }
-            catch { CustomMessageBox.Show("Set frame failed"); }
+            if (sender == pictureBoxPlus)
+                radioButton_Plus.Checked = true;
+            else
+                radioButton_X.Checked = true;
         }
 
-        private void ConfigAccelerometerCalibration_Load(object sender, EventArgs e)
+        private void SetPlus()
         {
-            if (!MainV2.comPort.BaseStream.IsOpen)
+            FadePicBoxes(DisabledOpacity, EnabledOpacity);
+            SetFrameParam(true);
+        }
+
+        private void SetX()
+        {
+            FadePicBoxes(EnabledOpacity, DisabledOpacity);
+            SetFrameParam(false);
+        }
+
+        private void SetFrameParam(bool isPlus)
+        {
+            var f = isPlus ? 0f : 1f;
+
+            try
             {
-                this.Enabled = false;
-                return;
+                MainV2.comPort.setParam("FRAME", f);
+            }
+            catch
+            {
+                CustomMessageBox.Show("Set frame failed", "Error", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+            }
+        }
+
+        private void FadePicBoxes(float xOpacity, float plusOpacity)
+        {
+            var fade = new Transition(new TransitionType_Linear(400));
+            fade.add(pictureBoxX, "Opacity", xOpacity);
+            fade.add(pictureBoxPlus, "Opacity", plusOpacity);
+            fade.run();
+        }
+
+        public void Activate()
+        {
+            if ((float)MainV2.comPort.param["FRAME"] == 0)
+            {
+                this.radioButton_Plus.Checked = true;
+                pictureBoxX.Opacity = DisabledOpacity;
+                pictureBoxPlus.Opacity = EnabledOpacity;
             }
             else
             {
-                if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
-                {
-                    this.Enabled = true;
-                }
-                else
-                {
-                    this.Enabled = false;
-                    return;
-                }
+                this.radioButton_X.Checked = true;
+                pictureBoxX.Opacity = EnabledOpacity;
+                pictureBoxPlus.Opacity = DisabledOpacity;
             }
 
-            try
-            {
-                lbl_frame.Text = ((float)MainV2.comPort.param["FRAME"] == 0) ? "+" : "X";
-            }
-            catch { lbl_frame.Text = "Invalid Frame"; }
+            radioButton_Plus.CheckedChanged += RadioButtonPlusCheckedChanged;
+        }
+
+        public void Deactivate()
+        {
+            radioButton_Plus.CheckedChanged -= RadioButtonPlusCheckedChanged;
+
+        }
+
+        void RadioButtonPlusCheckedChanged(object sender, EventArgs e)
+        {
+            if (radioButton_X.Checked)
+                SetX();
+            else
+                SetPlus();
         }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationQuad.resx

@@ -118,271 +118,115 @@
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   <assembly alias="mscorlib" name="mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
-  <data name="label28.AutoSize" type="System.Boolean, mscorlib">
+  <data name="radioButton_Plus.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
-  <data name="label28.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+  <data name="radioButton_Plus.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
-  <data name="label28.Location" type="System.Drawing.Point, System.Drawing">
-    <value>194, 8</value>
+  <data name="radioButton_Plus.Location" type="System.Drawing.Point, System.Drawing">
+    <value>76, 96</value>
   </data>
-  <data name="label28.Size" type="System.Drawing.Size, System.Drawing">
-    <value>239, 13</value>
+  <data name="radioButton_Plus.Size" type="System.Drawing.Size, System.Drawing">
+    <value>14, 13</value>
   </data>
-  <data name="label28.TabIndex" type="System.Int32, mscorlib">
-    <value>15</value>
+  <data name="radioButton_Plus.TabIndex" type="System.Int32, mscorlib">
+    <value>23</value>
   </data>
-  <data name="label28.Text" xml:space="preserve">
-    <value>Level your MultiCopter to set default accel offsets</value>
+  <data name="&gt;&gt;radioButton_Plus.Name" xml:space="preserve">
+    <value>radioButton_Plus</value>
   </data>
-  <data name="&gt;&gt;label28.Name" xml:space="preserve">
-    <value>label28</value>
+  <data name="&gt;&gt;radioButton_Plus.Type" xml:space="preserve">
+    <value>System.Windows.Forms.RadioButton, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;label28.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label28.Parent" xml:space="preserve">
+  <data name="&gt;&gt;radioButton_Plus.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
-  <data name="&gt;&gt;label28.ZOrder" xml:space="preserve">
-    <value>6</value>
-  </data>
-  <data name="label15.AutoSize" type="System.Boolean, mscorlib">
-    <value>True</value>
-  </data>
-  <data name="label15.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="label15.Location" type="System.Drawing.Point, System.Drawing">
-    <value>254, 94</value>
-  </data>
-  <data name="label15.Size" type="System.Drawing.Size, System.Drawing">
-    <value>102, 13</value>
-  </data>
-  <data name="label15.TabIndex" type="System.Int32, mscorlib">
-    <value>12</value>
-  </data>
-  <data name="label15.Text" xml:space="preserve">
-    <value>Frame Setup (+ or x)</value>
-  </data>
-  <data name="&gt;&gt;label15.Name" xml:space="preserve">
-    <value>label15</value>
-  </data>
-  <data name="&gt;&gt;label15.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label15.Parent" xml:space="preserve">
-    <value>$this</value>
-  </data>
-  <data name="&gt;&gt;label15.ZOrder" xml:space="preserve">
-    <value>7</value>
-  </data>
-  <data name="pictureBoxQuadX.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="pictureBoxQuadX.Location" type="System.Drawing.Point, System.Drawing">
-    <value>71, 285</value>
-  </data>
-  <data name="pictureBoxQuadX.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 150</value>
-  </data>
-  <data name="pictureBoxQuadX.SizeMode" type="System.Windows.Forms.PictureBoxSizeMode, System.Windows.Forms">
-    <value>Zoom</value>
-  </data>
-  <data name="pictureBoxQuadX.TabIndex" type="System.Int32, mscorlib">
-    <value>11</value>
-  </data>
-  <data name="&gt;&gt;pictureBoxQuadX.Name" xml:space="preserve">
-    <value>pictureBoxQuadX</value>
-  </data>
-  <data name="&gt;&gt;pictureBoxQuadX.Type" xml:space="preserve">
-    <value>System.Windows.Forms.PictureBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;pictureBoxQuadX.Parent" xml:space="preserve">
-    <value>$this</value>
-  </data>
-  <data name="&gt;&gt;pictureBoxQuadX.ZOrder" xml:space="preserve">
+  <data name="&gt;&gt;radioButton_Plus.ZOrder" xml:space="preserve">
     <value>8</value>
   </data>
-  <data name="pictureBoxQuad.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+  <data name="radioButton_X.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="radioButton_X.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
-  <data name="pictureBoxQuad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>71, 115</value>
+  <data name="radioButton_X.Location" type="System.Drawing.Point, System.Drawing">
+    <value>76, 197</value>
   </data>
-  <data name="pictureBoxQuad.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 150</value>
+  <data name="radioButton_X.Size" type="System.Drawing.Size, System.Drawing">
+    <value>14, 13</value>
   </data>
-  <data name="pictureBoxQuad.SizeMode" type="System.Windows.Forms.PictureBoxSizeMode, System.Windows.Forms">
-    <value>Zoom</value>
+  <data name="radioButton_X.TabIndex" type="System.Int32, mscorlib">
+    <value>24</value>
   </data>
-  <data name="pictureBoxQuad.TabIndex" type="System.Int32, mscorlib">
-    <value>10</value>
+  <data name="&gt;&gt;radioButton_X.Name" xml:space="preserve">
+    <value>radioButton_X</value>
   </data>
-  <data name="&gt;&gt;pictureBoxQuad.Name" xml:space="preserve">
-    <value>pictureBoxQuad</value>
+  <data name="&gt;&gt;radioButton_X.Type" xml:space="preserve">
+    <value>System.Windows.Forms.RadioButton, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;pictureBoxQuad.Type" xml:space="preserve">
-    <value>System.Windows.Forms.PictureBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;pictureBoxQuad.Parent" xml:space="preserve">
+  <data name="&gt;&gt;radioButton_X.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
-  <data name="&gt;&gt;pictureBoxQuad.ZOrder" xml:space="preserve">
-    <value>9</value>
+  <data name="&gt;&gt;radioButton_X.ZOrder" xml:space="preserve">
+    <value>7</value>
   </data>
-  <data name="BUT_levelac2.Location" type="System.Drawing.Point, System.Drawing">
-    <value>269, 38</value>
+  <data name="label5.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
   </data>
-  <data name="BUT_levelac2.Size" type="System.Drawing.Size, System.Drawing">
-    <value>75, 23</value>
+  <data name="label5.Font" type="System.Drawing.Font, System.Drawing">
+    <value>Microsoft Sans Serif, 12pt</value>
   </data>
-  <data name="BUT_levelac2.TabIndex" type="System.Int32, mscorlib">
-    <value>16</value>
-  </data>
-  <data name="BUT_levelac2.Text" xml:space="preserve">
-    <value>Level</value>
-  </data>
-  <data name="&gt;&gt;BUT_levelac2.Name" xml:space="preserve">
-    <value>BUT_levelac2</value>
-  </data>
-  <data name="&gt;&gt;BUT_levelac2.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4503.13960, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;BUT_levelac2.Parent" xml:space="preserve">
-    <value>$this</value>
-  </data>
-  <data name="&gt;&gt;BUT_levelac2.ZOrder" xml:space="preserve">
-    <value>10</value>
-  </data>
-  <data name="pictureBox1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+  <data name="label5.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
-  <data name="pictureBox1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>227, 285</value>
+  <data name="label5.Location" type="System.Drawing.Point, System.Drawing">
+    <value>16, 282</value>
   </data>
-  <data name="pictureBox1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 150</value>
+  <data name="label5.Size" type="System.Drawing.Size, System.Drawing">
+    <value>191, 20</value>
   </data>
-  <data name="pictureBox1.SizeMode" type="System.Windows.Forms.PictureBoxSizeMode, System.Windows.Forms">
-    <value>Zoom</value>
+  <data name="label5.TabIndex" type="System.Int32, mscorlib">
+    <value>65</value>
   </data>
-  <data name="pictureBox1.TabIndex" type="System.Int32, mscorlib">
-    <value>18</value>
+  <data name="label5.Text" xml:space="preserve">
+    <value>Accelerometer Calibration</value>
   </data>
-  <data name="&gt;&gt;pictureBox1.Name" xml:space="preserve">
-    <value>pictureBox1</value>
+  <data name="&gt;&gt;label5.Name" xml:space="preserve">
+    <value>label5</value>
   </data>
-  <data name="&gt;&gt;pictureBox1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.PictureBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  <data name="&gt;&gt;label5.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;pictureBox1.Parent" xml:space="preserve">
+  <data name="&gt;&gt;label5.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
-  <data name="&gt;&gt;pictureBox1.ZOrder" xml:space="preserve">
-    <value>4</value>
-  </data>
-  <data name="pictureBox2.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="pictureBox2.Location" type="System.Drawing.Point, System.Drawing">
-    <value>227, 115</value>
-  </data>
-  <data name="pictureBox2.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 150</value>
-  </data>
-  <data name="pictureBox2.SizeMode" type="System.Windows.Forms.PictureBoxSizeMode, System.Windows.Forms">
-    <value>Zoom</value>
-  </data>
-  <data name="pictureBox2.TabIndex" type="System.Int32, mscorlib">
-    <value>17</value>
-  </data>
-  <data name="&gt;&gt;pictureBox2.Name" xml:space="preserve">
-    <value>pictureBox2</value>
-  </data>
-  <data name="&gt;&gt;pictureBox2.Type" xml:space="preserve">
-    <value>System.Windows.Forms.PictureBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;pictureBox2.Parent" xml:space="preserve">
-    <value>$this</value>
-  </data>
-  <data name="&gt;&gt;pictureBox2.ZOrder" xml:space="preserve">
-    <value>5</value>
-  </data>
-  <data name="pictureBox3.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="pictureBox3.Location" type="System.Drawing.Point, System.Drawing">
-    <value>383, 285</value>
-  </data>
-  <data name="pictureBox3.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 150</value>
-  </data>
-  <data name="pictureBox3.SizeMode" type="System.Windows.Forms.PictureBoxSizeMode, System.Windows.Forms">
-    <value>Zoom</value>
-  </data>
-  <data name="pictureBox3.TabIndex" type="System.Int32, mscorlib">
-    <value>20</value>
-  </data>
-  <data name="&gt;&gt;pictureBox3.Name" xml:space="preserve">
-    <value>pictureBox3</value>
-  </data>
-  <data name="&gt;&gt;pictureBox3.Type" xml:space="preserve">
-    <value>System.Windows.Forms.PictureBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;pictureBox3.Parent" xml:space="preserve">
-    <value>$this</value>
-  </data>
-  <data name="&gt;&gt;pictureBox3.ZOrder" xml:space="preserve">
-    <value>2</value>
-  </data>
-  <data name="pictureBox4.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="pictureBox4.Location" type="System.Drawing.Point, System.Drawing">
-    <value>383, 115</value>
-  </data>
-  <data name="pictureBox4.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 150</value>
-  </data>
-  <data name="pictureBox4.SizeMode" type="System.Windows.Forms.PictureBoxSizeMode, System.Windows.Forms">
-    <value>Zoom</value>
-  </data>
-  <data name="pictureBox4.TabIndex" type="System.Int32, mscorlib">
-    <value>19</value>
-  </data>
-  <data name="&gt;&gt;pictureBox4.Name" xml:space="preserve">
-    <value>pictureBox4</value>
-  </data>
-  <data name="&gt;&gt;pictureBox4.Type" xml:space="preserve">
-    <value>System.Windows.Forms.PictureBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;pictureBox4.Parent" xml:space="preserve">
-    <value>$this</value>
-  </data>
-  <data name="&gt;&gt;pictureBox4.ZOrder" xml:space="preserve">
-    <value>3</value>
+  <data name="&gt;&gt;label5.ZOrder" xml:space="preserve">
+    <value>6</value>
   </data>
   <data name="label1.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
+  <data name="label1.Font" type="System.Drawing.Font, System.Drawing">
+    <value>Microsoft Sans Serif, 12pt</value>
+  </data>
   <data name="label1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
   <data name="label1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>262, 74</value>
+    <value>16, 13</value>
   </data>
   <data name="label1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>57, 13</value>
+    <value>102, 20</value>
   </data>
   <data name="label1.TabIndex" type="System.Int32, mscorlib">
-    <value>21</value>
+    <value>66</value>
   </data>
   <data name="label1.Text" xml:space="preserve">
-    <value>Currently : </value>
+    <value>Frame Setup</value>
   </data>
   <data name="&gt;&gt;label1.Name" xml:space="preserve">
     <value>label1</value>
@@ -394,36 +238,216 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label1.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>5</value>
   </data>
-  <data name="lbl_frame.AutoSize" type="System.Boolean, mscorlib">
+  <data name="label2.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
-  <data name="lbl_frame.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+  <data name="label2.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
-  <data name="lbl_frame.Location" type="System.Drawing.Point, System.Drawing">
-    <value>323, 74</value>
+  <data name="label2.Location" type="System.Drawing.Point, System.Drawing">
+    <value>39, 96</value>
   </data>
-  <data name="lbl_frame.Size" type="System.Drawing.Size, System.Drawing">
-    <value>13, 13</value>
+  <data name="label2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
   </data>
-  <data name="lbl_frame.TabIndex" type="System.Int32, mscorlib">
-    <value>22</value>
+  <data name="label2.TabIndex" type="System.Int32, mscorlib">
+    <value>68</value>
   </data>
-  <data name="lbl_frame.Text" xml:space="preserve">
-    <value>+</value>
+  <data name="label2.Text" xml:space="preserve">
+    <value>'Plus'</value>
   </data>
-  <data name="&gt;&gt;lbl_frame.Name" xml:space="preserve">
-    <value>lbl_frame</value>
+  <data name="&gt;&gt;label2.Name" xml:space="preserve">
+    <value>label2</value>
   </data>
-  <data name="&gt;&gt;lbl_frame.Type" xml:space="preserve">
+  <data name="&gt;&gt;label2.Type" xml:space="preserve">
     <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;lbl_frame.Parent" xml:space="preserve">
+  <data name="&gt;&gt;label2.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
-  <data name="&gt;&gt;lbl_frame.ZOrder" xml:space="preserve">
+  <data name="&gt;&gt;label2.ZOrder" xml:space="preserve">
+    <value>4</value>
+  </data>
+  <data name="label3.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="label3.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="label3.Location" type="System.Drawing.Point, System.Drawing">
+    <value>52, 197</value>
+  </data>
+  <data name="label3.Size" type="System.Drawing.Size, System.Drawing">
+    <value>18, 13</value>
+  </data>
+  <data name="label3.TabIndex" type="System.Int32, mscorlib">
+    <value>69</value>
+  </data>
+  <data name="label3.Text" xml:space="preserve">
+    <value>'X'</value>
+  </data>
+  <data name="&gt;&gt;label3.Name" xml:space="preserve">
+    <value>label3</value>
+  </data>
+  <data name="&gt;&gt;label3.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label3.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;label3.ZOrder" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="pictureBoxPlus.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="pictureBoxPlus.Location" type="System.Drawing.Point, System.Drawing">
+    <value>116, 65</value>
+  </data>
+  <data name="pictureBoxPlus.Size" type="System.Drawing.Size, System.Drawing">
+    <value>248, 81</value>
+  </data>
+  <data name="pictureBoxPlus.SizeMode" type="System.Windows.Forms.PictureBoxSizeMode, System.Windows.Forms">
+    <value>Zoom</value>
+  </data>
+  <data name="pictureBoxPlus.TabIndex" type="System.Int32, mscorlib">
+    <value>17</value>
+  </data>
+  <data name="&gt;&gt;pictureBoxPlus.Name" xml:space="preserve">
+    <value>pictureBoxPlus</value>
+  </data>
+  <data name="&gt;&gt;pictureBoxPlus.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.PictureBoxWithPseudoOpacity, ArdupilotMegaPlanner10, Version=1.1.4581.34461, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;pictureBoxPlus.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;pictureBoxPlus.ZOrder" xml:space="preserve">
+    <value>9</value>
+  </data>
+  <data name="pictureBoxX.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="pictureBoxX.Location" type="System.Drawing.Point, System.Drawing">
+    <value>116, 164</value>
+  </data>
+  <data name="pictureBoxX.Size" type="System.Drawing.Size, System.Drawing">
+    <value>248, 85</value>
+  </data>
+  <data name="pictureBoxX.SizeMode" type="System.Windows.Forms.PictureBoxSizeMode, System.Windows.Forms">
+    <value>Zoom</value>
+  </data>
+  <data name="pictureBoxX.TabIndex" type="System.Int32, mscorlib">
+    <value>11</value>
+  </data>
+  <data name="&gt;&gt;pictureBoxX.Name" xml:space="preserve">
+    <value>pictureBoxX</value>
+  </data>
+  <data name="&gt;&gt;pictureBoxX.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.PictureBoxWithPseudoOpacity, ArdupilotMegaPlanner10, Version=1.1.4581.34461, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;pictureBoxX.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;pictureBoxX.ZOrder" xml:space="preserve">
+    <value>10</value>
+  </data>
+  <data name="BUT_levelac2.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_levelac2.Location" type="System.Drawing.Point, System.Drawing">
+    <value>378, 318</value>
+  </data>
+  <data name="BUT_levelac2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>102, 23</value>
+  </data>
+  <data name="BUT_levelac2.TabIndex" type="System.Int32, mscorlib">
+    <value>16</value>
+  </data>
+  <data name="BUT_levelac2.Text" xml:space="preserve">
+    <value>Calibrate Now</value>
+  </data>
+  <data name="&gt;&gt;BUT_levelac2.Name" xml:space="preserve">
+    <value>BUT_levelac2</value>
+  </data>
+  <data name="&gt;&gt;BUT_levelac2.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4581.34461, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;BUT_levelac2.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;BUT_levelac2.ZOrder" xml:space="preserve">
+    <value>11</value>
+  </data>
+  <data name="label4.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="label4.Location" type="System.Drawing.Point, System.Drawing">
+    <value>85, 323</value>
+  </data>
+  <data name="label4.Size" type="System.Drawing.Size, System.Drawing">
+    <value>279, 13</value>
+  </data>
+  <data name="label4.TabIndex" type="System.Int32, mscorlib">
+    <value>70</value>
+  </data>
+  <data name="label4.Text" xml:space="preserve">
+    <value>Level your Multicopter to set default accelerometer offsets</value>
+  </data>
+  <data name="&gt;&gt;label4.Name" xml:space="preserve">
+    <value>label4</value>
+  </data>
+  <data name="&gt;&gt;label4.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label4.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;label4.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="lineSeparator3.Location" type="System.Drawing.Point, System.Drawing">
+    <value>20, 36</value>
+  </data>
+  <data name="lineSeparator3.Size" type="System.Drawing.Size, System.Drawing">
+    <value>460, 2</value>
+  </data>
+  <data name="lineSeparator3.TabIndex" type="System.Int32, mscorlib">
+    <value>80</value>
+  </data>
+  <data name="&gt;&gt;lineSeparator3.Name" xml:space="preserve">
+    <value>lineSeparator3</value>
+  </data>
+  <data name="&gt;&gt;lineSeparator3.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.LineSeparator, ArdupilotMegaPlanner10, Version=1.1.4581.34461, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;lineSeparator3.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;lineSeparator3.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="lineSeparator2.Location" type="System.Drawing.Point, System.Drawing">
+    <value>20, 300</value>
+  </data>
+  <data name="lineSeparator2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>460, 2</value>
+  </data>
+  <data name="lineSeparator2.TabIndex" type="System.Int32, mscorlib">
+    <value>81</value>
+  </data>
+  <data name="&gt;&gt;lineSeparator2.Name" xml:space="preserve">
+    <value>lineSeparator2</value>
+  </data>
+  <data name="&gt;&gt;lineSeparator2.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.LineSeparator, ArdupilotMegaPlanner10, Version=1.1.4581.34461, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;lineSeparator2.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;lineSeparator2.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
   <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
@@ -433,12 +457,12 @@
     <value>6, 13</value>
   </data>
   <data name="$this.Size" type="System.Drawing.Size, System.Drawing">
-    <value>621, 460</value>
+    <value>495, 363</value>
   </data>
   <data name="&gt;&gt;$this.Name" xml:space="preserve">
     <value>ConfigAccelerometerCalibrationQuad</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.BackstageView.BackStageViewContentPanel, ArdupilotMegaPlanner, Version=1.1.4503.13960, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.UserControl, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
 </root>

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

@@ -303,6 +303,11 @@
             // THR_RATE_IMAX
             // 
             resources.ApplyResources(this.THR_RATE_IMAX, "THR_RATE_IMAX");
+            this.THR_RATE_IMAX.Maximum = new decimal(new int[] {
+            1000,
+            0,
+            0,
+            0});
             this.THR_RATE_IMAX.Name = "THR_RATE_IMAX";
             // 
             // THR_RATE_I
@@ -896,7 +901,6 @@
             this.Controls.Add(this.groupBox24);
             this.Controls.Add(this.groupBox25);
             this.Name = "ConfigArducopter";
-            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);

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.cs

@@ -12,7 +12,7 @@ using ArdupilotMega.Controls;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigArducopter : BackStageViewContentPanel
+    public partial class ConfigArducopter : UserControl, IActivate
     {
         Hashtable changes = new Hashtable();
         static Hashtable tooltips = new Hashtable();
@@ -34,7 +34,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             public string desc;
         }
 
-        private void ConfigArducopter_Load(object sender, EventArgs e)
+        public void Activate()
         {
             if (!MainV2.comPort.BaseStream.IsOpen)
             {
@@ -203,6 +203,12 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                                 thisctl.Minimum = -180;
                             }
 
+                            if (thisctl.Name.ToUpper().EndsWith("THR_RATE_IMAX"))
+                            {
+                                thisctl.Maximum = 1000; // is a pwm
+                                thisctl.Minimum = 0;
+                            }
+
                             thisctl.Enabled = true;
 
                             thisctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
@@ -412,7 +418,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             ((Control)sender).Enabled = true;
 
-            this.DoLoad(new EventArgs());
+
+            this.Activate();
         }
       
         

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=1.1.4564.20854, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.13688, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;myLabel3.Parent" xml:space="preserve">
     <value>$this</value>
@@ -201,7 +201,7 @@
     <value>myLabel2</value>
   </data>
   <data name="&gt;&gt;myLabel2.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4564.20854, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.13688, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;myLabel2.Parent" xml:space="preserve">
     <value>$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=1.1.4564.20854, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.13688, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;myLabel1.Parent" xml:space="preserve">
     <value>$this</value>
@@ -2506,7 +2506,7 @@
     <value>BUT_writePIDS</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4564.20854, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.13688, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.Parent" xml:space="preserve">
     <value>$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=1.1.4564.20854, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.13688, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.Parent" xml:space="preserve">
     <value>$this</value>
@@ -2782,6 +2782,6 @@
     <value>ConfigArducopter</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.BackstageView.BackStageViewContentPanel, ArdupilotMegaPlanner10, Version=1.1.4564.20854, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.UserControl, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
 </root>

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

@@ -824,7 +824,6 @@
             this.Controls.Add(this.groupBox9);
             this.Controls.Add(this.groupBox8);
             this.Name = "ConfigArduplane";
-            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();

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.cs

@@ -12,7 +12,7 @@ using ArdupilotMega.Controls;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigArduplane : BackStageViewContentPanel
+    public partial class ConfigArduplane : UserControl, IActivate
     {
         Hashtable changes = new Hashtable();
         static Hashtable tooltips = new Hashtable();
@@ -23,7 +23,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             InitializeComponent();
         }
 
-        private void ConfigArduplane_Load(object sender, EventArgs e)
+        public void Activate()
         {
             if (!MainV2.comPort.BaseStream.IsOpen)
             {
@@ -318,7 +318,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             ((Control)sender).Enabled = true;
 
-            this.DoLoad(new EventArgs());
+            this.Activate();
         }
 
     }

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

@@ -509,7 +509,6 @@
             this.Controls.Add(this.groupBox14);
             this.Controls.Add(this.groupBox11);
             this.Name = "ConfigArdurover";
-            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();

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArdurover.cs

@@ -12,7 +12,7 @@ using ArdupilotMega.Controls;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigArdurover : BackStageViewContentPanel
+    public partial class ConfigArdurover : UserControl, IActivate
     {
         Hashtable changes = new Hashtable();
         static Hashtable tooltips = new Hashtable();
@@ -23,7 +23,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             InitializeComponent();
         }
 
-        private void ConfigArduplane_Load(object sender, EventArgs e)
+        public void Activate()
         {
             if (!MainV2.comPort.BaseStream.IsOpen)
             {
@@ -318,7 +318,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             ((Control)sender).Enabled = true;
 
-            this.DoLoad(new EventArgs());
+            this.Activate();
         }
 
     }

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

@@ -186,7 +186,6 @@
             // 
             // timer1
             // 
-            this.timer1.Enabled = true;
             this.timer1.Interval = 1000;
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
@@ -204,7 +203,6 @@
             this.Controls.Add(this.CMB_batmontype);
             this.Controls.Add(this.pictureBox5);
             this.Name = "ConfigBatteryMonitoring";
-            this.Load += new System.EventHandler(this.ConfigBatteryMonitoring_Load);
             this.groupBox4.ResumeLayout(false);
             this.groupBox4.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox5)).EndInit();

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigBatteryMonitoring.cs

@@ -11,7 +11,7 @@ using ArdupilotMega.Controls;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigBatteryMonitoring : BackStageViewContentPanel
+    public partial class ConfigBatteryMonitoring : UserControl, IActivate, IDeactivate
     {
         bool startup = false;
 
@@ -278,18 +278,13 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             }
         }
 
-        private void ConfigBatteryMonitoring_Load(object sender, EventArgs e)
+        public void Deactivate()
         {
-            if (!MainV2.comPort.BaseStream.IsOpen)
-            {
-                this.Enabled = false;
-                return;
-            }
-            else
-            {
-                this.Enabled = true;
-            }
+            timer1.Stop();
+        }
 
+        public void Activate()
+        {
             startup = true;
             bool not_supported = false;
             if (MainV2.comPort.param["BATT_MONITOR"] != null)
@@ -345,6 +340,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             }
 
             startup = false;
+
+            timer1.Start();
         }
 
         int getIndex(ComboBox ctl, int no)

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigBatteryMonitoring.resx

@@ -682,6 +682,6 @@ Then subtract 0.3v from that value and enter it in field #1 at left.
     <value>ConfigBatteryMonitoring</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.BackstageView.BackStageViewContentPanel, ArdupilotMegaPlanner10, Version=1.1.4564.19603, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.UserControl, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
 </root>

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

@@ -574,7 +574,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             this.Controls.Add(this.pictureBox1);
             this.Name = "ConfigCameraStab";
             this.Size = new System.Drawing.Size(674, 432);
-            this.Load += new System.EventHandler(this.ConfigCameraStab_Load);
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.numericUpDown1)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.presenterBindingSource)).EndInit();

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigCameraStab.cs

@@ -10,7 +10,7 @@ using Transitions;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigCameraStab : BackStageViewContentPanel
+    public partial class ConfigCameraStab : UserControl, IActivate
     {
         private ConfigCameraStabPresenter _presenter;
         private Transition[] _ErrorTransition;
@@ -23,7 +23,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             LBL_Error.Opacity = 0.0F;
         }
 
-        private void ConfigCameraStab_Load(object sender, EventArgs ev)
+        public void Activate()
         {
             _presenter = new ConfigCameraStabPresenter(MainV2.comPort);
             presenterBindingSource.DataSource = _presenter;

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

@@ -279,7 +279,6 @@
             this.Controls.Add(this.CMB_fmode1);
             this.Controls.Add(this.BUT_SaveModes);
             this.Name = "ConfigFlightModes";
-            this.Load += new System.EventHandler(this.ConfigFlightModes_Load);
             ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFlightModes.cs

@@ -12,7 +12,7 @@ using ArdupilotMega.Controls;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigFlightModes : BackStageViewContentPanel
+    public partial class ConfigFlightModes : UserControl, IActivate, IDeactivate
     {
         Timer timer = new Timer();
 
@@ -124,18 +124,13 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             Simple6 = 32,
         }
 
-        private void ConfigFlightModes_Load(object sender, EventArgs e)
+        public void Deactivate()
         {
-            if (!MainV2.comPort.BaseStream.IsOpen)
-            {
-                this.Enabled = false;
-                return;
-            }
-            else
-            {
-                this.Enabled = true;
-            }
+            timer.Stop();
+        }
 
+        public void Activate()
+        {
             if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
             {
                 CB_simple1.Visible = false;

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

@@ -79,7 +79,6 @@
          this.Controls.Add(this.tableLayoutPanel1);
          this.Name = "ConfigFriendlyParams";
          this.Size = new System.Drawing.Size(673, 177);
-         this.Load += new System.EventHandler(this.ConfigRawParamsV2_Load);
          this.ResumeLayout(false);
 
       }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFriendlyParams.cs

@@ -14,7 +14,7 @@ using log4net;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigFriendlyParams : BackStageViewContentPanel
+    public partial class ConfigFriendlyParams : UserControl, IActivate
     {
         #region Class Fields
 
@@ -130,7 +130,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         /// </summary>
         /// <param name="sender">The source of the event.</param>
         /// <param name="e">The <see cref="System.EventArgs"/> instance containing the event data.</param>
-        protected void ConfigRawParamsV2_Load(object sender, EventArgs e)
+        public void Activate()
         {
             BindParamList();
         }
@@ -297,6 +297,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 catch (Exception ex) { log.Error(ex); }
             }
          });
+
+            ThemeManager.ApplyThemeTo(this);
         }
 
         /// <summary>

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

@@ -191,7 +191,6 @@
             this.Controls.Add(this.pictureBox3);
             this.Controls.Add(this.pictureBox1);
             this.Name = "ConfigHardwareOptions";
-            this.Load += new System.EventHandler(this.ConfigHardwareOptions_Load);
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox4)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox3)).EndInit();

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigHardwareOptions.cs

@@ -11,7 +11,7 @@ using ArdupilotMega.Controls;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigHardwareOptions : BackStageViewContentPanel
+    public partial class ConfigHardwareOptions : UserControl, IActivate
     {
         bool startup = false;
 
@@ -233,7 +233,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             catch { CustomMessageBox.Show("Set SONAR_TYPE Failed"); }
         }
 
-        private void ConfigHardwareOptions_Load(object sender, EventArgs e)
+        public void Activate()
         {
             if (!MainV2.comPort.BaseStream.IsOpen)
             {

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigPlanner.cs

@@ -16,10 +16,10 @@ using System.Threading;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigPlanner : BackStageViewContentPanel
+    public partial class ConfigPlanner : UserControl, IActivate
     {
         private bool startup = false;
-        List<CultureInfo> languages = new List<CultureInfo>();
+        private List<CultureInfo> _languages;
 
         public class GCSBitmapInfo
         {
@@ -422,104 +422,12 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             MainV2.config["CHK_GDIPlus"] = CHK_GDIPlus.Checked.ToString();
         }
 
+        // This load handler now only contains code that should execute once
+        // on start up. See Activate() for the remainder
         private void ConfigPlanner_Load(object sender, EventArgs e)
         {
             startup = true;
 
-            // setup up camera button states
-            if (MainV2.cam != null)
-            {
-                BUT_videostart.Enabled = false;
-                CHK_hudshow.Checked = GCSViews.FlightData.myhud.hudon;
-            }
-            else
-            {
-                BUT_videostart.Enabled = true;
-            }
-
-            // setup speech states
-            if (MainV2.config["speechenable"] != null)
-                CHK_enablespeech.Checked = bool.Parse(MainV2.config["speechenable"].ToString());
-            if (MainV2.config["speechwaypointenabled"] != null)
-                CHK_speechwaypoint.Checked = bool.Parse(MainV2.config["speechwaypointenabled"].ToString());
-            if (MainV2.config["speechmodeenabled"] != null)
-                CHK_speechmode.Checked = bool.Parse(MainV2.config["speechmodeenabled"].ToString());
-            if (MainV2.config["speechcustomenabled"] != null)
-                CHK_speechcustom.Checked = bool.Parse(MainV2.config["speechcustomenabled"].ToString());
-            if (MainV2.config["speechbatteryenabled"] != null)
-                CHK_speechbattery.Checked = bool.Parse(MainV2.config["speechbatteryenabled"].ToString());
-            if (MainV2.config["speechaltenabled"] != null)
-                CHK_speechaltwarning.Checked = bool.Parse(MainV2.config["speechaltenabled"].ToString());
-
-            // this can't fail because it set at startup
-            NUM_tracklength.Value = int.Parse(MainV2.config["NUM_tracklength"].ToString());
-
-            // get wps on connect
-            if (MainV2.config["loadwpsonconnect"] != null)
-                CHK_loadwponconnect.Checked = bool.Parse(MainV2.config["loadwpsonconnect"].ToString());
-
-            // setup other config state
-            if (MainV2.config["CHK_resetapmonconnect"] != null)
-                CHK_resetapmonconnect.Checked = bool.Parse(MainV2.config["CHK_resetapmonconnect"].ToString());
-
-            CMB_rateattitude.Text = MainV2.cs.rateattitude.ToString();
-            CMB_rateposition.Text = MainV2.cs.rateposition.ToString();
-            CMB_raterc.Text = MainV2.cs.raterc.ToString();
-            CMB_ratestatus.Text = MainV2.cs.ratestatus.ToString();
-            CMB_ratesensors.Text = MainV2.cs.ratesensors.ToString();
-
-
-            if (MainV2.config["CHK_GDIPlus"] != null)
-                CHK_GDIPlus.Checked = bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());
-
-            if (MainV2.config["CHK_maprotation"] != null)
-                CHK_maprotation.Checked = bool.Parse(MainV2.config["CHK_maprotation"].ToString());
-
-            //set hud color state
-            string hudcolor = (string)MainV2.config["hudcolor"];
-
-            CMB_osdcolor.DataSource = Enum.GetNames(typeof(KnownColor));
-            if (hudcolor != null)
-            {
-                int index = CMB_osdcolor.Items.IndexOf(hudcolor);
-                CMB_osdcolor.SelectedIndex = index;
-            }
-            else
-            {
-                int index = CMB_osdcolor.Items.IndexOf("White");
-                CMB_osdcolor.SelectedIndex = index;
-            }
-
-            // set distance/speed unit states
-            CMB_distunits.DataSource = Enum.GetNames(typeof(Common.distances));
-            CMB_speedunits.DataSource = Enum.GetNames(typeof(Common.speeds));
-
-            if (MainV2.config["distunits"] != null)
-                CMB_distunits.Text = MainV2.config["distunits"].ToString();
-            if (MainV2.config["speedunits"] != null)
-                CMB_speedunits.Text = MainV2.config["speedunits"].ToString();
-
-            // setup language selection
-            CultureInfo ci = null;
-            foreach (string name in new string[] { "en-US", "zh-Hans", "zh-TW", "ru-RU", "Fr", "Pl", "it-IT", "es-ES" })
-            {
-                ci = CultureInfoEx.GetCultureInfo(name);
-                if (ci != null)
-                    languages.Add(ci);
-            }
-
-            CMB_language.DisplayMember = "DisplayName";
-            CMB_language.DataSource = languages;
-            ci = Thread.CurrentThread.CurrentUICulture;
-            for (int i = 0; i < languages.Count; i++)
-            {
-                if (ci.IsChildOf(languages[i]))
-                {
-                    CMB_language.SelectedIndex = i;
-                    break;
-                }
-            }
-            //CMB_language.SelectedIndexChanged += CMB_language_SelectedIndexChanged;
 
             startup = false;
         }
@@ -571,5 +479,94 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 return;
             MainV2.config["CHK_maprotation"] = CHK_maprotation.Checked.ToString();
         }
+        // Called every time that this control is made current in the backstage view
+        public void Activate()
+        {
+            startup = true; // flag to ignore changes while we programatically populate controls
+
+
+            CMB_osdcolor.DataSource = Enum.GetNames(typeof(KnownColor));
+
+            // set distance/speed unit states
+            CMB_distunits.DataSource = Enum.GetNames(typeof(Common.distances));
+            CMB_speedunits.DataSource = Enum.GetNames(typeof(Common.speeds));
+
+            // setup language selection
+            var cultureCodes = new[] { "en-US", "zh-Hans", "zh-TW", "ru-RU", "Fr", "Pl", "it-IT", "es-ES" };
+
+            _languages = cultureCodes
+                .Select(CultureInfoEx.GetCultureInfo)
+                .Where(c => c != null)
+                .ToList();
+
+            CMB_language.DisplayMember = "DisplayName";
+            CMB_language.DataSource = _languages;
+            var currentUiCulture = Thread.CurrentThread.CurrentUICulture;
+
+            for (int i = 0; i < _languages.Count; i++)
+            {
+                if (currentUiCulture.IsChildOf(_languages[i]))
+                {
+                    CMB_language.SelectedIndex = i;
+                    break;
+                }
+            }
+
+            // setup up camera button states
+            if (MainV2.cam != null)
+            {
+                BUT_videostart.Enabled = false;
+                CHK_hudshow.Checked = GCSViews.FlightData.myhud.hudon;
+            }
+            else
+            {
+                BUT_videostart.Enabled = true;
+            }
+
+            // setup speech states
+            SetCheckboxFromConfig("speechenable", CHK_enablespeech);
+            SetCheckboxFromConfig("speechwaypointenabled", CHK_speechwaypoint);
+            SetCheckboxFromConfig("speechmodeenabled", CHK_speechmode);
+            SetCheckboxFromConfig("speechcustomenabled", CHK_speechcustom);
+            SetCheckboxFromConfig("speechbatteryenabled", CHK_speechbattery);
+            SetCheckboxFromConfig("speechaltenabled", CHK_speechaltwarning);
+
+            // this can't fail because it set at startup
+            NUM_tracklength.Value = int.Parse(MainV2.config["NUM_tracklength"].ToString());
+
+            // get wps on connect
+            SetCheckboxFromConfig("loadwpsonconnect", CHK_loadwponconnect);
+
+            // setup other config state
+            SetCheckboxFromConfig("CHK_resetapmonconnect", CHK_resetapmonconnect);
+
+            CMB_rateattitude.Text = MainV2.cs.rateattitude.ToString();
+            CMB_rateposition.Text = MainV2.cs.rateposition.ToString();
+            CMB_raterc.Text = MainV2.cs.raterc.ToString();
+            CMB_ratestatus.Text = MainV2.cs.ratestatus.ToString();
+            CMB_ratesensors.Text = MainV2.cs.ratesensors.ToString();
+
+            SetCheckboxFromConfig("CHK_GDIPlus", CHK_GDIPlus);
+            SetCheckboxFromConfig("CHK_maprotation", CHK_maprotation);
+
+            //set hud color state
+            string hudcolor = (string)MainV2.config["hudcolor"];
+            int index = CMB_osdcolor.Items.IndexOf(hudcolor ?? "White");
+            CMB_osdcolor.SelectedIndex = index;
+
+
+            if (MainV2.config["distunits"] != null)
+                CMB_distunits.Text = MainV2.config["distunits"].ToString();
+            if (MainV2.config["speedunits"] != null)
+                CMB_speedunits.Text = MainV2.config["speedunits"].ToString();
+        }
+
+
+        
+        private static void SetCheckboxFromConfig(string configKey, CheckBox chk)
+        {
+            if (MainV2.config[configKey] != null)
+                chk.Checked = bool.Parse(MainV2.config[configKey].ToString());
+        }
     }
 }

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

@@ -269,7 +269,6 @@
             this.Controls.Add(this.BARyaw);
             this.Controls.Add(this.BARroll);
             this.Name = "ConfigRadioInput";
-            this.Load += new System.EventHandler(this.ConfigRadioInput_Load);
             this.groupBoxElevons.ResumeLayout(false);
             this.groupBoxElevons.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).EndInit();

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRadioInput.cs

@@ -11,7 +11,7 @@ using ArdupilotMega.Controls;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigRadioInput : BackStageViewContentPanel
+    public partial class ConfigRadioInput : UserControl, IActivate, IDeactivate
     {
         bool startup = false;
         bool run = false;
@@ -36,10 +36,11 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             // setup rc update
             timer.Tick += new EventHandler(timer_Tick);
+        }
 
-            timer.Enabled = true;
-            timer.Interval = 100;
-            timer.Start();
+        public void Deactivate()
+        {
+            timer.Stop();
         }
 
         void timer_Tick(object sender, EventArgs e)
@@ -52,17 +53,11 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             catch { }
         }
 
-        private void ConfigRadioInput_Load(object sender, EventArgs e)
+        public void Activate()
         {
-            if (!MainV2.comPort.BaseStream.IsOpen)
-            {
-                this.Enabled = false;
-                return;
-            }
-            else
-            {
-                this.Enabled = true;
-            }
+            timer.Enabled = true;
+            timer.Interval = 100;
+            timer.Start();
 
             startup = true;
 

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

@@ -151,7 +151,6 @@
             this.Controls.Add(this.BUT_load);
             this.Controls.Add(this.Params);
             this.Name = "ConfigRawParams";
-            this.Load += new System.EventHandler(this.ConfigRawParams_Load);
             ((System.ComponentModel.ISupportInitialize)(this.Params)).EndInit();
             this.ResumeLayout(false);
 

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.cs

@@ -11,7 +11,7 @@ using ArdupilotMega.Controls.BackstageView;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigRawParams : BackStageViewContentPanel
+    public partial class ConfigRawParams : UserControl, IActivate
     {
         private static readonly ILog log =
           LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
@@ -424,7 +424,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             Params.Sort(Params.Columns[0], ListSortDirection.Ascending);
         }
 
-        private void ConfigRawParams_Load(object sender, EventArgs e)
+        public void Activate()
         {
             // read tooltips
             if (tooltips.Count == 0)

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

@@ -685,8 +685,6 @@
             this.Controls.Add(this.HS3);
             this.Controls.Add(this.Gservoloc);
             this.Name = "ConfigTradHeli";
-            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.ConfigTradHeli_FormClosing);
-            this.Load += new System.EventHandler(this.ConfigTradHeli_Load);
             this.groupBox5.ResumeLayout(false);
             this.groupBox5.PerformLayout();
             this.groupBox3.ResumeLayout(false);

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigTradHeli.cs

@@ -11,7 +11,7 @@ using ArdupilotMega.Controls;
 
 namespace ArdupilotMega.GCSViews.ConfigurationView
 {
-    public partial class ConfigTradHeli : BackStageViewContentPanel
+    public partial class ConfigTradHeli : UserControl, IActivate, IDeactivate
     {
         bool startup = false;
         bool inpwmdetect = false;
@@ -368,17 +368,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : 0.0f);
         }
 
-        private void ConfigTradHeli_Load(object sender, EventArgs e)
+        public void Activate()
         {
-            if (!MainV2.comPort.BaseStream.IsOpen)
-            {
-                this.Enabled = false;
-                return;
-            }
-            else
-            {
-                this.Enabled = true;
-            }
 
             if (MainV2.comPort.param["H_GYR_ENABLE"] == null)
             {
@@ -487,8 +478,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             }
         }
 
-        private void ConfigTradHeli_FormClosing(object sender, FormClosingEventArgs e)
+        public void Deactivate()
         {
+            timer.Stop();
+
             startup = true;
         }
     }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Setup.cs

@@ -25,18 +25,22 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             if (MainV2.comPort.BaseStream.IsOpen)
             {
                 AddPagesForConnectedState();
+			//	backstageView.AddSpacer(20);
             }
 
             // These pages work when not connected to an APM
             AddBackstageViewPage(new ArdupilotMega._3DRradio(), "3DR Radio");
             AddBackstageViewPage(new ArdupilotMega.Antenna.Tracker(), "Antenna Tracker");
+//backstageView.AddSpacer(15);
             AddBackstageViewPage(new ConfigPlanner(), "Planner");
 
             this.backstageView.ActivatePage(backstageView.Pages[0]);
 
             if (!MainV2.comPort.BaseStream.IsOpen)
             {
-                Common.MessageShowAgain("Config Connect", "Please connect (click Connect Button) before using setup!!");
+                ThemeManager.ApplyThemeTo(this);
+                Common.MessageShowAgain("Config Connect", @"Please connect (click Connect Button) before using setup.
+If you are just setting up 3DR radios, you may continue without connecting.");
             }
         }
 
@@ -61,8 +65,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                 AddBackstageViewPage(new ConfigTradHeli(), "Heli Setup");
 
-                var configpanel = new Controls.ConfigPanel();
-                configpanel.LoadXML("ArduCopterConfig.xml");
+                var configpanel = new Controls.ConfigPanel(Application.StartupPath + System.IO.Path.DirectorySeparatorChar + "ArduCopterConfig.xml");
                 AddBackstageViewPage(configpanel, "ArduCopter Pids");
 
                 AddBackstageViewPage(new ConfigArducopter(), "ArduCopter Config");
@@ -74,8 +77,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                 AddBackstageViewPage(new ConfigAccelerometerCalibrationQuad(), "ArduCopter Level");
 
-                var configpanel = new Controls.ConfigPanel();
-                configpanel.LoadXML("ArduCopterConfig.xml");
+                var configpanel = new Controls.ConfigPanel(Application.StartupPath + System.IO.Path.DirectorySeparatorChar + "ArduCopterConfig.xml");
                 AddBackstageViewPage(configpanel, "ArduCopter Pids");
 
                 AddBackstageViewPage(new ConfigArducopter(), "ArduCopter Config");
@@ -99,9 +101,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             AddBackstageViewPage(new ConfigRawParams(), "Parameter List");
         }
 
-        private void AddBackstageViewPage(BackStageViewContentPanel userControl, string headerText)
+        private void AddBackstageViewPage(UserControl userControl, string headerText)
         {
-            backstageView.AddPage(new BackstageView.BackstageViewPage(userControl, headerText));
+            backstageView.AddPage(userControl, headerText);
         }
 
 

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs

@@ -1161,6 +1161,7 @@
             this.Controls.Add(this.label6);
             this.MinimumSize = new System.Drawing.Size(1008, 461);
             this.Name = "FlightData";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.FlightData_FormClosing);
             this.Load += new System.EventHandler(this.FlightData_Load);
             this.Resize += new System.EventHandler(this.FlightData_Resize);
             this.ParentChanged += new System.EventHandler(this.FlightData_ParentChanged);

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -18,13 +18,14 @@ using ZedGraph; // Graphs
 using System.Drawing.Drawing2D;
 using ArdupilotMega.Controls;
 using ArdupilotMega.Utilities;
+using ArdupilotMega.Controls.BackstageView;
 
 // written by michael oborne
 namespace ArdupilotMega.GCSViews
 {
-    partial class FlightData : MyUserControl
+    partial class FlightData : MyUserControl, IActivate, IDeactivate
     {
-        ArdupilotMega.IMAVLink comPort = MainV2.comPort;
+        ArdupilotMega.MAVLink comPort = MainV2.comPort;
         public static int threadrun = 0;
         StreamWriter swlog;
         int tickStart = 0;
@@ -196,6 +197,22 @@ namespace ArdupilotMega.GCSViews
             catch { }
         }
 
+        public void Activate()
+        {
+            if (CB_tuning.Checked)
+                ZedGraphTimer.Start();
+
+          //  SubMainLeft.Panel1.Controls.Clear();
+          //  SubMainLeft.Panel1.Controls.Add(hud1);
+        }
+
+        public void Deactivate()
+        {
+            //SubMainLeft.Panel1.Controls.Remove(hud1);
+            hud1.Size = new System.Drawing.Size(0, 0);
+            ZedGraphTimer.Stop();
+        }
+
         void tabControl1_DrawItem(object sender, DrawItemEventArgs e)
         {
             // Draw the background of the ListBox control for each item.
@@ -223,8 +240,6 @@ namespace ArdupilotMega.GCSViews
 
         private void FlightData_Load(object sender, EventArgs e)
         {
-            MainV2.bs = bindingSource1;
-
             System.Threading.Thread t11 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
             {
                 IsBackground = true,
@@ -255,6 +270,8 @@ namespace ArdupilotMega.GCSViews
 
             DateTime tunning = DateTime.Now.AddSeconds(0);
 
+            DateTime mapupdate = DateTime.Now.AddSeconds(0);
+
             DateTime vidrec = DateTime.Now.AddSeconds(0);
 
             DateTime waypoints = DateTime.Now.AddSeconds(0);
@@ -319,8 +336,6 @@ namespace ArdupilotMega.GCSViews
 
                     updatePlayPauseButton(true);
 
-                    MainV2.comPort.setAPType();
-
                     if (comPort.BaseStream.IsOpen)
                     {
                         MainV2.comPort.logreadmode = false;
@@ -429,45 +444,51 @@ namespace ArdupilotMega.GCSViews
                             setMapBearing();
                         }
 
+                        if (route == null)
+                        {
+                            route = new GMapRoute(trackPoints, "track");
+                            routes.Routes.Add(route);
+                        }
+
+                        PointLatLng currentloc = new PointLatLng(MainV2.cs.lat, MainV2.cs.lng);
+
                         gMapControl1.HoldInvalidation = true;
 
+                        int cnt = 0;
+
                         while (gMapControl1.inOnPaint == true)
                         {
                             System.Threading.Thread.Sleep(1);
+                            cnt++;
                         }
-						
-                        if (trackPoints.Count > int.Parse(MainV2.config["NUM_tracklength"].ToString()))
+
+                        if (route.Points.Count > int.Parse(MainV2.config["NUM_tracklength"].ToString()))
                         {
-                            trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
+                          //  trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
+                            route.Points.RemoveRange(0, route.Points.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
                         }
                         if (MainV2.cs.lat != 0)
-                            trackPoints.Add(new PointLatLng(MainV2.cs.lat, MainV2.cs.lng));
+                        {
+                           // trackPoints.Add(currentloc);
+                            route.Points.Add(currentloc);
+                        }
 
 
                         //                        if (CB_tuning.Checked == false) // draw if in view
                         {
 
-                            if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
-                            {
-                                // this is for the pulled wp list from a mavlink logfile
-                                FlightPlanner.pointlist.Clear();
-                                FlightPlanner.pointlist.AddRange(MainV2.comPort.wps);
-                            }
-
-
                             while (gMapControl1.inOnPaint == true)
                             {
                                 System.Threading.Thread.Sleep(1);
                             }
 
-                            updateClearRoutes();
-
-                            route = new GMapRoute(trackPoints, "track");
+                            //route = new GMapRoute(route.Points, "track");
                             //track.Stroke = Pens.Red;
                             //route.Stroke = new Pen(Color.FromArgb(144, Color.Red));
                             //route.Stroke.Width = 5;
                             //route.Tag = "track";
 
+                            routes.Routes.Clear();
                             routes.Routes.Add(route);
 
                             if (waypoints.AddSeconds(10) < DateTime.Now)
@@ -475,6 +496,12 @@ namespace ArdupilotMega.GCSViews
                                 //Console.WriteLine("Doing FD WP's");
                                 polygons.Markers.Clear();
 
+                                if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
+                                {
+                                        FlightPlanner.pointlist.Clear();
+                                        FlightPlanner.pointlist.AddRange(MainV2.comPort.wps);
+                                }
+
                                 foreach (PointLatLngAlt plla in FlightPlanner.pointlist)
                                 {
                                     if (plla == null || plla.Lng == 0 || plla.Lat == 0)
@@ -494,29 +521,35 @@ namespace ArdupilotMega.GCSViews
 
                             //routes.Polygons.Add(poly);    
 
-                            if (trackPoints.Count > 0)
+                            if (route.Points.Count > 0)
                             {
-                                PointLatLng currentloc = new PointLatLng(MainV2.cs.lat, MainV2.cs.lng);
+                                // add primary route icon
+                                if (routes.Markers.Count != 1)
+                                {
+                                    routes.Markers.Clear();
+                                    routes.Markers.Add( new GMapMarkerCross(currentloc));
+                                }
 
                                 if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
                                 {
-                                    routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, gMapControl1));
+                                    routes.Markers[0] = (new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, gMapControl1));
                                 }
                                 else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
                                 {
-                                    routes.Markers.Add(new GMapMarkerRover(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, gMapControl1));
+                                    routes.Markers[0] = (new GMapMarkerRover(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, gMapControl1));
                                 }
                                 else
                                 {
-                                    routes.Markers.Add(new GMapMarkerQuad(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing));
+                                    routes.Markers[0] = (new GMapMarkerQuad(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing));
                                 }
 
-                                if (trackPoints[trackPoints.Count - 1].Lat != 0 && (DateTime.Now.Second % 4 == 0) && CHK_autopan.Checked)
+                                if (route.Points[route.Points.Count - 1].Lat != 0 && (mapupdate.AddSeconds(3) < DateTime.Now) && CHK_autopan.Checked)
                                 {
                                     updateMapPosition(currentloc);
+                                    mapupdate = DateTime.Now;
                                 }
 
-                                if (trackPoints.Count == 1 && gMapControl1.Zoom == 3) // 3 is the default load zoom
+                                if (route.Points.Count == 1 && gMapControl1.Zoom == 3) // 3 is the default load zoom
                                 {
                                     updateMapPosition(currentloc);
                                     updateMapZoom(17);
@@ -539,28 +572,19 @@ namespace ArdupilotMega.GCSViews
 
         private void setMapBearing()
         {
-            this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
+            this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
             {
                 gMapControl1.Bearing = (int)MainV2.cs.yaw;
             });
         }
 
-
-        // to prevent cross thread calls while in a draw and exception
-        private void updateClearRoutes()
-        {
-            // not async
-            this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
-           {
-               routes.Markers.Clear();
-               routes.Routes.Clear();
-           });
-        }
-
         private void updatePlayPauseButton(bool playing)
         {
             if (playing)
             {
+                if (BUT_playlog.Text == "Pause") 
+                    return;
+
                 this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
                 {
                     try
@@ -626,9 +650,10 @@ namespace ArdupilotMega.GCSViews
             {
                 try
                 {
-                    tracklog.Value = (int)(MainV2.comPort.logplaybackfile.BaseStream.Position / (double)MainV2.comPort.logplaybackfile.BaseStream.Length * 100);
-
-                    lbl_logpercent.Text = (MainV2.comPort.logplaybackfile.BaseStream.Position / (double)MainV2.comPort.logplaybackfile.BaseStream.Length).ToString("0.00%");
+                    if (tracklog.Visible)
+                        tracklog.Value = (int)(MainV2.comPort.logplaybackfile.BaseStream.Position / (double)MainV2.comPort.logplaybackfile.BaseStream.Length * 100);
+                    if (lbl_logpercent.Visible)
+                        lbl_logpercent.Text = (MainV2.comPort.logplaybackfile.BaseStream.Position / (double)MainV2.comPort.logplaybackfile.BaseStream.Length).ToString("0.00%");
                 }
                 catch { }
             });
@@ -806,15 +831,20 @@ namespace ArdupilotMega.GCSViews
         {
             ZedGraphTimer.Stop();
             threadrun = 0;
-            if (comPort.BaseStream.IsOpen)
+            try
             {
-                comPort.Close();
+                if (comPort.BaseStream.IsOpen)
+                {
+                    comPort.Close();
+                }
             }
+            catch { }
         }
 
         private void BUT_clear_track_Click(object sender, EventArgs e)
         {
-            trackPoints.Clear();
+            if (route !=null)
+                route.Points.Clear();
         }
 
         private void BUT_save_log_Click(object sender, EventArgs e)
@@ -1349,7 +1379,7 @@ namespace ArdupilotMega.GCSViews
 
                 foreach (Control temp in tabStatus.Controls)
                 {
-                    temp.DataBindings.Clear();
+                  //  temp.DataBindings.Clear();
                     //temp.Dispose();
                 }
                 //tabStatus.Controls.Clear();
@@ -1387,10 +1417,14 @@ namespace ArdupilotMega.GCSViews
                     }
                     catch { }
 
+                    if (add)
+                    {
+
                     lbl1.Location = new Point(x, y);
                     lbl1.Size = new System.Drawing.Size(75, 13);
                     lbl1.Text = field.Name;
                     lbl1.Name = field.Name;
+                    lbl1.Visible = true;
                     lbl2.AutoSize = false;
 
                     lbl2.Location = new Point(lbl1.Right + 5, y);
@@ -1398,10 +1432,10 @@ namespace ArdupilotMega.GCSViews
                     //if (lbl2.Name == "")
                     lbl2.DataBindings.Add(new System.Windows.Forms.Binding("Text", this.bindingSource1, field.Name, true, System.Windows.Forms.DataSourceUpdateMode.OnValidation, ""));
                     lbl2.Name = field.Name + "value";
+                    lbl2.Visible = true;
                     //lbl2.Text = fieldValue.ToString();
 
-                    if (add)
-                    {
+
                         tabStatus.Controls.Add(lbl1);
                         tabStatus.Controls.Add(lbl2);
                     }
@@ -1426,7 +1460,9 @@ namespace ArdupilotMega.GCSViews
             {
                 foreach (Control temp in tabStatus.Controls)
                 {
-                    temp.DataBindings.Clear();
+                 //   temp.DataBindings.Clear();
+                  //  temp.Dispose();
+                  //  tabStatus.Controls.Remove(temp);
                 }
             }
         }
@@ -1903,5 +1939,6 @@ print 'Roll complete'
         {
             hud1.batteryon = !hud1.batteryon;
         }
+
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.resx

@@ -226,7 +226,7 @@
     <value>hud1</value>
   </data>
   <data name="&gt;&gt;hud1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.HUD, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.HUD, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;hud1.Parent" xml:space="preserve">
     <value>SubMainLeft.Panel1</value>
@@ -265,7 +265,7 @@
     <value>BUT_script</value>
   </data>
   <data name="&gt;&gt;BUT_script.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_script.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -298,7 +298,7 @@
     <value>BUT_joystick</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -328,7 +328,7 @@
     <value>BUT_quickmanual</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -358,7 +358,7 @@
     <value>BUT_quickrtl</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -388,7 +388,7 @@
     <value>BUT_quickauto</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -442,7 +442,7 @@
     <value>BUT_setwp</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -493,7 +493,7 @@
     <value>BUT_setmode</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -523,7 +523,7 @@
     <value>BUT_clear_track</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -574,7 +574,7 @@
     <value>BUT_Homealt</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -604,7 +604,7 @@
     <value>BUT_RAWSensor</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -634,7 +634,7 @@
     <value>BUTrestartmission</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -664,7 +664,7 @@
     <value>BUTactiondo</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -718,7 +718,7 @@
     <value>Gvspeed</value>
   </data>
   <data name="&gt;&gt;Gvspeed.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Gvspeed.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -748,7 +748,7 @@
     <value>Gheading</value>
   </data>
   <data name="&gt;&gt;Gheading.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.HSI, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.HSI, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Gheading.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -778,7 +778,7 @@
     <value>Galt</value>
   </data>
   <data name="&gt;&gt;Galt.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Galt.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -811,7 +811,7 @@
     <value>Gspeed</value>
   </data>
   <data name="&gt;&gt;Gspeed.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Gspeed.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -895,7 +895,7 @@
     <value>lbl_playbackspeed</value>
   </data>
   <data name="&gt;&gt;lbl_playbackspeed.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_playbackspeed.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -922,7 +922,7 @@
     <value>lbl_logpercent</value>
   </data>
   <data name="&gt;&gt;lbl_logpercent.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_logpercent.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -949,7 +949,7 @@
     <value>NUM_playbackspeed</value>
   </data>
   <data name="&gt;&gt;NUM_playbackspeed.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;NUM_playbackspeed.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -976,7 +976,7 @@
     <value>BUT_log2kml</value>
   </data>
   <data name="&gt;&gt;BUT_log2kml.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_log2kml.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1030,7 +1030,7 @@
     <value>BUT_playlog</value>
   </data>
   <data name="&gt;&gt;BUT_playlog.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_playlog.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1057,7 +1057,7 @@
     <value>BUT_loadtelem</value>
   </data>
   <data name="&gt;&gt;BUT_loadtelem.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_loadtelem.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1246,7 +1246,7 @@
     <value>lbl_hdop</value>
   </data>
   <data name="&gt;&gt;lbl_hdop.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_hdop.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1279,7 +1279,7 @@
     <value>lbl_sats</value>
   </data>
   <data name="&gt;&gt;lbl_sats.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_sats.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1309,7 +1309,7 @@
     <value>lbl_winddir</value>
   </data>
   <data name="&gt;&gt;lbl_winddir.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_winddir.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1339,7 +1339,7 @@
     <value>lbl_windvel</value>
   </data>
   <data name="&gt;&gt;lbl_windvel.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_windvel.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1511,7 +1511,7 @@
     <value>gMapControl1</value>
   </data>
   <data name="&gt;&gt;gMapControl1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;gMapControl1.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1574,7 +1574,7 @@
     <value>TXT_lat</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1631,7 +1631,7 @@
     <value>label1</value>
   </data>
   <data name="&gt;&gt;label1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label1.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1661,7 +1661,7 @@
     <value>TXT_long</value>
   </data>
   <data name="&gt;&gt;TXT_long.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_long.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1691,7 +1691,7 @@
     <value>TXT_alt</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1892,7 +1892,7 @@
     <value>label6</value>
   </data>
   <data name="&gt;&gt;label6.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label6.Parent" xml:space="preserve">
     <value>$this</value>
@@ -1988,6 +1988,6 @@
     <value>FlightData</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4580.38577, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4585.31842, Culture=neutral, PublicKeyToken=null</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs

@@ -111,13 +111,13 @@
             this.jumpToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.jumpstartToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.jumpwPToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.createWpCircleToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.toolStripSeparator1 = new System.Windows.Forms.ToolStripSeparator();
             this.ContextMeasure = new System.Windows.Forms.ToolStripMenuItem();
             this.rotateMapToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.polygonToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.addPolygonPointToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.clearPolygonToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.clearMissionToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.geoFenceToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.toolStripMenuItem1 = new System.Windows.Forms.ToolStripMenuItem();
             this.toolStripSeparator4 = new System.Windows.Forms.ToolStripSeparator();
@@ -126,6 +126,7 @@
             this.setReturnLocationToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.loadFromFileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.saveToFileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.clearMissionToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.trackBar1 = new ArdupilotMega.Controls.MyTrackBar();
             this.label11 = new System.Windows.Forms.Label();
             this.panelBASE = new System.Windows.Forms.Panel();
@@ -721,12 +722,13 @@
             this.deleteWPToolStripMenuItem,
             this.loiterToolStripMenuItem,
             this.jumpToolStripMenuItem,
+            this.createWpCircleToolStripMenuItem,
             this.toolStripSeparator1,
             this.ContextMeasure,
             this.rotateMapToolStripMenuItem,
             this.polygonToolStripMenuItem,
-            this.clearMissionToolStripMenuItem,
-            this.geoFenceToolStripMenuItem});
+            this.geoFenceToolStripMenuItem,
+            this.clearMissionToolStripMenuItem});
             this.contextMenuStrip1.Name = "contextMenuStrip1";
             resources.ApplyResources(this.contextMenuStrip1, "contextMenuStrip1");
             // 
@@ -783,6 +785,12 @@
             resources.ApplyResources(this.jumpwPToolStripMenuItem, "jumpwPToolStripMenuItem");
             this.jumpwPToolStripMenuItem.Click += new System.EventHandler(this.jumpwPToolStripMenuItem_Click);
             // 
+            // createWpCircleToolStripMenuItem
+            // 
+            this.createWpCircleToolStripMenuItem.Name = "createWpCircleToolStripMenuItem";
+            resources.ApplyResources(this.createWpCircleToolStripMenuItem, "createWpCircleToolStripMenuItem");
+            this.createWpCircleToolStripMenuItem.Click += new System.EventHandler(this.createWpCircleToolStripMenuItem_Click);
+            // 
             // toolStripSeparator1
             // 
             this.toolStripSeparator1.Name = "toolStripSeparator1";
@@ -820,12 +828,6 @@
             resources.ApplyResources(this.clearPolygonToolStripMenuItem, "clearPolygonToolStripMenuItem");
             this.clearPolygonToolStripMenuItem.Click += new System.EventHandler(this.clearPolygonToolStripMenuItem_Click);
             // 
-            // clearMissionToolStripMenuItem
-            // 
-            this.clearMissionToolStripMenuItem.Name = "clearMissionToolStripMenuItem";
-            resources.ApplyResources(this.clearMissionToolStripMenuItem, "clearMissionToolStripMenuItem");
-            this.clearMissionToolStripMenuItem.Click += new System.EventHandler(this.clearMissionToolStripMenuItem_Click);
-            // 
             // geoFenceToolStripMenuItem
             // 
             this.geoFenceToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
@@ -879,6 +881,12 @@
             resources.ApplyResources(this.saveToFileToolStripMenuItem, "saveToFileToolStripMenuItem");
             this.saveToFileToolStripMenuItem.Click += new System.EventHandler(this.saveToFileToolStripMenuItem_Click);
             // 
+            // clearMissionToolStripMenuItem
+            // 
+            this.clearMissionToolStripMenuItem.Name = "clearMissionToolStripMenuItem";
+            resources.ApplyResources(this.clearMissionToolStripMenuItem, "clearMissionToolStripMenuItem");
+            this.clearMissionToolStripMenuItem.Click += new System.EventHandler(this.clearMissionToolStripMenuItem_Click);
+            // 
             // trackBar1
             // 
             resources.ApplyResources(this.trackBar1, "trackBar1");
@@ -911,7 +919,6 @@
             // 
             // timer1
             // 
-            this.timer1.Enabled = true;
             this.timer1.Interval = 1000;
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
@@ -923,6 +930,7 @@
             this.Controls.Add(this.panelBASE);
             this.MinimumSize = new System.Drawing.Size(1008, 461);
             this.Name = "FlightPlanner";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.FlightPlanner_FormClosing);
             this.Load += new System.EventHandler(this.Planner_Load);
             this.Resize += new System.EventHandler(this.Planner_Resize);
             ((System.ComponentModel.ISupportInitialize)(this.Commands)).EndInit();
@@ -1037,5 +1045,6 @@
         private System.Windows.Forms.ToolStripMenuItem toolStripMenuItem1;
         private System.Windows.Forms.ToolStripMenuItem GeoFenceuploadToolStripMenuItem;
         private System.Windows.Forms.ToolStripSeparator toolStripSeparator4;
+        private System.Windows.Forms.ToolStripMenuItem createWpCircleToolStripMenuItem;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -23,11 +23,12 @@ using SharpKml.Base;
 using SharpKml.Dom;
 using ArdupilotMega.Controls;
 using ArdupilotMega.Utilities;
+using ArdupilotMega.Controls.BackstageView;
 
 
 namespace ArdupilotMega.GCSViews
 {
-    partial class FlightPlanner : MyUserControl
+    partial class FlightPlanner : MyUserControl, IDeactivate
     {
         private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         int selectedrow = 0;
@@ -697,6 +698,8 @@ namespace ArdupilotMega.GCSViews
             panelMap_Resize(null, null);
 
             writeKML();
+
+            timer1.Start();
         }
 
         void parser_ElementAdded(object sender, SharpKml.Base.ElementEventArgs e)
@@ -1223,7 +1226,7 @@ namespace ArdupilotMega.GCSViews
 
             try
             {
-                IMAVLink port = MainV2.comPort;
+                MAVLink port = MainV2.comPort;
 
                 if (!port.BaseStream.IsOpen)
                 {
@@ -1256,12 +1259,13 @@ namespace ArdupilotMega.GCSViews
             catch (Exception ex) { error = 1; CustomMessageBox.Show("Error : " + ex.ToString()); }
             try
             {
-                this.BeginInvoke((MethodInvoker)delegate()
+                this.Invoke((MethodInvoker)delegate()
                 {
                     if (error == 0)
                     {
                         try
                         {
+                            log.Info("Process " + cmds.Count);
                             processToScreen(cmds);
                         }
                         catch (Exception exx) { log.Info(exx.ToString()); }
@@ -1332,7 +1336,7 @@ namespace ArdupilotMega.GCSViews
         {
             try
             {
-                IMAVLink port = MainV2.comPort;
+                MAVLink port = MainV2.comPort;
 
                 if (!port.BaseStream.IsOpen)
                 {
@@ -1430,7 +1434,9 @@ namespace ArdupilotMega.GCSViews
         void processToScreen(List<Locationwp> cmds)
         {
             quickadd = true;
-            Commands.Rows.Clear();
+
+            while (Commands.Rows.Count > 0)
+                Commands.Rows.RemoveAt(0);
 
             if (cmds.Count == 0)
             {
@@ -1500,25 +1506,6 @@ namespace ArdupilotMega.GCSViews
             }
             try
             {
-                DataGridViewTextBoxCell cellhome;
-                cellhome = Commands.Rows[0].Cells[Lat.Index] as DataGridViewTextBoxCell;
-                if (cellhome.Value != null)
-                {
-                    if (cellhome.Value.ToString() != TXT_homelat.Text && cellhome.Value.ToString() != "0")
-                    {
-                        DialogResult dr = CustomMessageBox.Show("Reset Home to loaded coords", "Reset Home Coords", MessageBoxButtons.YesNo);
-
-                        if (dr == DialogResult.Yes)
-                        {
-                            TXT_homelat.Text = (double.Parse(cellhome.Value.ToString())).ToString();
-                            cellhome = Commands.Rows[0].Cells[Lon.Index] as DataGridViewTextBoxCell;
-                            TXT_homelng.Text = (double.Parse(cellhome.Value.ToString())).ToString();
-                            cellhome = Commands.Rows[0].Cells[Alt.Index] as DataGridViewTextBoxCell;
-                            TXT_homealt.Text = (double.Parse(cellhome.Value.ToString()) * MainV2.cs.multiplierdist).ToString();
-                        }
-                    }
-                }
-
                 log.Info("Setting wp params");
 
                 string hold_alt = ((int)((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist)).ToString();
@@ -1551,6 +1538,26 @@ namespace ArdupilotMega.GCSViews
                 CHK_holdalt.Checked = Convert.ToBoolean((float)param["ALT_HOLD_RTL"] > 0);
                 log.Info("param ALT_HOLD_RTL " + CHK_holdalt.Checked.ToString());
 
+
+
+                DataGridViewTextBoxCell cellhome;
+                cellhome = Commands.Rows[0].Cells[Lat.Index] as DataGridViewTextBoxCell;
+                if (cellhome.Value != null)
+                {
+                    if (cellhome.Value.ToString() != TXT_homelat.Text && cellhome.Value.ToString() != "0")
+                    {
+                        DialogResult dr = CustomMessageBox.Show("Reset Home to loaded coords", "Reset Home Coords", MessageBoxButtons.YesNo);
+
+                        if (dr == DialogResult.Yes)
+                        {
+                            TXT_homelat.Text = (double.Parse(cellhome.Value.ToString())).ToString();
+                            cellhome = Commands.Rows[0].Cells[Lon.Index] as DataGridViewTextBoxCell;
+                            TXT_homelng.Text = (double.Parse(cellhome.Value.ToString())).ToString();
+                            cellhome = Commands.Rows[0].Cells[Alt.Index] as DataGridViewTextBoxCell;
+                            TXT_homealt.Text = (double.Parse(cellhome.Value.ToString()) * MainV2.cs.multiplierdist).ToString();
+                        }
+                    }
+                }
             }
             catch (Exception ex) { log.Info(ex.ToString()); } // if there is no valid home
 
@@ -2840,7 +2847,8 @@ namespace ArdupilotMega.GCSViews
 
         private void clearMissionToolStripMenuItem_Click(object sender, EventArgs e)
         {
-            Commands.Rows.Clear();
+            while (Commands.Rows.Count > 0)
+                Commands.Rows.RemoveAt(0);
             selectedrow = 0;
             writeKML();
         }
@@ -3394,5 +3402,66 @@ namespace ArdupilotMega.GCSViews
                 return (T)formatter.Deserialize(ms);
             }
         }
+
+        private void createWpCircleToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            string RadiusIn = "50";
+            Common.InputBox("Radius", "Radius", ref RadiusIn);
+
+            string Pointsin = "20";
+            Common.InputBox("Points", "Number of points to generate Circle", ref Pointsin);
+
+            int Points = 0;
+            int Radius = 0;
+
+            if (!int.TryParse(RadiusIn, out Radius))
+            {
+                CustomMessageBox.Show("Bad Radius");
+                return;
+            }
+
+            if (!int.TryParse(Pointsin, out Points))
+            {
+                CustomMessageBox.Show("Bad Point value");
+                return;
+            }
+
+
+
+            for (double a = 0; a <= 360; a += 360.0f / Points)
+            {
+
+                selectedrow = Commands.Rows.Add();
+
+                Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.WAYPOINT.ToString();
+
+                ChangeColumnHeader(MAVLink.MAV_CMD.WAYPOINT.ToString());
+
+                float d = Radius;
+                float R = 6371000;
+
+                var lat2 = Math.Asin(Math.Sin(end.Lat * deg2rad) * Math.Cos(d / R) +
+              Math.Cos(end.Lat * deg2rad) * Math.Sin(d / R) * Math.Cos(a * deg2rad));
+                var lon2 = end.Lng * deg2rad + Math.Atan2(Math.Sin(a * deg2rad) * Math.Sin(d / R) * Math.Cos(end.Lat * deg2rad),
+                                     Math.Cos(d / R) - Math.Sin(end.Lat * deg2rad) * Math.Sin(lat2));
+
+                PointLatLng pll = new PointLatLng(lat2 * rad2deg, lon2 * rad2deg);
+
+                setfromGE(pll.Lat, pll.Lng, (int)float.Parse(TXT_DefaultAlt.Text));
+
+            }
+
+            //drawnpolygon.Points.Add(new PointLatLng(start.Lat, start.Lng));
+        }
+
+        public void Deactivate()
+        {
+            timer1.Stop();
+        }
+
+        private void FlightPlanner_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            timer1.Stop();
+        }
     }
 }

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=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.39185, 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=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_read.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -610,7 +610,7 @@
     <value>SaveFile</value>
   </data>
   <data name="&gt;&gt;SaveFile.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;SaveFile.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -637,7 +637,7 @@
     <value>BUT_loadwpfile</value>
   </data>
   <data name="&gt;&gt;BUT_loadwpfile.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_loadwpfile.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -1261,7 +1261,7 @@
     <value>BUT_loadkml</value>
   </data>
   <data name="&gt;&gt;BUT_loadkml.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_loadkml.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
@@ -1291,7 +1291,7 @@
     <value>BUT_zoomto</value>
   </data>
   <data name="&gt;&gt;BUT_zoomto.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_zoomto.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
@@ -1321,7 +1321,7 @@
     <value>BUT_Camera</value>
   </data>
   <data name="&gt;&gt;BUT_Camera.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_Camera.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
@@ -1351,7 +1351,7 @@
     <value>BUT_grid</value>
   </data>
   <data name="&gt;&gt;BUT_grid.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_grid.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
@@ -1381,7 +1381,7 @@
     <value>BUT_Prefetch</value>
   </data>
   <data name="&gt;&gt;BUT_Prefetch.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_Prefetch.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
@@ -1411,7 +1411,7 @@
     <value>button1</value>
   </data>
   <data name="&gt;&gt;button1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;button1.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
@@ -1441,7 +1441,7 @@
     <value>BUT_Add</value>
   </data>
   <data name="&gt;&gt;BUT_Add.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_Add.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
@@ -1647,6 +1647,12 @@
   <data name="jumpToolStripMenuItem.Text" xml:space="preserve">
     <value>Jump</value>
   </data>
+  <data name="createWpCircleToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>167, 22</value>
+  </data>
+  <data name="createWpCircleToolStripMenuItem.Text" xml:space="preserve">
+    <value>Create Wp Circle</value>
+  </data>
   <data name="toolStripSeparator1.Size" type="System.Drawing.Size, System.Drawing">
     <value>164, 6</value>
   </data>
@@ -1680,12 +1686,6 @@
   <data name="polygonToolStripMenuItem.Text" xml:space="preserve">
     <value>Draw Polygon</value>
   </data>
-  <data name="clearMissionToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>167, 22</value>
-  </data>
-  <data name="clearMissionToolStripMenuItem.Text" xml:space="preserve">
-    <value>Clear Mission</value>
-  </data>
   <data name="toolStripMenuItem1.Size" type="System.Drawing.Size, System.Drawing">
     <value>177, 22</value>
   </data>
@@ -1731,8 +1731,14 @@
   <data name="geoFenceToolStripMenuItem.Text" xml:space="preserve">
     <value>Geo-Fence</value>
   </data>
+  <data name="clearMissionToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>167, 22</value>
+  </data>
+  <data name="clearMissionToolStripMenuItem.Text" xml:space="preserve">
+    <value>Clear Mission</value>
+  </data>
   <data name="contextMenuStrip1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>168, 208</value>
+    <value>168, 230</value>
   </data>
   <data name="&gt;&gt;contextMenuStrip1.Name" xml:space="preserve">
     <value>contextMenuStrip1</value>
@@ -1898,7 +1904,7 @@
     <value>MainMap</value>
   </data>
   <data name="&gt;&gt;MainMap.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;MainMap.Parent" xml:space="preserve">
     <value>panelMap</value>
@@ -1928,7 +1934,7 @@
     <value>trackBar1</value>
   </data>
   <data name="&gt;&gt;trackBar1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;trackBar1.Parent" xml:space="preserve">
     <value>panelMap</value>
@@ -2161,6 +2167,12 @@
   <data name="&gt;&gt;jumpwPToolStripMenuItem.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;createWpCircleToolStripMenuItem.Name" xml:space="preserve">
+    <value>createWpCircleToolStripMenuItem</value>
+  </data>
+  <data name="&gt;&gt;createWpCircleToolStripMenuItem.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;toolStripSeparator1.Name" xml:space="preserve">
     <value>toolStripSeparator1</value>
   </data>
@@ -2197,12 +2209,6 @@
   <data name="&gt;&gt;clearPolygonToolStripMenuItem.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;clearMissionToolStripMenuItem.Name" xml:space="preserve">
-    <value>clearMissionToolStripMenuItem</value>
-  </data>
-  <data name="&gt;&gt;clearMissionToolStripMenuItem.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;geoFenceToolStripMenuItem.Name" xml:space="preserve">
     <value>geoFenceToolStripMenuItem</value>
   </data>
@@ -2251,6 +2257,12 @@
   <data name="&gt;&gt;saveToFileToolStripMenuItem.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;clearMissionToolStripMenuItem.Name" xml:space="preserve">
+    <value>clearMissionToolStripMenuItem</value>
+  </data>
+  <data name="&gt;&gt;clearMissionToolStripMenuItem.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;toolTip1.Name" xml:space="preserve">
     <value>toolTip1</value>
   </data>
@@ -2267,6 +2279,6 @@
     <value>FlightPlanner</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4579.33184, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4582.39185, Culture=neutral, PublicKeyToken=null</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.Designer.cs

@@ -40,7 +40,6 @@
             this.TXT_pitch = new ArdupilotMega.Controls.MyLabel();
             this.TXT_heading = new ArdupilotMega.Controls.MyLabel();
             this.TXT_wpdist = new ArdupilotMega.Controls.MyLabel();
-            this.currentStateBindingSource = new System.Windows.Forms.BindingSource(this.components);
             this.TXT_bererror = new ArdupilotMega.Controls.MyLabel();
             this.TXT_alterror = new ArdupilotMega.Controls.MyLabel();
             this.TXT_lat = new ArdupilotMega.Controls.MyLabel();
@@ -114,7 +113,6 @@
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.RAD_JSBSim = new System.Windows.Forms.RadioButton();
             this.CHK_xplane10 = new System.Windows.Forms.CheckBox();
-            ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).BeginInit();
             this.panel1.SuspendLayout();
             this.panel2.SuspendLayout();
             this.panel3.SuspendLayout();
@@ -200,10 +198,6 @@
             this.TXT_wpdist.Name = "TXT_wpdist";
             this.TXT_wpdist.resize = false;
             // 
-            // currentStateBindingSource
-            // 
-            this.currentStateBindingSource.DataSource = typeof(ArdupilotMega.CurrentState);
-            // 
             // TXT_bererror
             // 
             resources.ApplyResources(this.TXT_bererror, "TXT_bererror");
@@ -743,8 +737,8 @@
             this.Controls.Add(this.CHKREV_pitch);
             this.Controls.Add(this.CHKREV_roll);
             this.Name = "Simulation";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Simulation_FormClosing);
             this.Load += new System.EventHandler(this.Simulation_Load);
-            ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).EndInit();
             this.panel1.ResumeLayout(false);
             this.panel2.ResumeLayout(false);
             this.panel3.ResumeLayout(false);
@@ -833,7 +827,6 @@
         private ArdupilotMega.Controls.MyLabel TXT_yaw;
         private ArdupilotMega.Controls.MyButton but_advsettings;
         private System.Windows.Forms.CheckBox chkSensor;
-        private System.Windows.Forms.BindingSource currentStateBindingSource;
         private System.Windows.Forms.CheckBox CHK_quad;
         private ArdupilotMega.Controls.MyButton BUT_startfgquad;
         private ArdupilotMega.Controls.MyButton BUT_startfgplane;

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -22,7 +22,7 @@ namespace ArdupilotMega.GCSViews
     public partial class Simulation : MyUserControl
     {
         private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-        IMAVLink comPort = MainV2.comPort;
+        MAVLink comPort = MainV2.comPort;
         UdpClient XplanesSEND;
         UdpClient MavLink;
         Socket SimulatorRECV;
@@ -263,6 +263,8 @@ namespace ArdupilotMega.GCSViews
 
         private void Simulation_Load(object sender, EventArgs e)
         {
+            timer_servo_graph.Stop();
+
             GPSrate.SelectedIndex = 2;
 
             xmlconfig(false);
@@ -725,7 +727,7 @@ namespace ArdupilotMega.GCSViews
         /// <param name="data">Packet</param>
         /// <param name="receviedbytes">Length</param>
         /// <param name="comPort">Com Port</param>
-        private void RECVprocess(byte[] data, int receviedbytes, ArdupilotMega.IMAVLink comPort)
+        private void RECVprocess(byte[] data, int receviedbytes, ArdupilotMega.MAVLink comPort)
         {
 #if MAVLINK10
             ArdupilotMega.MAVLink.mavlink_hil_state_t hilstate = new ArdupilotMega.MAVLink.mavlink_hil_state_t();
@@ -2190,5 +2192,10 @@ namespace ArdupilotMega.GCSViews
                 CHKgraphthrottle.Visible = false;
             }
         }
+
+        private void Simulation_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            timer_servo_graph.Stop();
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.resx

@@ -261,7 +261,7 @@
     <value>ConnectComPort</value>
   </data>
   <data name="&gt;&gt;ConnectComPort.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;ConnectComPort.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -309,7 +309,7 @@
     <value>TXT_roll</value>
   </data>
   <data name="&gt;&gt;TXT_roll.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_roll.Parent" xml:space="preserve">
     <value>panel2</value>
@@ -330,7 +330,7 @@
     <value>TXT_pitch</value>
   </data>
   <data name="&gt;&gt;TXT_pitch.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_pitch.Parent" xml:space="preserve">
     <value>panel2</value>
@@ -351,7 +351,7 @@
     <value>TXT_heading</value>
   </data>
   <data name="&gt;&gt;TXT_heading.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_heading.Parent" xml:space="preserve">
     <value>panel2</value>
@@ -372,7 +372,7 @@
     <value>TXT_wpdist</value>
   </data>
   <data name="&gt;&gt;TXT_wpdist.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_wpdist.Parent" xml:space="preserve">
     <value>panel4</value>
@@ -380,9 +380,6 @@
   <data name="&gt;&gt;TXT_wpdist.ZOrder" xml:space="preserve">
     <value>8</value>
   </data>
-  <metadata name="currentStateBindingSource.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>104, 17</value>
-  </metadata>
   <data name="TXT_bererror.Location" type="System.Drawing.Point, System.Drawing">
     <value>75, 50</value>
   </data>
@@ -396,7 +393,7 @@
     <value>TXT_bererror</value>
   </data>
   <data name="&gt;&gt;TXT_bererror.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_bererror.Parent" xml:space="preserve">
     <value>panel4</value>
@@ -417,7 +414,7 @@
     <value>TXT_alterror</value>
   </data>
   <data name="&gt;&gt;TXT_alterror.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_alterror.Parent" xml:space="preserve">
     <value>panel4</value>
@@ -438,7 +435,7 @@
     <value>TXT_lat</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -459,7 +456,7 @@
     <value>TXT_long</value>
   </data>
   <data name="&gt;&gt;TXT_long.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_long.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -480,7 +477,7 @@
     <value>TXT_alt</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -504,7 +501,7 @@
     <value>SaveSettings</value>
   </data>
   <data name="&gt;&gt;SaveSettings.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;SaveSettings.Parent" xml:space="preserve">
     <value>$this</value>
@@ -588,7 +585,7 @@
     <value>TXT_servoroll</value>
   </data>
   <data name="&gt;&gt;TXT_servoroll.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_servoroll.Parent" xml:space="preserve">
     <value>panel3</value>
@@ -609,7 +606,7 @@
     <value>TXT_servopitch</value>
   </data>
   <data name="&gt;&gt;TXT_servopitch.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_servopitch.Parent" xml:space="preserve">
     <value>panel3</value>
@@ -630,7 +627,7 @@
     <value>TXT_servorudder</value>
   </data>
   <data name="&gt;&gt;TXT_servorudder.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_servorudder.Parent" xml:space="preserve">
     <value>panel3</value>
@@ -651,7 +648,7 @@
     <value>TXT_servothrottle</value>
   </data>
   <data name="&gt;&gt;TXT_servothrottle.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_servothrottle.Parent" xml:space="preserve">
     <value>panel3</value>
@@ -675,7 +672,7 @@
     <value>label4</value>
   </data>
   <data name="&gt;&gt;label4.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label4.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -699,7 +696,7 @@
     <value>label3</value>
   </data>
   <data name="&gt;&gt;label3.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label3.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -723,7 +720,7 @@
     <value>label2</value>
   </data>
   <data name="&gt;&gt;label2.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label2.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -747,7 +744,7 @@
     <value>label1</value>
   </data>
   <data name="&gt;&gt;label1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label1.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -792,7 +789,7 @@
     <value>label30</value>
   </data>
   <data name="&gt;&gt;label30.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label30.Parent" xml:space="preserve">
     <value>panel2</value>
@@ -813,7 +810,7 @@
     <value>TXT_yaw</value>
   </data>
   <data name="&gt;&gt;TXT_yaw.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_yaw.Parent" xml:space="preserve">
     <value>panel2</value>
@@ -837,7 +834,7 @@
     <value>label11</value>
   </data>
   <data name="&gt;&gt;label11.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label11.Parent" xml:space="preserve">
     <value>panel2</value>
@@ -861,7 +858,7 @@
     <value>label7</value>
   </data>
   <data name="&gt;&gt;label7.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label7.Parent" xml:space="preserve">
     <value>panel2</value>
@@ -885,7 +882,7 @@
     <value>label6</value>
   </data>
   <data name="&gt;&gt;label6.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label6.Parent" xml:space="preserve">
     <value>panel2</value>
@@ -909,7 +906,7 @@
     <value>label5</value>
   </data>
   <data name="&gt;&gt;label5.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label5.Parent" xml:space="preserve">
     <value>panel2</value>
@@ -954,7 +951,7 @@
     <value>label8</value>
   </data>
   <data name="&gt;&gt;label8.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label8.Parent" xml:space="preserve">
     <value>panel4</value>
@@ -978,7 +975,7 @@
     <value>label9</value>
   </data>
   <data name="&gt;&gt;label9.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label9.Parent" xml:space="preserve">
     <value>panel4</value>
@@ -1002,7 +999,7 @@
     <value>label10</value>
   </data>
   <data name="&gt;&gt;label10.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label10.Parent" xml:space="preserve">
     <value>panel4</value>
@@ -1026,7 +1023,7 @@
     <value>label16</value>
   </data>
   <data name="&gt;&gt;label16.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label16.Parent" xml:space="preserve">
     <value>panel3</value>
@@ -1050,7 +1047,7 @@
     <value>label15</value>
   </data>
   <data name="&gt;&gt;label15.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label15.Parent" xml:space="preserve">
     <value>panel3</value>
@@ -1074,7 +1071,7 @@
     <value>label14</value>
   </data>
   <data name="&gt;&gt;label14.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label14.Parent" xml:space="preserve">
     <value>panel3</value>
@@ -1098,7 +1095,7 @@
     <value>label13</value>
   </data>
   <data name="&gt;&gt;label13.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label13.Parent" xml:space="preserve">
     <value>panel3</value>
@@ -1122,7 +1119,7 @@
     <value>label12</value>
   </data>
   <data name="&gt;&gt;label12.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label12.Parent" xml:space="preserve">
     <value>panel3</value>
@@ -1167,7 +1164,7 @@
     <value>label20</value>
   </data>
   <data name="&gt;&gt;label20.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label20.Parent" xml:space="preserve">
     <value>panel4</value>
@@ -1191,7 +1188,7 @@
     <value>label19</value>
   </data>
   <data name="&gt;&gt;label19.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label19.Parent" xml:space="preserve">
     <value>panel4</value>
@@ -1212,7 +1209,7 @@
     <value>TXT_control_mode</value>
   </data>
   <data name="&gt;&gt;TXT_control_mode.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_control_mode.Parent" xml:space="preserve">
     <value>panel4</value>
@@ -1233,7 +1230,7 @@
     <value>TXT_WP</value>
   </data>
   <data name="&gt;&gt;TXT_WP.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_WP.Parent" xml:space="preserve">
     <value>panel4</value>
@@ -1257,7 +1254,7 @@
     <value>label18</value>
   </data>
   <data name="&gt;&gt;label18.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label18.Parent" xml:space="preserve">
     <value>panel4</value>
@@ -1302,7 +1299,7 @@
     <value>label17</value>
   </data>
   <data name="&gt;&gt;label17.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label17.Parent" xml:space="preserve">
     <value>$this</value>
@@ -1375,7 +1372,7 @@
     <value>label28</value>
   </data>
   <data name="&gt;&gt;label28.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label28.Parent" xml:space="preserve">
     <value>panel6</value>
@@ -1399,7 +1396,7 @@
     <value>label29</value>
   </data>
   <data name="&gt;&gt;label29.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label29.Parent" xml:space="preserve">
     <value>panel6</value>
@@ -1423,7 +1420,7 @@
     <value>label27</value>
   </data>
   <data name="&gt;&gt;label27.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label27.Parent" xml:space="preserve">
     <value>panel6</value>
@@ -1447,7 +1444,7 @@
     <value>label25</value>
   </data>
   <data name="&gt;&gt;label25.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label25.Parent" xml:space="preserve">
     <value>panel6</value>
@@ -1495,7 +1492,7 @@
     <value>label24</value>
   </data>
   <data name="&gt;&gt;label24.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label24.Parent" xml:space="preserve">
     <value>panel6</value>
@@ -1519,7 +1516,7 @@
     <value>label23</value>
   </data>
   <data name="&gt;&gt;label23.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label23.Parent" xml:space="preserve">
     <value>panel6</value>
@@ -1543,7 +1540,7 @@
     <value>label22</value>
   </data>
   <data name="&gt;&gt;label22.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label22.Parent" xml:space="preserve">
     <value>panel6</value>
@@ -1567,7 +1564,7 @@
     <value>label21</value>
   </data>
   <data name="&gt;&gt;label21.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label21.Parent" xml:space="preserve">
     <value>panel6</value>
@@ -1684,7 +1681,7 @@
     <value>label26</value>
   </data>
   <data name="&gt;&gt;label26.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label26.Parent" xml:space="preserve">
     <value>$this</value>
@@ -1855,7 +1852,7 @@
     <value>but_advsettings</value>
   </data>
   <data name="&gt;&gt;but_advsettings.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;but_advsettings.Parent" xml:space="preserve">
     <value>$this</value>
@@ -1939,7 +1936,7 @@
     <value>BUT_startfgquad</value>
   </data>
   <data name="&gt;&gt;BUT_startfgquad.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_startfgquad.Parent" xml:space="preserve">
     <value>$this</value>
@@ -1966,7 +1963,7 @@
     <value>BUT_startfgplane</value>
   </data>
   <data name="&gt;&gt;BUT_startfgplane.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_startfgplane.Parent" xml:space="preserve">
     <value>$this</value>
@@ -1993,7 +1990,7 @@
     <value>BUT_startxplane</value>
   </data>
   <data name="&gt;&gt;BUT_startxplane.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_startxplane.Parent" xml:space="preserve">
     <value>$this</value>
@@ -2136,12 +2133,6 @@
   <data name="$this.Size" type="System.Drawing.Size, System.Drawing">
     <value>722, 742</value>
   </data>
-  <data name="&gt;&gt;currentStateBindingSource.Name" xml:space="preserve">
-    <value>currentStateBindingSource</value>
-  </data>
-  <data name="&gt;&gt;currentStateBindingSource.Type" xml:space="preserve">
-    <value>System.Windows.Forms.BindingSource, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
   <data name="&gt;&gt;timer_servo_graph.Name" xml:space="preserve">
     <value>timer_servo_graph</value>
   </data>
@@ -2158,6 +2149,6 @@
     <value>Simulation</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4582.35218, Culture=neutral, PublicKeyToken=null</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs

@@ -147,10 +147,15 @@ namespace ArdupilotMega.GCSViews
         {
             threadrun = false;
 
-            if (comPort.IsOpen)
+            try
             {
-                comPort.Close();
+                if (comPort.IsOpen)
+                {
+                    comPort.Close();
+                }
             }
+            catch { } // Exception System.IO.IOException: The specified port does not exist.
+
             System.Threading.Thread.Sleep(400);
 
             MainV2.giveComport = false;

Tools/ArdupilotMegaPlanner/Log.Designer.cs

@@ -77,6 +77,7 @@
             // TXT_status
             // 
             resources.ApplyResources(this.TXT_status, "TXT_status");
+            this.TXT_status.ForeColor = System.Drawing.Color.Red;
             this.TXT_status.Name = "TXT_status";
             // 
             // BUT_redokml

Tools/ArdupilotMegaPlanner/Log.resx

@@ -159,7 +159,7 @@
     <value>BUT_DLall</value>
   </data>
   <data name="&gt;&gt;BUT_DLall.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4537.26254, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4583.40805, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_DLall.Parent" xml:space="preserve">
     <value>$this</value>
@@ -183,7 +183,7 @@
     <value>BUT_DLthese</value>
   </data>
   <data name="&gt;&gt;BUT_DLthese.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4537.26254, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4583.40805, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_DLthese.Parent" xml:space="preserve">
     <value>$this</value>
@@ -207,7 +207,7 @@
     <value>BUT_clearlogs</value>
   </data>
   <data name="&gt;&gt;BUT_clearlogs.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4537.26254, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4583.40805, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_clearlogs.Parent" xml:space="preserve">
     <value>$this</value>
@@ -276,7 +276,7 @@
     <value>BUT_redokml</value>
   </data>
   <data name="&gt;&gt;BUT_redokml.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4537.26254, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4583.40805, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_redokml.Parent" xml:space="preserve">
     <value>$this</value>
@@ -300,7 +300,7 @@
     <value>BUT_firstperson</value>
   </data>
   <data name="&gt;&gt;BUT_firstperson.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4537.26254, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4583.40805, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_firstperson.Parent" xml:space="preserve">
     <value>$this</value>
@@ -328,7 +328,7 @@
     <value>BUT_dumpdf</value>
   </data>
   <data name="&gt;&gt;BUT_dumpdf.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4537.26254, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4583.40805, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_dumpdf.Parent" xml:space="preserve">
     <value>$this</value>

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -44,7 +44,7 @@ namespace ArdupilotMega
         /// <summary>
         /// Main Comport interface
         /// </summary>
-        public static IMAVLink comPort = new MAVLink();
+        public static MAVLink comPort = new MAVLink();
         /// <summary>
         /// Comport name
         /// </summary>
@@ -90,10 +90,6 @@ namespace ArdupilotMega
         /// </summary>
         bool serialThread = false;
         /// <summary>
-        /// unused at this point - potential to move all forms to this single binding source. need to evalutate performance/exception issues
-        /// </summary>
-        static internal BindingSource bs;
-        /// <summary>
         /// used for mini https server for websockets/mjpeg video stream, and network link kmls
         /// </summary>
         private TcpListener listener;
@@ -977,7 +973,7 @@ namespace ArdupilotMega
                             this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
                             this.MenuConnect.BackgroundImage.Tag = "Connect";
                             _connectionControl.IsConnected(false);
-                            if (_connectionStats != null) 
+                            if (_connectionStats != null)
                             {
                                 _connectionStats.StopUpdates();
                             }
@@ -990,7 +986,7 @@ namespace ArdupilotMega
                         {
                             _connectionControl.IsConnected(true);
                         });
-                    } 
+                    }
                 }
                 connectButtonUpdate = DateTime.Now;
             }
@@ -1014,8 +1010,8 @@ namespace ArdupilotMega
 
             int minbytes = 10;
 
-            if (MONO)
-                minbytes = 0;
+            //  if (MONO)
+            //      minbytes = 0;
 
             DateTime speechcustomtime = DateTime.Now;
 
@@ -1081,8 +1077,7 @@ namespace ArdupilotMega
                             MainV2.cs.linkqualitygcs = (ushort)(MainV2.cs.linkqualitygcs * 0.8f);
                             linkqualitytime = DateTime.Now;
 
-                            int fixme;
-                            //GCSViews.FlightData.myhud.Invalidate();
+                            GCSViews.FlightData.myhud.Invalidate();
                         }
                     }
 
@@ -1116,16 +1111,19 @@ namespace ArdupilotMega
                         }
                     }
 
-                    //Console.WriteLine(DateTime.Now.Millisecond + " " + comPort.BaseStream.BytesToRead);
+                 //   Console.WriteLine(DateTime.Now.Millisecond + " " + comPort.BaseStream.BytesToRead);
 
                     while (comPort.BaseStream.BytesToRead > minbytes && giveComport == false)
                     {
+                        //Console.WriteLine(DateTime.Now.Millisecond + " SR1 " + comPort.BaseStream.BytesToRead );
                         comPort.readPacket();
+                        //Console.WriteLine(DateTime.Now.Millisecond + " SR2 " + comPort.BaseStream.BytesToRead);
                     }
+                  //  Console.WriteLine("SR left");
                 }
                 catch (Exception e)
                 {
-                    log.Error("Serial Reader fail :" + e.Message);
+                    log.Error("Serial Reader fail :" + e.ToString());
                     try
                     {
                         comPort.Close();
@@ -1186,7 +1184,7 @@ namespace ArdupilotMega
 
         private void MainV2_Load(object sender, EventArgs e)
         {
-            MyView.AddScreen(new MainSwitcher.Screen("FlightData",FlightData,true));
+            MyView.AddScreen(new MainSwitcher.Screen("FlightData", FlightData, true));
             MyView.AddScreen(new MainSwitcher.Screen("FlightPlanner", FlightPlanner, true));
             MyView.AddScreen(new MainSwitcher.Screen("Config", new GCSViews.ConfigurationView.Setup(), false));
             MyView.AddScreen(new MainSwitcher.Screen("Simulation", Simulation, true));
@@ -1228,7 +1226,8 @@ namespace ArdupilotMega
             new Thread(SerialReader)
             {
                 IsBackground = true,
-                Name = "Main Serial reader"
+                Name = "Main Serial reader",
+                Priority = ThreadPriority.AboveNormal
             }.Start();
 
             try
@@ -1448,7 +1447,7 @@ namespace ArdupilotMega
                         foreach (var point in GCSViews.FlightPlanner.pointlist)
                         {
                             if (point != null)
-                            coords.Add(new SharpKml.Base.Vector(point.Lat, point.Lng, point.Alt));
+                                coords.Add(new SharpKml.Base.Vector(point.Lat, point.Lng, point.Alt));
 
                         }
 
@@ -1977,7 +1976,7 @@ namespace ArdupilotMega
                             }
                         }
                         catch { }
-                        log.Debug(file + " " + bytes);
+                    //    log.Debug(file + " " + bytes);
                         int len = dataStream.Read(buf1, 0, 1024);
                         if (len == 0)
                             break;
@@ -2081,11 +2080,9 @@ namespace ArdupilotMega
             if (keyData == (Keys.Control | Keys.W)) // test ac config
             {
 
-                Controls.ConfigPanel cfg = new Controls.ConfigPanel();
+                Controls.ConfigPanel cfg = new Controls.ConfigPanel(Application.StartupPath + System.IO.Path.DirectorySeparatorChar + "ArduCopterConfig.xml");
 
-                cfg.LoadXML("ArduCopterConfig.xml");
-
-                //cfg.ShowDialog();
+                //cfg.Show();
 
                 return true;
             }

Tools/ArdupilotMegaPlanner/Mavlink/MAVLink.cs

@@ -19,7 +19,7 @@ using System.Windows.Forms;
 
 namespace ArdupilotMega
 {
-    public partial class MAVLink: IMAVLink
+    public partial class MAVLink
     {
         private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         public ICommsSerial BaseStream { get; set; }
@@ -703,6 +703,8 @@ namespace ArdupilotMega
             DateTime start = DateTime.Now;
             DateTime restart = DateTime.Now;
 
+            DateTime lastmessage = DateTime.MinValue;
+
             do
             {
 
@@ -763,13 +765,15 @@ namespace ArdupilotMega
 
                         log.Info(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (par.param_count) + " name: " + paramID);
 
+                        //Console.WriteLine(DateTime.Now.Millisecond + " gp " + BaseStream.BytesToRead);
+
                         modifyParamForDisplay(true, paramID, ref par.param_value);
                         param[paramID] = (par.param_value);
                         param_count++;
                         got.Add(par.param_index);
 
-                        //                        if (Progress != null)
-                        //                            Progress((param.Count * 100) / param_total, "Got param " + paramID);
+                        Console.WriteLine(DateTime.Now.Millisecond + " gp1 " + BaseStream.BytesToRead);
+
                         this.frmProgressReporter.UpdateProgressAndStatus((got.Count * 100) / param_total, "Got param " + paramID);
 
                         // we have them all - lets escape eq total = 176 index = 0-175
@@ -782,6 +786,7 @@ namespace ArdupilotMega
                     }
                     //stopwatch.Stop();
                     //Console.WriteLine("Time elapsed: {0}", stopwatch.Elapsed);
+                    Console.WriteLine(DateTime.Now.Millisecond + " gp2 " + BaseStream.BytesToRead);
                 }
             } while (got.Count < param_total);
 
@@ -801,14 +806,12 @@ namespace ArdupilotMega
 
         public static void modifyParamForDisplay(bool fromapm, string paramname, ref float value)
         {
-            if (paramname.ToUpper().EndsWith("_IMAX") || paramname.ToUpper().EndsWith("ALT_HOLD_RTL") || paramname.ToUpper().EndsWith("TRIM_ARSPD_CM")
+            if (paramname.ToUpper().EndsWith("_IMAX") || paramname.ToUpper().EndsWith("ALT_HOLD_RTL") || paramname.ToUpper().EndsWith("APPROACH_ALT") || paramname.ToUpper().EndsWith("TRIM_ARSPD_CM")
                 || paramname.ToUpper().EndsWith("XTRK_ANGLE_CD") || paramname.ToUpper().EndsWith("LIM_PITCH_MAX") || paramname.ToUpper().EndsWith("LIM_PITCH_MIN")
                 || paramname.ToUpper().EndsWith("LIM_ROLL_CD") || paramname.ToUpper().EndsWith("PITCH_MAX") || paramname.ToUpper().EndsWith("WP_SPEED_MAX"))
             {
-                if (paramname.ToUpper().EndsWith("THR_HOLD_IMAX"))
-                {
+                if (paramname.ToUpper().EndsWith("THR_RATE_IMAX") || paramname.ToUpper().EndsWith("THR_HOLD_IMAX"))
                     return;
-                }
 
                 if (fromapm)
                 {
@@ -2049,7 +2052,7 @@ namespace ArdupilotMega
         /// <returns></returns>
         public byte[] readPacket()
         {
-            byte[] temp = new byte[300];
+            byte[] buffer = new byte[300];
             int count = 0;
             int length = 0;
             int readcount = 0;
@@ -2073,6 +2076,7 @@ namespace ArdupilotMega
 
             lock (readlock)
             {
+//                Console.WriteLine(DateTime.Now.Millisecond + " SR " + BaseStream.BytesToRead);
 
                 while (BaseStream.IsOpen || logreadmode)
                 {
@@ -2104,11 +2108,11 @@ namespace ArdupilotMega
 
                             if (oldlogformat)
                             {
-                                temp = readlogPacket(); //old style log
+                                buffer = readlogPacket(); //old style log
                             }
                             else
                             {
-                                temp = readlogPacketMavlink();
+                                buffer = readlogPacketMavlink();
                             }
                         }
                         else
@@ -2126,51 +2130,53 @@ namespace ArdupilotMega
                                 }
                               //  System.Threading.Thread.Sleep(1);
                             }
+                            //Console.WriteLine(DateTime.Now.Millisecond + " SR1 " + BaseStream.BytesToRead);
                             if (BaseStream.IsOpen)
                             {
-                                temp[count] = (byte)BaseStream.ReadByte();
+                                buffer[count] = (byte)BaseStream.ReadByte();
                                 if (rawlogfile != null && rawlogfile.BaseStream.CanWrite)
-                                    rawlogfile.Write(temp[count]);
+                                    rawlogfile.Write(buffer[count]);
                             }
                         }
                     }
                     catch (Exception e) { log.Info("MAVLink readpacket read error: " + e.ToString()); break; }
 
                     // check if looks like a mavlink packet and check for exclusions and write to console
-                    if (temp[0] != 254 && temp[0] != 'U' || lastbad[0] == 'I' && lastbad[1] == 'M' || lastbad[1] == 'G' || lastbad[1] == 'A') // out of sync "AUTO" "GUIDED" "IMU"
+                    if (buffer[0] != 254 && buffer[0] != 'U' || lastbad[0] == 'I' && lastbad[1] == 'M' || lastbad[1] == 'G' || lastbad[1] == 'A') // out of sync "AUTO" "GUIDED" "IMU"
                     {
-                        if (temp[0] >= 0x20 && temp[0] <= 127 || temp[0] == '\n' || temp[0] == '\r')
+                        if (buffer[0] >= 0x20 && buffer[0] <= 127 || buffer[0] == '\n' || buffer[0] == '\r')
                         {
-                            TCPConsole.Write(temp[0]);
-                            Console.Write((char)temp[0]);
+                            TCPConsole.Write(buffer[0]);
+                            Console.Write((char)buffer[0]);
                         }
                         _bytesReceivedSubj.OnNext(1);
                         count = 0;
                         lastbad[0] = lastbad[1];
-                        lastbad[1] = temp[0];
-                        temp[1] = 0;
+                        lastbad[1] = buffer[0];
+                        buffer[1] = 0;
                         continue;
                     }
                     // reset count on valid packet
                     readcount = 0;
 
+                    //Console.WriteLine(DateTime.Now.Millisecond + " SR2 " + BaseStream.BytesToRead);
 
-                    if (temp[0] == 'U' || temp[0] == 254)
+                    if (buffer[0] == 'U' || buffer[0] == 254)
                     {
-                        length = temp[1] + 6 + 2 - 2; // data + header + checksum - U - length
+                        length = buffer[1] + 6 + 2 - 2; // data + header + checksum - U - length
                         if (count >= 5 || logreadmode)
                         {
                             if (sysid != 0)
                             {
-                                if (sysid != temp[3] || compid != temp[4])
+                                if (sysid != buffer[3] || compid != buffer[4])
                                 {
-                                    if (temp[3] == '3' && temp[4] == 'D')
+                                    if (buffer[3] == '3' && buffer[4] == 'D')
                                     {
                                         // this is a 3dr radio rssi packet
                                     }
                                     else
                                     {
-                                        log.InfoFormat("Mavlink Bad Packet (not addressed to this MAV) got {0} {1} vs {2} {3}", temp[3], temp[4], sysid, compid);
+                                        log.InfoFormat("Mavlink Bad Packet (not addressed to this MAV) got {0} {1} vs {2} {3}", buffer[3], buffer[4], sysid, compid);
                                         return new byte[0];
                                     }
                                 }
@@ -2197,12 +2203,11 @@ namespace ArdupilotMega
                                     }
                                     if (BaseStream.IsOpen)
                                     {
-                                        int read = BaseStream.Read(temp, 6, length - 4);
+                                        int read = BaseStream.Read(buffer, 6, length - 4);
                                         if (rawlogfile != null && rawlogfile.BaseStream.CanWrite)
                                         {
                                             // write only what we read, temp is the whole packet, so 6-end
-                                            rawlogfile.Write(temp, 6, read);
-                                            rawlogfile.BaseStream.Flush();
+                                            rawlogfile.Write(buffer, 6, read);
                                         }
                                     }
                                 }
@@ -2218,11 +2223,13 @@ namespace ArdupilotMega
                     if (count == 299)
                         break;
                 }
+
+                //Console.WriteLine(DateTime.Now.Millisecond + " SR3 " + BaseStream.BytesToRead);
             }// end readlock
 
-            Array.Resize<byte>(ref temp, count);
+            Array.Resize<byte>(ref buffer, count);
 
-            _bytesReceivedSubj.OnNext(temp.Length);
+            _bytesReceivedSubj.OnNext(buffer.Length);
 
             if (packetlosttimer.AddSeconds(5) < DateTime.Now)
             {
@@ -2241,34 +2248,34 @@ namespace ArdupilotMega
                 bpstime = DateTime.Now;
             }
 
-            bps1 += temp.Length;
+            bps1 += buffer.Length;
 
             bps = (bps1 + bps2) / 2;
 
-            if (temp.Length >= 5 && temp[3] == 255 && logreadmode) // gcs packet
+            if (buffer.Length >= 5 && buffer[3] == 255 && logreadmode) // gcs packet
             {
-                getWPsfromstream(ref temp);
-                return temp;// new byte[0];
+                getWPsfromstream(ref buffer);
+                return buffer;// new byte[0];
             }
 
-            ushort crc = MavlinkCRC.crc_calculate(temp, temp.Length - 2);
+            ushort crc = MavlinkCRC.crc_calculate(buffer, buffer.Length - 2);
 
-            if (temp.Length > 5 && temp[0] == 254)
+            if (buffer.Length > 5 && buffer[0] == 254)
             {
-                crc = MavlinkCRC.crc_accumulate(MAVLINK_MESSAGE_CRCS[temp[5]], crc);
+                crc = MavlinkCRC.crc_accumulate(MAVLINK_MESSAGE_CRCS[buffer[5]], crc);
             }
 
-            if (temp.Length > 5 && temp[1] != MAVLINK_MESSAGE_LENGTHS[temp[5]])
+            if (buffer.Length > 5 && buffer[1] != MAVLINK_MESSAGE_LENGTHS[buffer[5]])
             {
-                if (MAVLINK_MESSAGE_LENGTHS[temp[5]] == 0) // pass for unknown packets
+                if (MAVLINK_MESSAGE_LENGTHS[buffer[5]] == 0) // pass for unknown packets
                 {
 
                 }
                 else
                 {
-                    log.InfoFormat("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", temp.Length, temp[5]);
+                    log.InfoFormat("Mavlink Bad Packet (Len Fail) len {0} pkno {1}", buffer.Length, buffer[5]);
 #if MAVLINK10
-                    if (temp.Length == 11 && temp[0] == 'U' && temp[5] == 0){
+                    if (buffer.Length == 11 && buffer[0] == 'U' && buffer[5] == 0){
                         string message ="Mavlink 0.9 Heartbeat, Please upgrade your AP, This planner is for Mavlink 1.0\n\n";
                         System.Windows.Forms.CustomMessageBox.Show(message);
                         throw new Exception(message);
@@ -2285,28 +2292,28 @@ namespace ArdupilotMega
                 }
             }
 
-            if (temp.Length < 5 || temp[temp.Length - 1] != (crc >> 8) || temp[temp.Length - 2] != (crc & 0xff))
+            if (buffer.Length < 5 || buffer[buffer.Length - 1] != (crc >> 8) || buffer[buffer.Length - 2] != (crc & 0xff))
             {
                 int packetno = -1;
-                if (temp.Length > 5)
+                if (buffer.Length > 5)
                 {
-                    packetno = temp[5];
+                    packetno = buffer[5];
                 }
-                log.InfoFormat("Mavlink Bad Packet (crc fail) len {0} crc {1} pkno {2}", temp.Length, crc, packetno);
+                log.InfoFormat("Mavlink Bad Packet (crc fail) len {0} crc {1} pkno {2}", buffer.Length, crc, packetno);
                 return new byte[0];
             }
 
             try
             {
-                if ((temp[0] == 'U' || temp[0] == 254) && temp.Length >= temp[1])
+                if ((buffer[0] == 'U' || buffer[0] == 254) && buffer.Length >= buffer[1])
                 {
-                    if (temp[3] == '3' && temp[4] == 'D')
+                    if (buffer[3] == '3' && buffer[4] == 'D')
                     {
 
                     }
                     else
                     {
-                        byte packetSeqNo = temp[2];
+                        byte packetSeqNo = buffer[2];
                         int expectedPacketSeqNo = ((recvpacketcount + 1) % 0x100);
 
                         if (packetSeqNo != expectedPacketSeqNo)
@@ -2340,26 +2347,26 @@ namespace ArdupilotMega
 
                     //                    Console.Write(temp[5] + " " + DateTime.Now.Millisecond + " " + packetspersecond[temp[5]] + " " + (DateTime.Now - packetspersecondbuild[temp[5]]).TotalMilliseconds + "     \n");
 
-                    if (double.IsInfinity(packetspersecond[temp[5]]))
-                        packetspersecond[temp[5]] = 0;
+                    if (double.IsInfinity(packetspersecond[buffer[5]]))
+                        packetspersecond[buffer[5]] = 0;
 
-                    packetspersecond[temp[5]] = (((1000 / ((DateTime.Now - packetspersecondbuild[temp[5]]).TotalMilliseconds) + packetspersecond[temp[5]]) / 2));
+                    packetspersecond[buffer[5]] = (((1000 / ((DateTime.Now - packetspersecondbuild[buffer[5]]).TotalMilliseconds) + packetspersecond[buffer[5]]) / 2));
 
-                    packetspersecondbuild[temp[5]] = DateTime.Now;
+                    packetspersecondbuild[buffer[5]] = DateTime.Now;
 
                     //Console.WriteLine("Packet {0}",temp[5]);
                     // store packet history
                     lock (objlock)
                     {
-                        packets[temp[5]] = temp;
+                        packets[buffer[5]] = buffer;
                     }
 
                     if (debugmavlink)
-                        DebugPacket(temp);
+                        DebugPacket(buffer);
 
-                    if (temp[5] == MAVLink.MAVLINK_MSG_ID_STATUSTEXT) // status text
+                    if (buffer[5] == MAVLink.MAVLINK_MSG_ID_STATUSTEXT) // status text
                     {
-                        string logdata = Encoding.ASCII.GetString(temp, 7, temp.Length - 7);
+                        string logdata = Encoding.ASCII.GetString(buffer, 7, buffer.Length - 7);
                         int ind = logdata.IndexOf('\0');
                         if (ind != -1)
                             logdata = logdata.Substring(0, ind);
@@ -2372,7 +2379,7 @@ namespace ArdupilotMega
 
                     }
 
-                    getWPsfromstream(ref temp);
+                    getWPsfromstream(ref buffer);
 
                     try
                     {
@@ -2383,8 +2390,12 @@ namespace ArdupilotMega
                                 byte[] datearray = BitConverter.GetBytes((UInt64)((DateTime.UtcNow - new DateTime(1970, 1, 1)).TotalMilliseconds * 1000)); //ASCIIEncoding.ASCII.GetBytes(DateTime.Now.ToBinary() + ":");
                                 Array.Reverse(datearray);
                                 logfile.Write(datearray, 0, datearray.Length);
-                                logfile.Write(temp, 0, temp.Length);
-                                logfile.Flush();
+                                logfile.Write(buffer, 0, buffer.Length);
+
+                                if (buffer[5] == 0)  {// flush on heartbeat - 1 seconds
+                                    logfile.Flush();
+									rawlogfile.BaseStream.Flush();
+								}
                             }
                         }
 
@@ -2398,7 +2409,9 @@ namespace ArdupilotMega
 
             //            Console.Write((DateTime.Now - start).TotalMilliseconds.ToString("00.000") + "\t" + temp.Length + "     \r");
 
-            return temp;
+         //   Console.WriteLine(DateTime.Now.Millisecond + " SR4 " + BaseStream.BytesToRead);
+
+            return buffer;
         }
 
         /// <summary>

Tools/ArdupilotMegaPlanner/Presenter/ConfigCameraStabPresenter.cs

@@ -34,10 +34,10 @@ namespace ArdupilotMega.Presenter
         private CameraAxisProperties _pitchAxis;
         private CameraAxisProperties _rollAxis;
 
-        private readonly IMAVLink _mavlink;
+        private readonly MAVLink _mavlink;
         private readonly Dictionary<string, string> _errors;
 
-        public ConfigCameraStabPresenter(IMAVLink mavlink)
+        public ConfigCameraStabPresenter(MAVLink mavlink)
         {
             _mavlink = mavlink;
             _errors = new Dictionary<string, string>();

Tools/ArdupilotMegaPlanner/Program.cs

@@ -31,10 +31,6 @@ namespace ArdupilotMega
 
             Application.Idle += Application_Idle;
 
-            int wt = 0, ct = 0;
-            ThreadPool.GetMaxThreads(out wt, out ct);
-            log.Info("Max Threads: " + wt);
-
             //MagCalib.ProcessLog();
 
             //MessageBox.Show("NOTE: This version may break advanced mission scripting");
@@ -67,17 +63,7 @@ namespace ArdupilotMega
 
             return;
             */
-            char[] line = "testtesttesttesttest".ToCharArray();
-
-            Delta.delta_encode(ref line);
-
-            Delta.delta_decode(ref line);
-
-            if (System.Diagnostics.Debugger.IsAttached)
-            {
-                // testing
-             //   Utilities.ParameterMetaDataParser.GetParameterInformation();
-            }
+           
 
             try
             {
@@ -94,13 +80,19 @@ namespace ArdupilotMega
             }
         }
 
+        static DateTime lastidle = DateTime.Now;
+
         static void Application_Idle(object sender, EventArgs e)
         {
             //System.Threading.Thread.Sleep(10);
             //Console.Write("Idle\n");
+            if (lastidle.AddMilliseconds(20) < DateTime.Now)
+            {
+                Application.DoEvents();
+                lastidle = DateTime.Now;
+            }
 
-            System.Threading.Thread.Sleep(20);
-            Application.DoEvents();
+            System.Threading.Thread.Sleep(1);
         }
 
         static void Application_ThreadException(object sender, System.Threading.ThreadExceptionEventArgs e)

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("1.1.98")]
+[assembly: AssemblyFileVersion("1.1.99")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Properties/Resources.Designer.cs

@@ -177,6 +177,18 @@ namespace ArdupilotMega.Properties {
             }
         }
         
+        public static System.Drawing.Bitmap frames_plus {
+            get {
+                object obj = ResourceManager.GetObject("frames_plus", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        public static System.Drawing.Bitmap frames_x {
+            get {
+                object obj = ResourceManager.GetObject("frames_x", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
         public static System.Drawing.Bitmap Gaugebg {
             get {
                 object obj = ResourceManager.GetObject("Gaugebg", resourceCulture);

Tools/ArdupilotMegaPlanner/Properties/Resources.resx

@@ -1234,11 +1234,17 @@
   <data name="rover" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\car.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="cameraGimalPitch1" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\cameraGimalPitch1.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
   <data name="cameraGimalRoll1" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\cameraGimalRoll1.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="frames_plus" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\frames_plus.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="frames_x" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\frames_x.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
 </root>

Tools/ArdupilotMegaPlanner/Radio/3DRradio.Designer.cs

@@ -101,6 +101,8 @@
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.groupBox2 = new System.Windows.Forms.GroupBox();
             this.label9 = new System.Windows.Forms.Label();
+            this.label10 = new System.Windows.Forms.Label();
+            this.linkLabel1 = new System.Windows.Forms.LinkLabel();
             this.SPLIT_local.Panel1.SuspendLayout();
             this.SPLIT_local.Panel2.SuspendLayout();
             this.SPLIT_local.SuspendLayout();
@@ -835,10 +837,25 @@
             resources.ApplyResources(this.label9, "label9");
             this.label9.Name = "label9";
             // 
+            // label10
+            // 
+            resources.ApplyResources(this.label10, "label10");
+            this.label10.Name = "label10";
+            // 
+            // linkLabel1
+            // 
+            resources.ApplyResources(this.linkLabel1, "linkLabel1");
+            this.linkLabel1.Name = "linkLabel1";
+            this.linkLabel1.TabStop = true;
+            this.toolTip1.SetToolTip(this.linkLabel1, resources.GetString("linkLabel1.ToolTip"));
+            this.linkLabel1.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.linkLabel1_LinkClicked);
+            // 
             // _3DRradio
             // 
             resources.ApplyResources(this, "$this");
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.linkLabel1);
+            this.Controls.Add(this.label10);
             this.Controls.Add(this.groupBox2);
             this.Controls.Add(this.groupBox1);
             this.Controls.Add(this.BUT_Syncoptions);
@@ -942,5 +959,7 @@
         private System.Windows.Forms.GroupBox groupBox1;
         private System.Windows.Forms.GroupBox groupBox2;
         private System.Windows.Forms.Label label9;
+        private System.Windows.Forms.Label label10;
+        private System.Windows.Forms.LinkLabel linkLabel1;
     }
 }

Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs

@@ -17,7 +17,7 @@ using System.Text.RegularExpressions;
 
 namespace ArdupilotMega
 {
-    public partial class _3DRradio : BackStageViewContentPanel
+    public partial class _3DRradio : UserControl
     {
         public delegate void LogEventHandler(string message, int level = 0);
 
@@ -719,5 +719,14 @@ namespace ArdupilotMega
             SPLIT_local.Panel2Collapsed = !CHK_advanced.Checked;
             SPLIT_remote.Panel2Collapsed = !CHK_advanced.Checked;
         }
+
+        private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
+        {
+            CustomMessageBox.Show(@"The 3DR Radios have 2 status LEDs, one red and one green.
+green LED blinking - searching for another radio 
+green LED solid - link is established with another radio 
+red LED flashing - transmitting data 
+red LED solid - in firmware update mode");
+        }
     }
 }

Tools/ArdupilotMegaPlanner/Radio/3DRradio.resx

@@ -138,8 +138,11 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;Progressbar.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>9</value>
   </data>
+  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
   <data name="S1.Items" xml:space="preserve">
     <value>115</value>
   </data>
@@ -176,9 +179,6 @@
   <data name="S1.TabIndex" type="System.Int32, mscorlib">
     <value>4</value>
   </data>
-  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>17, 17</value>
-  </metadata>
   <data name="S1.ToolTip" xml:space="preserve">
     <value>Serial baud rate in rounded kbps. So 57 means 57600. 
 </value>
@@ -733,6 +733,9 @@
   <data name="&gt;&gt;S7.ZOrder" xml:space="preserve">
     <value>14</value>
   </data>
+  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
   <data name="RS7.Location" type="System.Drawing.Point, System.Drawing">
     <value>83, 191</value>
   </data>
@@ -1799,13 +1802,13 @@ which result in a valid packet CRC
     <value>BUT_savesettings</value>
   </data>
   <data name="&gt;&gt;BUT_savesettings.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, 3DRRadio, Version=0.6.4521.12642, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.14832, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_savesettings.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_savesettings.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>6</value>
   </data>
   <data name="BUT_getcurrent.Location" type="System.Drawing.Point, System.Drawing">
     <value>269, 3</value>
@@ -1823,13 +1826,13 @@ which result in a valid packet CRC
     <value>BUT_getcurrent</value>
   </data>
   <data name="&gt;&gt;BUT_getcurrent.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, 3DRRadio, Version=0.6.4521.12642, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.14832, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_getcurrent.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_getcurrent.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>7</value>
   </data>
   <data name="lbl_status.Location" type="System.Drawing.Point, System.Drawing">
     <value>12, 361</value>
@@ -1850,7 +1853,7 @@ which result in a valid packet CRC
     <value>$this</value>
   </data>
   <data name="&gt;&gt;lbl_status.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>8</value>
   </data>
   <data name="BUT_upload.Location" type="System.Drawing.Point, System.Drawing">
     <value>419, 3</value>
@@ -1868,13 +1871,13 @@ which result in a valid packet CRC
     <value>BUT_upload</value>
   </data>
   <data name="&gt;&gt;BUT_upload.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, 3DRRadio, Version=0.6.4521.12642, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.14832, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_upload.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_upload.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>10</value>
   </data>
   <data name="label13.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -2550,7 +2553,7 @@ which result in a valid packet CRC
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHK_advanced.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>5</value>
   </data>
   <data name="BUT_Syncoptions.Enabled" type="System.Boolean, mscorlib">
     <value>False</value>
@@ -2574,13 +2577,13 @@ which result in a valid packet CRC
     <value>BUT_Syncoptions</value>
   </data>
   <data name="&gt;&gt;BUT_Syncoptions.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, 3DRRadio, Version=0.6.4521.12642, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4585.14832, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_Syncoptions.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_Syncoptions.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>4</value>
   </data>
   <data name="ATI3.Location" type="System.Drawing.Point, System.Drawing">
     <value>210, 12</value>
@@ -2625,25 +2628,7 @@ which result in a valid packet CRC
     <value>$this</value>
   </data>
   <data name="&gt;&gt;groupBox1.ZOrder" xml:space="preserve">
-    <value>1</value>
-  </data>
-  <data name="label9.AutoSize" type="System.Boolean, mscorlib">
-    <value>True</value>
-  </data>
-  <data name="label9.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="label9.Location" type="System.Drawing.Point, System.Drawing">
-    <value>12, 15</value>
-  </data>
-  <data name="label9.Size" type="System.Drawing.Size, System.Drawing">
-    <value>42, 13</value>
-  </data>
-  <data name="label9.TabIndex" type="System.Int32, mscorlib">
-    <value>37</value>
-  </data>
-  <data name="label9.Text" xml:space="preserve">
-    <value>Version</value>
+    <value>3</value>
   </data>
   <data name="&gt;&gt;label9.Name" xml:space="preserve">
     <value>label9</value>
@@ -2679,6 +2664,97 @@ which result in a valid packet CRC
     <value>$this</value>
   </data>
   <data name="&gt;&gt;groupBox2.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="label9.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="label9.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="label9.Location" type="System.Drawing.Point, System.Drawing">
+    <value>12, 15</value>
+  </data>
+  <data name="label9.Size" type="System.Drawing.Size, System.Drawing">
+    <value>42, 13</value>
+  </data>
+  <data name="label9.TabIndex" type="System.Int32, mscorlib">
+    <value>37</value>
+  </data>
+  <data name="label9.Text" xml:space="preserve">
+    <value>Version</value>
+  </data>
+  <data name="&gt;&gt;label9.Name" xml:space="preserve">
+    <value>label9</value>
+  </data>
+  <data name="&gt;&gt;label9.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label9.Parent" xml:space="preserve">
+    <value>groupBox2</value>
+  </data>
+  <data name="&gt;&gt;label9.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
+  <data name="label10.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="label10.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="label10.Location" type="System.Drawing.Point, System.Drawing">
+    <value>9, 11</value>
+  </data>
+  <data name="label10.Size" type="System.Drawing.Size, System.Drawing">
+    <value>0, 13</value>
+  </data>
+  <data name="label10.TabIndex" type="System.Int32, mscorlib">
+    <value>82</value>
+  </data>
+  <data name="&gt;&gt;label10.Name" xml:space="preserve">
+    <value>label10</value>
+  </data>
+  <data name="&gt;&gt;label10.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label10.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;label10.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="linkLabel1.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="linkLabel1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>689, 11</value>
+  </data>
+  <data name="linkLabel1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>63, 13</value>
+  </data>
+  <data name="linkLabel1.TabIndex" type="System.Int32, mscorlib">
+    <value>83</value>
+  </data>
+  <data name="linkLabel1.Text" xml:space="preserve">
+    <value>Status Leds</value>
+  </data>
+  <data name="linkLabel1.ToolTip" xml:space="preserve">
+    <value>The 3DR Radios have 2 status LEDs, one red and one green.
+green LED blinking - searching for another radio 
+green LED solid - link is established with another radio 
+red LED flashing - transmitting data 
+red LED solid - in firmware update mode</value>
+  </data>
+  <data name="&gt;&gt;linkLabel1.Name" xml:space="preserve">
+    <value>linkLabel1</value>
+  </data>
+  <data name="&gt;&gt;linkLabel1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.LinkLabel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;linkLabel1.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;linkLabel1.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
   <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
@@ -2700,6 +2776,6 @@ which result in a valid packet CRC
     <value>_3DRradio</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.BackstageView.BackStageViewContentPanel, 3DRRadio, Version=0.6.4521.12642, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.UserControl, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataParser.cs

@@ -29,7 +29,7 @@ namespace ArdupilotMega.Utilities
             parameterLocations.RemoveAll(String.IsNullOrEmpty);
 
             string sStartupPath = Application.StartupPath;
-            using (var objXmlTextWriter = new XmlTextWriter(String.Format("{0}\\{1}", sStartupPath, ConfigurationManager.AppSettings["ParameterMetaDataXMLFileName"]), null))
+            using (var objXmlTextWriter = new XmlTextWriter(String.Format("{0}{1}{2}", Application.StartupPath, Path.DirectorySeparatorChar, ConfigurationManager.AppSettings["ParameterMetaDataXMLFileName"]), null))
             {
                objXmlTextWriter.Formatting = Formatting.Indented;
                objXmlTextWriter.WriteStartDocument();
@@ -96,6 +96,7 @@ namespace ArdupilotMega.Utilities
                      .ForEach(path => path.Value.Split(new []{ ParameterMetaDataConstants.PathDelimeter }, StringSplitOptions.None)
                         .ForEach(separatedPath =>
                         {
+                            log.Info("Process "+ node.Key + " : "  + separatedPath);
                            // Match based on the regex defined at the top of this class
                            Match pathMatch = _parentDirectoryRegex.Match(separatedPath);
                            if (pathMatch.Success && pathMatch.Groups["Path"] != null && !String.IsNullOrEmpty(pathMatch.Groups["Path"].Value))

Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataRepository.cs

@@ -21,7 +21,7 @@ namespace ArdupilotMega.Utilities
 
       public void Reload()
       {
-          string paramMetaDataXMLFileName = String.Format("{0}\\{1}", Application.StartupPath, ConfigurationManager.AppSettings["ParameterMetaDataXMLFileName"]);
+          string paramMetaDataXMLFileName = String.Format("{0}{1}{2}", Application.StartupPath, Path.DirectorySeparatorChar, ConfigurationManager.AppSettings["ParameterMetaDataXMLFileName"]);
           try
           {
               if (File.Exists(paramMetaDataXMLFileName))

Tools/ArdupilotMegaPlanner/Utilities/ThemeManager.cs

@@ -105,7 +105,7 @@ namespace ArdupilotMega.Utilities
                     DomainUpDown txt = (DomainUpDown)ctl;
                     txt.BorderStyle = BorderStyle.None;
                 }
-                else if (ctl.GetType() == typeof(GroupBox))
+                else if (ctl.GetType() == typeof(GroupBox) || ctl.GetType() == typeof(UserControl))
                 {
                     ctl.BackColor = BGColor;
                     ctl.ForeColor = TextColor;// Color.FromArgb(0xe6, 0xe8, 0xea);

Tools/ArdupilotMegaPlanner/georefimage.cs

@@ -215,13 +215,20 @@ namespace ArdupilotMega
             imagetotime = new Hashtable();
 
             //logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
+            TXT_outputlog.AppendText("Read Log\n");
 
             List<string[]> list = readLog(logFile);
 
+            TXT_outputlog.AppendText("Log Read\n");
+
             //dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
 
+            TXT_outputlog.AppendText("Read images\n");
+
             string[] files = Directory.GetFiles(dirWithImages);
 
+            TXT_outputlog.AppendText("images read\n");
+
             Document kml = new Document();
 
             StreamWriter sw4 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv");
@@ -242,6 +249,8 @@ namespace ArdupilotMega
 
             int lastmatchindex = 0;
 
+            TXT_outputlog.AppendText("start Processing\n");
+
             foreach (string filename in files)
             {
                 if (filename.ToLower().EndsWith(".jpg") && !filename.ToLower().Contains("_geotag"))
@@ -277,7 +286,9 @@ namespace ArdupilotMega
 
                         if (lastmatchindex > (a))
                             continue;
-                        //Application.DoEvents();
+
+                        if (a % 1000 == 0)
+                         Application.DoEvents();
 
                         DateTime logdt = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
 
@@ -293,6 +304,13 @@ namespace ArdupilotMega
                             first++;
                         }
 
+                        // time has past, logs are in time order
+                        if (photodt < logdt.AddSeconds(-1))
+                        {
+                            lastmatchindex = a;
+                            break;
+                        }
+
                         //Console.Write("ph " + dt + " log " + crap + "         \r");
 
 

Tools/ArdupilotMegaPlanner/srtm.cs

@@ -277,7 +277,7 @@ namespace ArdupilotMega
                     }
                 }
                 catch { }
-                Thread.Sleep(500);
+                Thread.Sleep(1000);
             }
         }
 

Tools/ArdupilotMegaPlanner/temp.cs

@@ -31,11 +31,11 @@ namespace ArdupilotMega
 
             if (System.Diagnostics.Debugger.IsAttached) {
 
-                ArdupilotMega.Controls.OpenGLtest ogl = new Controls.OpenGLtest();
+              //  ArdupilotMega.Controls.OpenGLtest ogl = new Controls.OpenGLtest();
 
-                this.Controls.Add(ogl);
+              //  this.Controls.Add(ogl);
 
-                ogl.Dock = DockStyle.Fill;
+               // ogl.Dock = DockStyle.Fill;
             }
         }