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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

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This commit is contained in:
James Goppert 2011-12-07 20:59:15 -05:00
commit 8ef704face
38 changed files with 4009 additions and 4305 deletions
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50
ArduCopter/ArduCopter.pde
View File

@ -7,7 +7,6 @@ Authors: Jason Short
Based on code and ideas from the Arducopter team: Jose Julio, Randy Mackay, Jani Hirvinen Based on code and ideas from the Arducopter team: Jose Julio, Randy Mackay, Jani Hirvinen
Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier
This firmware is free software; you can redistribute it and/or This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either License as published by the Free Software Foundation; either
@ -393,7 +392,6 @@ static int16_t airspeed; // m/s * 100
// Location Errors // Location Errors
// --------------- // ---------------
static int32_t yaw_error; // how off are we pointed
static int32_t long_error, lat_error; // temp for debugging static int32_t long_error, lat_error; // temp for debugging
// Battery Sensors // Battery Sensors
@ -440,32 +438,32 @@ static byte throttle_mode;
static boolean takeoff_complete; // Flag for using take-off controls static boolean takeoff_complete; // Flag for using take-off controls
static boolean land_complete; static boolean land_complete;
static int32_t old_alt; // used for managing altitude rates static int32_t old_alt; // used for managing altitude rates
static int16_t velocity_land; static int16_t velocity_land;
static byte yaw_tracking = MAV_ROI_WPNEXT; // no tracking, point at next wp, or at a target static byte yaw_tracking = MAV_ROI_WPNEXT; // no tracking, point at next wp, or at a target
static int16_t manual_boost; // used in adjust altitude to make changing alt faster static int16_t manual_boost; // used in adjust altitude to make changing alt faster
static int16_t angle_boost; // used in adjust altitude to make changing alt faster static int16_t angle_boost; // used in adjust altitude to make changing alt faster
// Loiter management // Loiter management
// ----------------- // -----------------
static int32_t original_target_bearing; // deg * 100, used to check we are not passing the WP static int32_t original_target_bearing; // deg * 100, used to check we are not passing the WP
static int32_t old_target_bearing; // used to track difference in angle static int32_t old_target_bearing; // used to track difference in angle
static int16_t loiter_total; // deg : how many times to loiter * 360 static int16_t loiter_total; // deg : how many times to loiter * 360
static int16_t loiter_sum; // deg : how far we have turned around a waypoint static int16_t loiter_sum; // deg : how far we have turned around a waypoint
static uint32_t loiter_time; // millis : when we started LOITER mode static uint32_t loiter_time; // millis : when we started LOITER mode
static unsigned loiter_time_max; // millis : how long to stay in LOITER mode static unsigned loiter_time_max; // millis : how long to stay in LOITER mode
// these are the values for navigation control functions // these are the values for navigation control functions
// ---------------------------------------------------- // ----------------------------------------------------
static int32_t nav_roll; // deg * 100 : target roll angle static int32_t nav_roll; // deg * 100 : target roll angle
static int32_t nav_pitch; // deg * 100 : target pitch angle static int32_t nav_pitch; // deg * 100 : target pitch angle
static int32_t nav_yaw; // deg * 100 : target yaw angle static int32_t nav_yaw; // deg * 100 : target yaw angle
static int32_t auto_yaw; // deg * 100 : target yaw angle static int32_t auto_yaw; // deg * 100 : target yaw angle
static int32_t nav_lat; // for error calcs static int32_t nav_lat; // for error calcs
static int32_t nav_lon; // for error calcs static int32_t nav_lon; // for error calcs
static int16_t nav_throttle; // 0-1000 for throttle control static int16_t nav_throttle; // 0-1000 for throttle control
static int16_t crosstrack_error; static int16_t crosstrack_error;
static uint32_t throttle_integrator; // used to integrate throttle output to predict battery life static uint32_t throttle_integrator; // used to integrate throttle output to predict battery life
static bool invalid_throttle; // used to control when we calculate nav_throttle static bool invalid_throttle; // used to control when we calculate nav_throttle
@ -490,12 +488,12 @@ static int32_t wp_totalDistance; // meters - distance between old and next w
// repeating event control // repeating event control
// ----------------------- // -----------------------
static byte event_id; // what to do - see defines static byte event_id; // what to do - see defines
static uint32_t event_timer; // when the event was asked for in ms static uint32_t event_timer; // when the event was asked for in ms
static uint16_t event_delay; // how long to delay the next firing of event in millis static uint16_t event_delay; // how long to delay the next firing of event in millis
static int16_t event_repeat; // how many times to fire : 0 = forever, 1 = do once, 2 = do twice static int16_t event_repeat; // how many times to fire : 0 = forever, 1 = do once, 2 = do twice
static int16_t event_value; // per command value, such as PWM for servos static int16_t event_value; // per command value, such as PWM for servos
static int16_t event_undo_value; // the value used to undo commands static int16_t event_undo_value; // the value used to undo commands
//static byte repeat_forever; //static byte repeat_forever;
//static byte undo_event; // counter for timing the undo //static byte undo_event; // counter for timing the undo
@ -1146,9 +1144,9 @@ void update_throttle_mode(void)
//remove alt_hold_velocity when implemented //remove alt_hold_velocity when implemented
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost + get_z_damping()); g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost);
#else #else
g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost + get_z_damping(); g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost;
#endif #endif
// reset next_WP.alt // reset next_WP.alt
@ -1398,14 +1396,14 @@ adjust_altitude()
// we remove 0 to 100 PWM from hover // we remove 0 to 100 PWM from hover
manual_boost = g.rc_3.control_in - 180; manual_boost = g.rc_3.control_in - 180;
manual_boost = max(-120, manual_boost); manual_boost = max(-120, manual_boost);
g.throttle_cruise += (g.pi_alt_hold.get_integrator() * g.pi_throttle.kP() + g.pi_throttle.get_integrator()); g.throttle_cruise += g.pi_alt_hold.get_integrator();
g.pi_alt_hold.reset_I(); g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I(); g.pi_throttle.reset_I();
}else if (g.rc_3.control_in >= 650){ }else if (g.rc_3.control_in >= 650){
// we add 0 to 100 PWM to hover // we add 0 to 100 PWM to hover
manual_boost = g.rc_3.control_in - 650; manual_boost = g.rc_3.control_in - 650;
g.throttle_cruise += (g.pi_alt_hold.get_integrator() * g.pi_throttle.kP() + g.pi_throttle.get_integrator()); g.throttle_cruise += g.pi_alt_hold.get_integrator();
g.pi_alt_hold.reset_I(); g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I(); g.pi_throttle.reset_I();
@ -1439,7 +1437,7 @@ static void tuning(){
break; break;
case CH6_RATE_KP: case CH6_RATE_KP:
g.rc_6.set_range(0,300); // 0 to .3 g.rc_6.set_range(40,300); // 0 to .3
g.pi_rate_roll.kP(tuning_value); g.pi_rate_roll.kP(tuning_value);
g.pi_rate_pitch.kP(tuning_value); g.pi_rate_pitch.kP(tuning_value);
break; break;

79
ArduCopter/Attitude.pde
View File

@ -13,18 +13,15 @@ get_stabilize_roll(int32_t target_angle)
error = constrain(error, -2500, 2500); error = constrain(error, -2500, 2500);
// conver to desired Rate: // conver to desired Rate:
rate = g.pi_stabilize_roll.get_pi(error, G_Dt); rate = g.pi_stabilize_roll.get_p(error);
// experiment to pipe iterm directly into the output // experiment to pipe iterm directly into the output
int16_t iterm = g.pi_stabilize_roll.get_integrator(); int16_t iterm = g.pi_stabilize_roll.get_i(error, G_Dt);
// remove iterm from PI output #if FRAME_CONFIG != HELI_FRAME // cannot use rate control for helicopters
rate -= iterm;
#if FRAME_CONFIG != HELI_FRAME // cannot use rate control for helicopters
error = rate - (omega.x * DEGX100); error = rate - (omega.x * DEGX100);
rate = g.pi_rate_roll.get_pi(error, G_Dt); rate = g.pi_rate_roll.get_pi(error, G_Dt);
#endif #endif
// output control: // output control:
rate = constrain(rate, -2500, 2500); rate = constrain(rate, -2500, 2500);
@ -43,19 +40,16 @@ get_stabilize_pitch(int32_t target_angle)
// limit the error we're feeding to the PID // limit the error we're feeding to the PID
error = constrain(error, -2500, 2500); error = constrain(error, -2500, 2500);
// conver to desired Rate: // convert to desired Rate:
rate = g.pi_stabilize_pitch.get_pi(error, G_Dt); rate = g.pi_stabilize_pitch.get_p(error);
// experiment to pipe iterm directly into the output // experiment to pipe iterm directly into the output
int16_t iterm = g.pi_stabilize_roll.get_integrator(); int16_t iterm = g.pi_stabilize_roll.get_i(error, G_Dt);
// remove iterm from PI output #if FRAME_CONFIG != HELI_FRAME // cannot use rate control for helicopters
rate -= iterm;
#if FRAME_CONFIG != HELI_FRAME // cannot use rate control for helicopters
error = rate - (omega.y * DEGX100); error = rate - (omega.y * DEGX100);
rate = g.pi_rate_pitch.get_pi(error, G_Dt); rate = g.pi_rate_pitch.get_pi(error, G_Dt);
#endif #endif
// output control: // output control:
rate = constrain(rate, -2500, 2500); rate = constrain(rate, -2500, 2500);
@ -70,46 +64,61 @@ get_stabilize_yaw(int32_t target_angle)
int32_t error; int32_t error;
int32_t rate; int32_t rate;
yaw_error = wrap_180(target_angle - dcm.yaw_sensor); // angle error
error = wrap_180(target_angle - dcm.yaw_sensor);
// limit the error we're feeding to the PID // limit the error we're feeding to the PID
yaw_error = constrain(yaw_error, -YAW_ERROR_MAX, YAW_ERROR_MAX); error = constrain(error, -YAW_ERROR_MAX, YAW_ERROR_MAX);
rate = g.pi_stabilize_yaw.get_pi(yaw_error, G_Dt);
//Serial.printf("%u\t%d\t%d\t", (int)target_angle, (int)error, (int)rate); // convert to desired Rate:
rate = g.pi_stabilize_yaw.get_p(error);
// experiment to pipe iterm directly into the output
int16_t iterm = g.pi_stabilize_yaw.get_i(error, G_Dt);
#if FRAME_CONFIG == HELI_FRAME // cannot use rate control for helicopters #if FRAME_CONFIG == HELI_FRAME // cannot use rate control for helicopters
if( ! g.heli_ext_gyro_enabled ) { if(!g.heli_ext_gyro_enabled ) {
// Rate P: error = rate - (degrees(omega.z) * 100.0);
error = rate - (degrees(omega.z) * 100.0); rate = g.pi_rate_yaw.get_pi(error, G_Dt);
rate = g.pi_rate_yaw.get_pi(error, G_Dt);
} }
// output control: // output control:
return (int)constrain(rate, -4500, 4500); rate = constrain(rate, -4500, 4500);
return (int)rate + iterm;
#else #else
// Rate P: error = rate - (omega.z * DEGX100);;
error = rate - (degrees(omega.z) * 100.0); rate = g.pi_rate_yaw.get_pi(error, G_Dt);
rate = g.pi_rate_yaw.get_pi(error, G_Dt);
//Serial.printf("%d\t%d\n", (int)error, (int)rate);
// output control: // output control:
return (int)constrain(rate, -2500, 2500); rate = constrain(rate, -2500, 2500);
return (int)rate + iterm;
#endif #endif
} }
#define ALT_ERROR_MAX 300 #define ALT_ERROR_MAX 300
static int static int16_t
get_nav_throttle(int32_t z_error) get_nav_throttle(int32_t z_error)
{ {
bool calc_i = (abs(z_error) < ALT_ERROR_MAX); int16_t rate_error;
float dt = (abs(z_error) < 200) ? .1 : 0.0;
// limit error to prevent I term run up // limit error to prevent I term run up
z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX); z_error = constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
int rate_error = g.pi_alt_hold.get_pi(z_error, .1, calc_i); //_p = .85
// convert to desired Rate:
rate_error = g.pi_alt_hold.get_p(z_error); //_p = .85
// experiment to pipe iterm directly into the output
int16_t iterm = g.pi_alt_hold.get_i(z_error, dt);
// calculate rate error
rate_error = rate_error - climb_rate; rate_error = rate_error - climb_rate;
// limit the rate // limit the rate
return constrain((int)g.pi_throttle.get_pi(rate_error, .1), -120, 180); rate_error = constrain((int)g.pi_throttle.get_pi(rate_error, .1), -120, 180);
// output control:
return rate_error + iterm;
} }
static int static int

11
ArduCopter/Log.pde
View File

@ -108,7 +108,16 @@ dump_log(uint8_t argc, const Menu::arg *argv)
// check that the requested log number can be read // check that the requested log number can be read
dump_log = argv[1].i; dump_log = argv[1].i;
last_log_num = g.log_last_filenumber; last_log_num = g.log_last_filenumber;
if (dump_log <= 0) {
if (dump_log == -2) {
for(int count=1; count<=DF_LAST_PAGE; count++) {
DataFlash.StartRead(count);
Serial.printf_P(PSTR("DF page, log file #, log page: %d,\t"), count);
Serial.printf_P(PSTR("%d,\t"), DataFlash.GetFileNumber());
Serial.printf_P(PSTR("%d\n"), DataFlash.GetFilePage());
}
return(-1);
} else if (dump_log <= 0) {
Serial.printf_P(PSTR("dumping all\n")); Serial.printf_P(PSTR("dumping all\n"));
Log_Read(1, DF_LAST_PAGE); Log_Read(1, DF_LAST_PAGE);
return(-1); return(-1);

2
ArduCopter/commands_logic.pde
View File

@ -470,8 +470,8 @@ static bool verify_RTL()
{ {
// loiter at the WP // loiter at the WP
wp_control = WP_MODE; wp_control = WP_MODE;
// Did we pass the WP? // Distance checking
// Did we pass the WP? // Distance checking
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){ if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
wp_control = LOITER_MODE; wp_control = LOITER_MODE;

2
ArduCopter/config.h
View File

@ -628,7 +628,7 @@
// RATE control // RATE control
#ifndef THROTTLE_P #ifndef THROTTLE_P
# define THROTTLE_P 0.5 // # define THROTTLE_P 0.4 //
#endif #endif
#ifndef THROTTLE_I #ifndef THROTTLE_I
# define THROTTLE_I 0.0 // # define THROTTLE_I 0.0 //

8
ArduCopter/navigation.pde
View File

@ -61,8 +61,10 @@ static void calc_loiter(int x_error, int y_error)
x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX); x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX); y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
int x_target_speed = g.pi_loiter_lon.get_pi(x_error, dTnav); int x_target_speed = g.pi_loiter_lon.get_p(x_error);
int y_target_speed = g.pi_loiter_lat.get_pi(y_error, dTnav); int y_target_speed = g.pi_loiter_lat.get_p(y_error);
int x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
int y_iterm = g.pi_loiter_lon.get_i(y_error, dTnav);
// find the rates: // find the rates:
float temp = g_gps->ground_course * RADX100; float temp = g_gps->ground_course * RADX100;
@ -85,11 +87,13 @@ static void calc_loiter(int x_error, int y_error)
y_rate_error = constrain(y_rate_error, -250, 250); // added a rate error limit to keep pitching down to a minimum y_rate_error = constrain(y_rate_error, -250, 250); // added a rate error limit to keep pitching down to a minimum
nav_lat = g.pi_nav_lat.get_pi(y_rate_error, dTnav); nav_lat = g.pi_nav_lat.get_pi(y_rate_error, dTnav);
nav_lat = constrain(nav_lat, -3500, 3500); nav_lat = constrain(nav_lat, -3500, 3500);
nav_lat += y_iterm;
x_rate_error = x_target_speed - x_actual_speed; x_rate_error = x_target_speed - x_actual_speed;
x_rate_error = constrain(x_rate_error, -250, 250); x_rate_error = constrain(x_rate_error, -250, 250);
nav_lon = g.pi_nav_lon.get_pi(x_rate_error, dTnav); nav_lon = g.pi_nav_lon.get_pi(x_rate_error, dTnav);
nav_lon = constrain(nav_lon, -3500, 3500); nav_lon = constrain(nav_lon, -3500, 3500);
nav_lon += x_iterm;
} }
static void calc_loiter2(int x_error, int y_error) static void calc_loiter2(int x_error, int y_error)

2
ArduCopter/test.pde
View File

@ -923,7 +923,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
} }
/* /*
static int8_t //static int8_t
//test_reverse(uint8_t argc, const Menu::arg *argv) //test_reverse(uint8_t argc, const Menu::arg *argv)
{ {
print_hit_enter(); print_hit_enter();

11
ArduPlane/Log.pde
View File

@ -112,7 +112,16 @@ dump_log(uint8_t argc, const Menu::arg *argv)
// check that the requested log number can be read // check that the requested log number can be read
dump_log = argv[1].i; dump_log = argv[1].i;
last_log_num = g.log_last_filenumber; last_log_num = g.log_last_filenumber;
if (dump_log == -1) {
if (dump_log == -2) {
for(int count=1; count<=DF_LAST_PAGE; count++) {
DataFlash.StartRead(count);
Serial.printf_P(PSTR("DF page, log file #, log page: %d,\t"), count);
Serial.printf_P(PSTR("%d,\t"), DataFlash.GetFileNumber());
Serial.printf_P(PSTR("%d\n"), DataFlash.GetFilePage());
}
return(-1);
} else if (dump_log <= 0) {
Serial.printf_P(PSTR("dumping all\n")); Serial.printf_P(PSTR("dumping all\n"));
Log_Read(1, DF_LAST_PAGE); Log_Read(1, DF_LAST_PAGE);
return(-1); return(-1);

2
Tools/ArduPPM/ATMega32U2/Projects/arduino-usbserial/Descriptors.c
View File

@ -105,7 +105,7 @@ USB_Descriptor_Configuration_t PROGMEM ConfigurationDescriptor =
.ConfigAttributes = (USB_CONFIG_ATTR_BUSPOWERED | USB_CONFIG_ATTR_SELFPOWERED), .ConfigAttributes = (USB_CONFIG_ATTR_BUSPOWERED | USB_CONFIG_ATTR_SELFPOWERED),
.MaxPowerConsumption = USB_CONFIG_POWER_MA(100) .MaxPowerConsumption = USB_CONFIG_POWER_MA(400)
}, },
.CDC_CCI_Interface = .CDC_CCI_Interface =

4
Tools/ArduPPM/Binaries/Hash.txt Normal file
View File

@ -0,0 +1,4 @@
Filename MD5 SHA1 CRC32 File Size
ArduPPM_v2.2.65_ATMega32U2.hex 0835d7ec916201c5d6ee6041244cc9bf f4229cd1c377286fe06799b64cfe3522d552072a 06bb44ae 14 090
ArduPPM_v0.9.87_Arduplane-APMv1.x.hex e56eba9edaaa4d704fdc0302c6518049 aecd8b213c94b178facc28995af05675abaa536d 84004ed9 5 033
ArduPPM_v0.9.87_Arducopter-APMv1.x.hex dba6aa9ec37ab9084a80a14d11c5b3f8 742069427a26e9057d7536105a773dd572ae489f c0faa808 4 604

58
Tools/ArdupilotMegaPlanner/ArduinoDetect.cs
View File

@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Management; using System.Management;
using System.Windows.Forms;
namespace ArdupilotMega namespace ArdupilotMega
{ {
@ -55,26 +56,6 @@ namespace ArdupilotMega
System.Threading.Thread.Sleep(500); System.Threading.Thread.Sleep(500);
//HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Enum\USB\VID_2341&PID_0010\640333439373519060F0\Device Parameters
if (!MainV2.MONO)
{
ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_USBControllerDevice");
ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);
foreach (ManagementObject obj2 in searcher.Get())
{
Console.WriteLine("Dependant : " + obj2["Dependent"]);
if (obj2["Dependent"].ToString().Contains(@"USB\\VID_2341&PID_0010"))
{
//return "2560-2";
}
}
}
else
{
int fixme;
}
serialPort.DtrEnable = true; serialPort.DtrEnable = true;
serialPort.BaudRate = 115200; serialPort.BaudRate = 115200;
serialPort.Open(); serialPort.Open();
@ -94,7 +75,42 @@ namespace ArdupilotMega
if (temp[0] == 6 && temp[1] == 0 && temp.Length == 2) if (temp[0] == 6 && temp[1] == 0 && temp.Length == 2)
{ {
serialPort.Close(); serialPort.Close();
return "2560"; //HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Enum\USB\VID_2341&PID_0010\640333439373519060F0\Device Parameters
if (!MainV2.MONO)
{
ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_USBControllerDevice");
ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);
foreach (ManagementObject obj2 in searcher.Get())
{
Console.WriteLine("Dependant : " + obj2["Dependent"]);
if (obj2["Dependent"].ToString().Contains(@"USB\\VID_2341&PID_0010"))
{
if (DialogResult.Yes == MessageBox.Show("Is this a APM 2?", "APM 2", MessageBoxButtons.YesNo))
{
return "2560-2";
}
else
{
return "2560";
}
}
}
return "2560";
}
else
{
if (DialogResult.Yes == MessageBox.Show("APM 2.0", "Is this a APM 2?", MessageBoxButtons.YesNo))
{
return "2560-2";
}
else
{
return "2560";
}
}
} }
} }
catch { } catch { }

15
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
View File

@ -172,9 +172,18 @@
<SpecificVersion>False</SpecificVersion> <SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\IronPython-2.6.1\Microsoft.Scripting.ExtensionAttribute.dll</HintPath> <HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\IronPython-2.6.1\Microsoft.Scripting.ExtensionAttribute.dll</HintPath>
</Reference> </Reference>
<Reference Include="OpenGlobe.Core">
<HintPath>..\..\..\..\..\Desktop\DIYDrones\virtualglobebook-OpenGlobe-ddf1d7e\Source\Examples\Chapter13\ClipmapTerrainOnGlobe\bin\Debug\OpenGlobe.Core.dll</HintPath>
</Reference>
<Reference Include="OpenGlobe.Renderer">
<HintPath>..\..\..\..\..\Desktop\DIYDrones\virtualglobebook-OpenGlobe-ddf1d7e\Source\Examples\Chapter13\ClipmapTerrainOnGlobe\bin\Debug\OpenGlobe.Renderer.dll</HintPath>
</Reference>
<Reference Include="OpenGlobe.Scene">
<HintPath>..\..\..\..\..\Desktop\DIYDrones\virtualglobebook-OpenGlobe-ddf1d7e\Source\Examples\Chapter13\ClipmapTerrainOnGlobe\bin\Debug\OpenGlobe.Scene.dll</HintPath>
</Reference>
<Reference Include="OpenTK, Version=1.0.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL"> <Reference Include="OpenTK, Version=1.0.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion> <SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\..\..\Desktop\DIYDrones\opentk\trunk\Binaries\OpenTK\Release\OpenTK.dll</HintPath> <HintPath>..\..\..\..\..\Desktop\DIYDrones\virtualglobebook-OpenGlobe-ddf1d7e\ThirdParty\OpenTKGL4\Binaries\OpenTK\Release\OpenTK.dll</HintPath>
</Reference> </Reference>
<Reference Include="OpenTK.GLControl, Version=1.0.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL"> <Reference Include="OpenTK.GLControl, Version=1.0.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion> <SpecificVersion>False</SpecificVersion>
@ -571,13 +580,11 @@
<CopyToOutputDirectory>Always</CopyToOutputDirectory> <CopyToOutputDirectory>Always</CopyToOutputDirectory>
</Content> </Content>
<Content Include="Resources\MAVCmd.zh-Hans.txt" /> <Content Include="Resources\MAVCmd.zh-Hans.txt" />
<None Include="Resources\MAVParam.txt" />
<Content Include="Resources\MAVParam.zh-Hans.txt" /> <Content Include="Resources\MAVParam.zh-Hans.txt" />
<None Include="Resources\MAVCmd.txt"> <None Include="Resources\MAVCmd.txt">
<CopyToOutputDirectory>Always</CopyToOutputDirectory> <CopyToOutputDirectory>Always</CopyToOutputDirectory>
</None> </None>
<None Include="Resources\MAVParam.txt">
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
</None>
<None Include="Resources\new frames-09.png" /> <None Include="Resources\new frames-09.png" />
<Content Include="dataflashlog.xml"> <Content Include="dataflashlog.xml">
<CopyToOutputDirectory>Always</CopyToOutputDirectory> <CopyToOutputDirectory>Always</CopyToOutputDirectory>

2
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj.user
View File

@ -11,6 +11,6 @@
<UpdateUrlHistory /> <UpdateUrlHistory />
</PropertyGroup> </PropertyGroup>
<PropertyGroup> <PropertyGroup>
<ReferencePath>C:\Users\hog\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\;C:\Users\hog\Desktop\DIYDrones\myquad\sharpkml\SharpKml\bin\Release\;C:\Users\hog\Documents\Visual Studio 2010\Projects\ArdupilotMega\ArdupilotMega\bin\Release\</ReferencePath> <ReferencePath>C:\Users\hog\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\;C:\Users\hog\Desktop\DIYDrones\myquad\sharpkml\SharpKml\bin\Release\</ReferencePath>
</PropertyGroup> </PropertyGroup>
</Project> </Project>

10
Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
View File

@ -55,7 +55,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2> <url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2>
<name>ArduCopter V2.0.54 Quad</name> <name>ArduCopter V2.0.55 Quad</name>
<desc> <desc>
#define FRAME_CONFIG QUAD_FRAME #define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION X_FRAME #define FRAME_ORIENTATION X_FRAME
@ -67,7 +67,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2> <url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2>
<name>ArduCopter V2.0.54 Tri</name> <name>ArduCopter V2.0.55 Tri</name>
<desc> <desc>
#define FRAME_CONFIG TRI_FRAME #define FRAME_CONFIG TRI_FRAME
#define FRAME_ORIENTATION X_FRAME #define FRAME_ORIENTATION X_FRAME
@ -79,7 +79,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2> <url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
<name>ArduCopter V2.0.54 Hexa</name> <name>ArduCopter V2.0.55 Hexa</name>
<desc> <desc>
#define FRAME_CONFIG HEXA_FRAME #define FRAME_CONFIG HEXA_FRAME
#define FRAME_ORIENTATION X_FRAME #define FRAME_ORIENTATION X_FRAME
@ -91,7 +91,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2> <url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2>
<name>ArduCopter V2.0.54 Y6</name> <name>ArduCopter V2.0.55 Y6</name>
<desc> <desc>
#define FRAME_CONFIG Y6_FRAME #define FRAME_CONFIG Y6_FRAME
#define FRAME_ORIENTATION X_FRAME #define FRAME_ORIENTATION X_FRAME
@ -151,7 +151,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url> <url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560> <url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
<url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2> <url2560-2>http://meee146.planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2>
<name>ArduCopter V2.0.54 Quad Hil</name> <name>ArduCopter V2.0.55 Quad Hil</name>
<desc> <desc>
#define FRAME_CONFIG QUAD_FRAME #define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION PLUS_FRAME #define FRAME_ORIENTATION PLUS_FRAME

64
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs generated
View File

@ -30,8 +30,8 @@
{ {
this.components = new System.ComponentModel.Container(); this.components = new System.ComponentModel.Container();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration)); System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Configuration));
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle(); System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle(); System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
this.Params = new System.Windows.Forms.DataGridView(); this.Params = new System.Windows.Forms.DataGridView();
this.Command = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Command = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Value = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Value = new System.Windows.Forms.DataGridViewTextBoxColumn();
@ -141,6 +141,8 @@
this.RLL2SRV_P = new System.Windows.Forms.NumericUpDown(); this.RLL2SRV_P = new System.Windows.Forms.NumericUpDown();
this.label52 = new System.Windows.Forms.Label(); this.label52 = new System.Windows.Forms.Label();
this.TabAC2 = new System.Windows.Forms.TabPage(); this.TabAC2 = new System.Windows.Forms.TabPage();
this.myLabel1 = new ArdupilotMega.MyLabel();
this.CH7_OPT = new System.Windows.Forms.ComboBox();
this.groupBox17 = new System.Windows.Forms.GroupBox(); this.groupBox17 = new System.Windows.Forms.GroupBox();
this.ACRO_PIT_IMAX = new System.Windows.Forms.NumericUpDown(); this.ACRO_PIT_IMAX = new System.Windows.Forms.NumericUpDown();
this.label27 = new System.Windows.Forms.Label(); this.label27 = new System.Windows.Forms.Label();
@ -403,14 +405,14 @@
this.Params.AllowUserToAddRows = false; this.Params.AllowUserToAddRows = false;
this.Params.AllowUserToDeleteRows = false; this.Params.AllowUserToDeleteRows = false;
resources.ApplyResources(this.Params, "Params"); resources.ApplyResources(this.Params, "Params");
dataGridViewCellStyle3.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft; dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle3.BackColor = System.Drawing.Color.Maroon; dataGridViewCellStyle1.BackColor = System.Drawing.Color.Maroon;
dataGridViewCellStyle3.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); dataGridViewCellStyle1.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle3.ForeColor = System.Drawing.Color.White; dataGridViewCellStyle1.ForeColor = System.Drawing.Color.White;
dataGridViewCellStyle3.SelectionBackColor = System.Drawing.SystemColors.Highlight; dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle3.SelectionForeColor = System.Drawing.SystemColors.HighlightText; dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle3.WrapMode = System.Windows.Forms.DataGridViewTriState.True; dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle3; this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle1;
this.Params.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize; this.Params.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.Params.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] { this.Params.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Command, this.Command,
@ -419,14 +421,14 @@
this.mavScale, this.mavScale,
this.RawValue}); this.RawValue});
this.Params.Name = "Params"; this.Params.Name = "Params";
dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft; dataGridViewCellStyle2.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle4.BackColor = System.Drawing.SystemColors.ActiveCaption; dataGridViewCellStyle2.BackColor = System.Drawing.SystemColors.ActiveCaption;
dataGridViewCellStyle4.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); dataGridViewCellStyle2.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle4.ForeColor = System.Drawing.SystemColors.WindowText; dataGridViewCellStyle2.ForeColor = System.Drawing.SystemColors.WindowText;
dataGridViewCellStyle4.SelectionBackColor = System.Drawing.SystemColors.Highlight; dataGridViewCellStyle2.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle4.SelectionForeColor = System.Drawing.SystemColors.HighlightText; dataGridViewCellStyle2.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle4.WrapMode = System.Windows.Forms.DataGridViewTriState.True; dataGridViewCellStyle2.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle4; this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle2;
this.Params.RowHeadersVisible = false; this.Params.RowHeadersVisible = false;
this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged); this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged);
// //
@ -1087,6 +1089,8 @@
// //
// TabAC2 // TabAC2
// //
this.TabAC2.Controls.Add(this.myLabel1);
this.TabAC2.Controls.Add(this.CH7_OPT);
this.TabAC2.Controls.Add(this.groupBox17); this.TabAC2.Controls.Add(this.groupBox17);
this.TabAC2.Controls.Add(this.groupBox5); this.TabAC2.Controls.Add(this.groupBox5);
this.TabAC2.Controls.Add(this.groupBox18); this.TabAC2.Controls.Add(this.groupBox18);
@ -1104,6 +1108,28 @@
resources.ApplyResources(this.TabAC2, "TabAC2"); resources.ApplyResources(this.TabAC2, "TabAC2");
this.TabAC2.Name = "TabAC2"; this.TabAC2.Name = "TabAC2";
// //
// myLabel1
//
resources.ApplyResources(this.myLabel1, "myLabel1");
this.myLabel1.Name = "myLabel1";
this.myLabel1.resize = false;
//
// CH7_OPT
//
this.CH7_OPT.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CH7_OPT.FormattingEnabled = true;
this.CH7_OPT.Items.AddRange(new object[] {
resources.GetString("CH7_OPT.Items"),
resources.GetString("CH7_OPT.Items1"),
resources.GetString("CH7_OPT.Items2"),
resources.GetString("CH7_OPT.Items3"),
resources.GetString("CH7_OPT.Items4"),
resources.GetString("CH7_OPT.Items5"),
resources.GetString("CH7_OPT.Items6"),
resources.GetString("CH7_OPT.Items7")});
resources.ApplyResources(this.CH7_OPT, "CH7_OPT");
this.CH7_OPT.Name = "CH7_OPT";
//
// groupBox17 // groupBox17
// //
this.groupBox17.Controls.Add(this.ACRO_PIT_IMAX); this.groupBox17.Controls.Add(this.ACRO_PIT_IMAX);
@ -2451,5 +2477,7 @@
private System.Windows.Forms.Label label44; private System.Windows.Forms.Label label44;
private System.Windows.Forms.NumericUpDown ACRO_RLL_P; private System.Windows.Forms.NumericUpDown ACRO_RLL_P;
private System.Windows.Forms.Label label48; private System.Windows.Forms.Label label48;
private MyLabel myLabel1;
private System.Windows.Forms.ComboBox CH7_OPT;
} }
} }

52
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
View File

@ -380,6 +380,15 @@ namespace ArdupilotMega.GCSViews
} }
catch { } catch { }
try
{
ComboBox thisctl = ((ComboBox)ctl);
thisctl.SelectedIndex = (int)(float)param[value];
thisctl.Validated += new EventHandler(ComboBox_Validated);
} catch {}
} }
if (text.Length == 0) if (text.Length == 0)
{ {
@ -390,6 +399,11 @@ namespace ArdupilotMega.GCSViews
Params.Sort(Params.Columns[0], ListSortDirection.Ascending); Params.Sort(Params.Columns[0], ListSortDirection.Ascending);
} }
void ComboBox_Validated(object sender, EventArgs e)
{
EEPROM_View_float_TextChanged(sender, e);
}
void Configuration_Validating(object sender, CancelEventArgs e) void Configuration_Validating(object sender, CancelEventArgs e)
{ {
EEPROM_View_float_TextChanged(sender, e); EEPROM_View_float_TextChanged(sender, e);
@ -403,8 +417,16 @@ namespace ArdupilotMega.GCSViews
// do domainupdown state check // do domainupdown state check
try try
{ {
value = float.Parse(((Control)sender).Text); if (sender.GetType() == typeof(NumericUpDown))
changes[name] = value; {
value = float.Parse(((Control)sender).Text);
changes[name] = value;
}
else if (sender.GetType() == typeof(ComboBox))
{
value = ((ComboBox)sender).SelectedIndex;
changes[name] = value;
}
((Control)sender).BackColor = Color.Green; ((Control)sender).BackColor = Color.Green;
} }
catch (Exception) catch (Exception)
@ -481,7 +503,14 @@ namespace ArdupilotMega.GCSViews
{ {
if (row.Cells[0].Value.ToString() == name) if (row.Cells[0].Value.ToString() == name)
{ {
row.Cells[1].Value = float.Parse(((Control)sender).Text); if (sender.GetType() == typeof(NumericUpDown))
{
row.Cells[1].Value = float.Parse(((Control)sender).Text);
}
else if (sender.GetType() == typeof(ComboBox))
{
row.Cells[1].Value = ((ComboBox)sender).SelectedIndex;
}
break; break;
} }
} }
@ -516,12 +545,21 @@ namespace ArdupilotMega.GCSViews
{ {
if (text.Length > 0) if (text.Length > 0)
{ {
decimal option = (decimal)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString())); if (sender.GetType() == typeof(NumericUpDown))
((NumericUpDown)text[0]).Value = option; {
((NumericUpDown)text[0]).BackColor = Color.Green; decimal option = (decimal)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
((NumericUpDown)text[0]).Value = option;
((NumericUpDown)text[0]).BackColor = Color.Green;
}
else if (sender.GetType() == typeof(ComboBox))
{
int option = (int)(float.Parse(Params[e.ColumnIndex, e.RowIndex].Value.ToString()));
((ComboBox)text[0]).SelectedIndex = option;
((ComboBox)text[0]).BackColor = Color.Green;
}
} }
} }
catch { ((NumericUpDown)text[0]).BackColor = Color.Red; } catch { ((Control)text[0]).BackColor = Color.Red; }
Params.Focus(); Params.Focus();
} }

4085
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.resx
View File

File diff suppressed because it is too large Load Diff

20
Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
View File

@ -258,6 +258,18 @@ namespace ArdupilotMega.GCSViews
findfirmware("AC2-QUADHIL"); findfirmware("AC2-QUADHIL");
return true; return true;
} }
if (keyData == (Keys.Control | Keys.C))
{
OpenFileDialog fd = new OpenFileDialog();
fd.Filter = "Firmware (*.hex)|*.hex";
fd.ShowDialog();
if (File.Exists(fd.FileName))
{
UploadFlash(fd.FileName, ArduinoDetect.DetectVersion(MainV2.comportname));
}
return true;
}
return base.ProcessCmdKey(ref msg, keyData); return base.ProcessCmdKey(ref msg, keyData);
} }
@ -534,6 +546,8 @@ namespace ArdupilotMega.GCSViews
return; return;
} }
Console.WriteLine("Using "+baseurl);
// Create a request using a URL that can receive a post. // Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl); WebRequest request = WebRequest.Create(baseurl);
request.Timeout = 10000; request.Timeout = 10000;
@ -615,7 +629,7 @@ namespace ArdupilotMega.GCSViews
//port = new ArduinoSTK(); //port = new ArduinoSTK();
port.BaudRate = 57600; port.BaudRate = 57600;
} }
else if (board == "2560") else if (board == "2560" || board == "2560-2")
{ {
port = new ArduinoSTKv2(); port = new ArduinoSTKv2();
port.BaudRate = 115200; port.BaudRate = 115200;
@ -691,7 +705,7 @@ namespace ArdupilotMega.GCSViews
} }
} }
lbl_status.Text = "Write Done... Waiting"; lbl_status.Text = "Write Done... Waiting (60 sec)";
} }
else else
{ {
@ -704,7 +718,7 @@ namespace ArdupilotMega.GCSViews
Application.DoEvents(); Application.DoEvents();
System.Threading.Thread.Sleep(10000); // 10 seconds - new apvar erases eeprom on new format version, this should buy us some time. System.Threading.Thread.Sleep(60000); // 10 seconds - new apvar erases eeprom on new format version, this should buy us some time.
lbl_status.Text = "Done"; lbl_status.Text = "Done";
} }

99
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs generated
View File

@ -31,14 +31,14 @@
{ {
this.components = new System.ComponentModel.Container(); this.components = new System.ComponentModel.Container();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FlightPlanner)); System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FlightPlanner));
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle(); System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle9 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle5 = new System.Windows.Forms.DataGridViewCellStyle(); System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle13 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle6 = new System.Windows.Forms.DataGridViewCellStyle(); System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle14 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle(); System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle10 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle(); System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle11 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle(); System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle12 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle7 = new System.Windows.Forms.DataGridViewCellStyle(); System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle15 = new System.Windows.Forms.DataGridViewCellStyle();
System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle8 = new System.Windows.Forms.DataGridViewCellStyle(); System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle16 = new System.Windows.Forms.DataGridViewCellStyle();
this.CHK_altmode = new System.Windows.Forms.CheckBox(); this.CHK_altmode = new System.Windows.Forms.CheckBox();
this.CHK_holdalt = new System.Windows.Forms.CheckBox(); this.CHK_holdalt = new System.Windows.Forms.CheckBox();
this.Commands = new System.Windows.Forms.DataGridView(); this.Commands = new System.Windows.Forms.DataGridView();
@ -89,6 +89,7 @@
this.textBox1 = new System.Windows.Forms.TextBox(); this.textBox1 = new System.Windows.Forms.TextBox();
this.panelWaypoints = new BSE.Windows.Forms.Panel(); this.panelWaypoints = new BSE.Windows.Forms.Panel();
this.splitter1 = new BSE.Windows.Forms.Splitter(); this.splitter1 = new BSE.Windows.Forms.Splitter();
this.BUT_zoomto = new ArdupilotMega.MyButton();
this.BUT_Camera = new ArdupilotMega.MyButton(); this.BUT_Camera = new ArdupilotMega.MyButton();
this.BUT_grid = new ArdupilotMega.MyButton(); this.BUT_grid = new ArdupilotMega.MyButton();
this.BUT_Prefetch = new ArdupilotMega.MyButton(); this.BUT_Prefetch = new ArdupilotMega.MyButton();
@ -120,7 +121,7 @@
this.label11 = new System.Windows.Forms.Label(); this.label11 = new System.Windows.Forms.Label();
this.panelBASE = new System.Windows.Forms.Panel(); this.panelBASE = new System.Windows.Forms.Panel();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components); this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.BUT_zoomto = new ArdupilotMega.MyButton(); this.BUT_loadkml = new ArdupilotMega.MyButton();
((System.ComponentModel.ISupportInitialize)(this.Commands)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.Commands)).BeginInit();
this.panel5.SuspendLayout(); this.panel5.SuspendLayout();
this.panel1.SuspendLayout(); this.panel1.SuspendLayout();
@ -152,14 +153,14 @@
// //
this.Commands.AllowUserToAddRows = false; this.Commands.AllowUserToAddRows = false;
resources.ApplyResources(this.Commands, "Commands"); resources.ApplyResources(this.Commands, "Commands");
dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft; dataGridViewCellStyle9.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle1.BackColor = System.Drawing.SystemColors.Control; dataGridViewCellStyle9.BackColor = System.Drawing.SystemColors.Control;
dataGridViewCellStyle1.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); dataGridViewCellStyle9.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle1.ForeColor = System.Drawing.SystemColors.WindowText; dataGridViewCellStyle9.ForeColor = System.Drawing.SystemColors.WindowText;
dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight; dataGridViewCellStyle9.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText; dataGridViewCellStyle9.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.True; dataGridViewCellStyle9.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
this.Commands.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle1; this.Commands.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle9;
this.Commands.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] { this.Commands.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Command, this.Command,
this.Param1, this.Param1,
@ -173,17 +174,17 @@
this.Up, this.Up,
this.Down}); this.Down});
this.Commands.Name = "Commands"; this.Commands.Name = "Commands";
dataGridViewCellStyle5.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft; dataGridViewCellStyle13.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
dataGridViewCellStyle5.BackColor = System.Drawing.SystemColors.Control; dataGridViewCellStyle13.BackColor = System.Drawing.SystemColors.Control;
dataGridViewCellStyle5.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0))); dataGridViewCellStyle13.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
dataGridViewCellStyle5.ForeColor = System.Drawing.SystemColors.WindowText; dataGridViewCellStyle13.ForeColor = System.Drawing.SystemColors.WindowText;
dataGridViewCellStyle5.Format = "N0"; dataGridViewCellStyle13.Format = "N0";
dataGridViewCellStyle5.NullValue = "0"; dataGridViewCellStyle13.NullValue = "0";
dataGridViewCellStyle5.SelectionBackColor = System.Drawing.SystemColors.Highlight; dataGridViewCellStyle13.SelectionBackColor = System.Drawing.SystemColors.Highlight;
dataGridViewCellStyle5.SelectionForeColor = System.Drawing.SystemColors.HighlightText; dataGridViewCellStyle13.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
this.Commands.RowHeadersDefaultCellStyle = dataGridViewCellStyle5; this.Commands.RowHeadersDefaultCellStyle = dataGridViewCellStyle13;
dataGridViewCellStyle6.ForeColor = System.Drawing.Color.Black; dataGridViewCellStyle14.ForeColor = System.Drawing.Color.Black;
this.Commands.RowsDefaultCellStyle = dataGridViewCellStyle6; this.Commands.RowsDefaultCellStyle = dataGridViewCellStyle14;
this.Commands.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.Commands_CellContentClick); this.Commands.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.Commands_CellContentClick);
this.Commands.CellEndEdit += new System.Windows.Forms.DataGridViewCellEventHandler(this.Commands_CellEndEdit); this.Commands.CellEndEdit += new System.Windows.Forms.DataGridViewCellEventHandler(this.Commands_CellEndEdit);
this.Commands.DataError += new System.Windows.Forms.DataGridViewDataErrorEventHandler(this.Commands_DataError); this.Commands.DataError += new System.Windows.Forms.DataGridViewDataErrorEventHandler(this.Commands_DataError);
@ -195,9 +196,9 @@
// //
// Command // Command
// //
dataGridViewCellStyle2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69))))); dataGridViewCellStyle10.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69)))));
dataGridViewCellStyle2.ForeColor = System.Drawing.Color.White; dataGridViewCellStyle10.ForeColor = System.Drawing.Color.White;
this.Command.DefaultCellStyle = dataGridViewCellStyle2; this.Command.DefaultCellStyle = dataGridViewCellStyle10;
this.Command.DisplayStyle = System.Windows.Forms.DataGridViewComboBoxDisplayStyle.ComboBox; this.Command.DisplayStyle = System.Windows.Forms.DataGridViewComboBoxDisplayStyle.ComboBox;
resources.ApplyResources(this.Command, "Command"); resources.ApplyResources(this.Command, "Command");
this.Command.Name = "Command"; this.Command.Name = "Command";
@ -263,7 +264,7 @@
// //
// Up // Up
// //
this.Up.DefaultCellStyle = dataGridViewCellStyle3; this.Up.DefaultCellStyle = dataGridViewCellStyle11;
resources.ApplyResources(this.Up, "Up"); resources.ApplyResources(this.Up, "Up");
this.Up.Image = global::ArdupilotMega.Properties.Resources.up; this.Up.Image = global::ArdupilotMega.Properties.Resources.up;
this.Up.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch; this.Up.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@ -271,8 +272,8 @@
// //
// Down // Down
// //
dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter; dataGridViewCellStyle12.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
this.Down.DefaultCellStyle = dataGridViewCellStyle4; this.Down.DefaultCellStyle = dataGridViewCellStyle12;
resources.ApplyResources(this.Down, "Down"); resources.ApplyResources(this.Down, "Down");
this.Down.Image = global::ArdupilotMega.Properties.Resources.down; this.Down.Image = global::ArdupilotMega.Properties.Resources.down;
this.Down.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch; this.Down.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@ -416,8 +417,8 @@
// //
// dataGridViewImageColumn1 // dataGridViewImageColumn1
// //
dataGridViewCellStyle7.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter; dataGridViewCellStyle15.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle7; this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle15;
resources.ApplyResources(this.dataGridViewImageColumn1, "dataGridViewImageColumn1"); resources.ApplyResources(this.dataGridViewImageColumn1, "dataGridViewImageColumn1");
this.dataGridViewImageColumn1.Image = global::ArdupilotMega.Properties.Resources.up; this.dataGridViewImageColumn1.Image = global::ArdupilotMega.Properties.Resources.up;
this.dataGridViewImageColumn1.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch; this.dataGridViewImageColumn1.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@ -425,8 +426,8 @@
// //
// dataGridViewImageColumn2 // dataGridViewImageColumn2
// //
dataGridViewCellStyle8.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter; dataGridViewCellStyle16.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle8; this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle16;
resources.ApplyResources(this.dataGridViewImageColumn2, "dataGridViewImageColumn2"); resources.ApplyResources(this.dataGridViewImageColumn2, "dataGridViewImageColumn2");
this.dataGridViewImageColumn2.Image = global::ArdupilotMega.Properties.Resources.down; this.dataGridViewImageColumn2.Image = global::ArdupilotMega.Properties.Resources.down;
this.dataGridViewImageColumn2.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch; this.dataGridViewImageColumn2.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@ -509,6 +510,7 @@
this.panelWaypoints.CaptionFont = new System.Drawing.Font("Segoe UI", 11.75F, System.Drawing.FontStyle.Bold); this.panelWaypoints.CaptionFont = new System.Drawing.Font("Segoe UI", 11.75F, System.Drawing.FontStyle.Bold);
this.panelWaypoints.CaptionHeight = 21; this.panelWaypoints.CaptionHeight = 21;
this.panelWaypoints.ColorScheme = BSE.Windows.Forms.ColorScheme.Custom; this.panelWaypoints.ColorScheme = BSE.Windows.Forms.ColorScheme.Custom;
this.panelWaypoints.Controls.Add(this.BUT_loadkml);
this.panelWaypoints.Controls.Add(this.BUT_zoomto); this.panelWaypoints.Controls.Add(this.BUT_zoomto);
this.panelWaypoints.Controls.Add(this.BUT_Camera); this.panelWaypoints.Controls.Add(this.BUT_Camera);
this.panelWaypoints.Controls.Add(this.BUT_grid); this.panelWaypoints.Controls.Add(this.BUT_grid);
@ -557,6 +559,14 @@
this.splitter1.Name = "splitter1"; this.splitter1.Name = "splitter1";
this.splitter1.TabStop = false; this.splitter1.TabStop = false;
// //
// BUT_zoomto
//
resources.ApplyResources(this.BUT_zoomto, "BUT_zoomto");
this.BUT_zoomto.Name = "BUT_zoomto";
this.toolTip1.SetToolTip(this.BUT_zoomto, resources.GetString("BUT_zoomto.ToolTip"));
this.BUT_zoomto.UseVisualStyleBackColor = true;
this.BUT_zoomto.Click += new System.EventHandler(this.BUT_zoomto_Click);
//
// BUT_Camera // BUT_Camera
// //
resources.ApplyResources(this.BUT_Camera, "BUT_Camera"); resources.ApplyResources(this.BUT_Camera, "BUT_Camera");
@ -834,13 +844,13 @@
resources.ApplyResources(this.panelBASE, "panelBASE"); resources.ApplyResources(this.panelBASE, "panelBASE");
this.panelBASE.Name = "panelBASE"; this.panelBASE.Name = "panelBASE";
// //
// BUT_zoomto // BUT_loadkml
// //
resources.ApplyResources(this.BUT_zoomto, "BUT_zoomto"); resources.ApplyResources(this.BUT_loadkml, "BUT_loadkml");
this.BUT_zoomto.Name = "BUT_zoomto"; this.BUT_loadkml.Name = "BUT_loadkml";
this.toolTip1.SetToolTip(this.BUT_zoomto, resources.GetString("BUT_zoomto.ToolTip")); this.toolTip1.SetToolTip(this.BUT_loadkml, resources.GetString("BUT_loadkml.ToolTip"));
this.BUT_zoomto.UseVisualStyleBackColor = true; this.BUT_loadkml.UseVisualStyleBackColor = true;
this.BUT_zoomto.Click += new System.EventHandler(this.BUT_zoomto_Click); this.BUT_loadkml.Click += new System.EventHandler(this.BUT_loadkml_Click);
// //
// FlightPlanner // FlightPlanner
// //
@ -954,5 +964,6 @@
private System.Windows.Forms.DataGridViewImageColumn Up; private System.Windows.Forms.DataGridViewImageColumn Up;
private System.Windows.Forms.DataGridViewImageColumn Down; private System.Windows.Forms.DataGridViewImageColumn Down;
private MyButton BUT_zoomto; private MyButton BUT_zoomto;
private MyButton BUT_loadkml;
} }
} }

72
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
View File

@ -18,6 +18,8 @@ using System.Resources;
using System.Reflection; using System.Reflection;
using System.ComponentModel; using System.ComponentModel;
using System.Threading; using System.Threading;
using SharpKml.Base;
namespace ArdupilotMega.GCSViews namespace ArdupilotMega.GCSViews
@ -440,6 +442,10 @@ namespace ArdupilotMega.GCSViews
trackBar1.Minimum = MainMap.MinZoom; trackBar1.Minimum = MainMap.MinZoom;
trackBar1.Maximum = MainMap.MaxZoom + 0.99; trackBar1.Maximum = MainMap.MaxZoom + 0.99;
// draw this layer first
kmlpolygons = new GMapOverlay(MainMap, "kmlpolygons");
MainMap.Overlays.Add(kmlpolygons);
routes = new GMapOverlay(MainMap, "routes"); routes = new GMapOverlay(MainMap, "routes");
MainMap.Overlays.Add(routes); MainMap.Overlays.Add(routes);
@ -452,6 +458,8 @@ namespace ArdupilotMega.GCSViews
drawnpolygons = new GMapOverlay(MainMap, "drawnpolygons"); drawnpolygons = new GMapOverlay(MainMap, "drawnpolygons");
MainMap.Overlays.Add(drawnpolygons); MainMap.Overlays.Add(drawnpolygons);
top = new GMapOverlay(MainMap, "top"); top = new GMapOverlay(MainMap, "top");
//MainMap.Overlays.Add(top); //MainMap.Overlays.Add(top);
@ -648,6 +656,23 @@ namespace ArdupilotMega.GCSViews
writeKML(); writeKML();
} }
void parser_ElementAdded(object sender, SharpKml.Base.ElementEventArgs e)
{
SharpKml.Dom.Polygon polygon = e.Element as SharpKml.Dom.Polygon;
if (polygon != null)
{
GMapPolygon kmlpolygon = new GMapPolygon(new List<PointLatLng>(), "kmlpolygon");
foreach (var loc in polygon.OuterBoundary.LinearRing.Coordinates)
{
kmlpolygon.Points.Add(new PointLatLng(loc.Latitude,loc.Longitude));
}
kmlpolygons.Polygons.Add(kmlpolygon);
}
}
private void ChangeColumnHeader(string command) private void ChangeColumnHeader(string command)
{ {
try try
@ -1721,7 +1746,9 @@ namespace ArdupilotMega.GCSViews
// polygons // polygons
GMapPolygon polygon; GMapPolygon polygon;
GMapPolygon drawnpolygon; GMapPolygon drawnpolygon;
//static GMapRoute route; //static GMapRoute route;
GMapOverlay kmlpolygons;
// layers // layers
GMapOverlay top; GMapOverlay top;
@ -2101,7 +2128,8 @@ namespace ArdupilotMega.GCSViews
DataGridViewCell tcell = Commands.Rows[selectedrow].Cells[i]; DataGridViewCell tcell = Commands.Rows[selectedrow].Cells[i];
if (tcell.GetType() == typeof(DataGridViewTextBoxCell)) if (tcell.GetType() == typeof(DataGridViewTextBoxCell))
{ {
tcell.Value = "0"; if (tcell.Value.ToString() == "?")
tcell.Value = "0";
} }
} }
} }
@ -2625,6 +2653,8 @@ namespace ArdupilotMega.GCSViews
drawnpolygon.Points.Clear(); drawnpolygon.Points.Clear();
drawnpolygons.Markers.Clear(); drawnpolygons.Markers.Clear();
MainMap.Invalidate(); MainMap.Invalidate();
writeKML();
} }
private void clearMissionToolStripMenuItem_Click(object sender, EventArgs e) private void clearMissionToolStripMenuItem_Click(object sender, EventArgs e)
@ -2640,7 +2670,11 @@ namespace ArdupilotMega.GCSViews
Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.LOITER_UNLIM.ToString(); Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.LOITER_UNLIM.ToString();
ChangeColumnHeader(MAVLink.MAV_CMD.LOITER_UNLIM.ToString());
setfromGE(end.Lat, end.Lng, (int)float.Parse(TXT_DefaultAlt.Text)); setfromGE(end.Lat, end.Lng, (int)float.Parse(TXT_DefaultAlt.Text));
writeKML();
} }
private void jumpstartToolStripMenuItem_Click(object sender, EventArgs e) private void jumpstartToolStripMenuItem_Click(object sender, EventArgs e)
@ -2655,6 +2689,8 @@ namespace ArdupilotMega.GCSViews
Commands.Rows[row].Cells[Param1.Index].Value = 1; Commands.Rows[row].Cells[Param1.Index].Value = 1;
Commands.Rows[row].Cells[Param2.Index].Value = repeat; Commands.Rows[row].Cells[Param2.Index].Value = repeat;
writeKML();
} }
private void jumpwPToolStripMenuItem_Click(object sender, EventArgs e) private void jumpwPToolStripMenuItem_Click(object sender, EventArgs e)
@ -2671,6 +2707,8 @@ namespace ArdupilotMega.GCSViews
Commands.Rows[row].Cells[Param1.Index].Value = wp; Commands.Rows[row].Cells[Param1.Index].Value = wp;
Commands.Rows[row].Cells[Param2.Index].Value = repeat; Commands.Rows[row].Cells[Param2.Index].Value = repeat;
writeKML();
} }
private void deleteWPToolStripMenuItem_Click(object sender, EventArgs e) private void deleteWPToolStripMenuItem_Click(object sender, EventArgs e)
@ -2717,7 +2755,11 @@ namespace ArdupilotMega.GCSViews
Commands.Rows[selectedrow].Cells[Param1.Index].Value = time; Commands.Rows[selectedrow].Cells[Param1.Index].Value = time;
ChangeColumnHeader(MAVLink.MAV_CMD.LOITER_TIME.ToString());
setfromGE(end.Lat, end.Lng, (int)float.Parse(TXT_DefaultAlt.Text)); setfromGE(end.Lat, end.Lng, (int)float.Parse(TXT_DefaultAlt.Text));
writeKML();
} }
private void loitercirclesToolStripMenuItem_Click(object sender, EventArgs e) private void loitercirclesToolStripMenuItem_Click(object sender, EventArgs e)
@ -2731,7 +2773,11 @@ namespace ArdupilotMega.GCSViews
Commands.Rows[selectedrow].Cells[Param1.Index].Value = turns; Commands.Rows[selectedrow].Cells[Param1.Index].Value = turns;
ChangeColumnHeader(MAVLink.MAV_CMD.LOITER_TURNS.ToString());
setfromGE(end.Lat, end.Lng, (int)float.Parse(TXT_DefaultAlt.Text)); setfromGE(end.Lat, end.Lng, (int)float.Parse(TXT_DefaultAlt.Text));
writeKML();
} }
private void BUT_Camera_Click(object sender, EventArgs e) private void BUT_Camera_Click(object sender, EventArgs e)
@ -2768,5 +2814,29 @@ namespace ArdupilotMega.GCSViews
} }
} }
} }
private void BUT_loadkml_Click(object sender, EventArgs e)
{
OpenFileDialog fd = new OpenFileDialog();
fd.Filter = "Google Earth KML (*.kml)|*.kml";
fd.DefaultExt = ".kml";
DialogResult result = fd.ShowDialog();
string file = fd.FileName;
if (file != "")
{
try
{
kmlpolygons.Polygons.Clear();
var parser = new SharpKml.Base.Parser();
parser.ElementAdded += new EventHandler<SharpKml.Base.ElementEventArgs>(parser_ElementAdded);
parser.Parse(File.OpenRead(file));
}
catch (Exception ex) { MessageBox.Show("Bad KML File :" + ex.ToString()); }
}
}
} }
} }

723
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx
View File

@ -148,7 +148,7 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;CHK_altmode.ZOrder" xml:space="preserve"> <data name="&gt;&gt;CHK_altmode.ZOrder" xml:space="preserve">
<value>4</value> <value>5</value>
</data> </data>
<data name="CHK_holdalt.AutoSize" type="System.Boolean, mscorlib"> <data name="CHK_holdalt.AutoSize" type="System.Boolean, mscorlib">
<value>True</value> <value>True</value>
@ -178,7 +178,7 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;CHK_holdalt.ZOrder" xml:space="preserve"> <data name="&gt;&gt;CHK_holdalt.ZOrder" xml:space="preserve">
<value>9</value> <value>10</value>
</data> </data>
<data name="Commands.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms"> <data name="Commands.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
<value>Top, Bottom, Left, Right</value> <value>Top, Bottom, Left, Right</value>
@ -340,7 +340,7 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;Commands.ZOrder" xml:space="preserve"> <data name="&gt;&gt;Commands.ZOrder" xml:space="preserve">
<value>11</value> <value>12</value>
</data> </data>
<data name="CHK_geheight.AutoSize" type="System.Boolean, mscorlib"> <data name="CHK_geheight.AutoSize" type="System.Boolean, mscorlib">
<value>True</value> <value>True</value>
@ -370,7 +370,7 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;CHK_geheight.ZOrder" xml:space="preserve"> <data name="&gt;&gt;CHK_geheight.ZOrder" xml:space="preserve">
<value>13</value> <value>14</value>
</data> </data>
<data name="TXT_WPRad.Location" type="System.Drawing.Point, System.Drawing"> <data name="TXT_WPRad.Location" type="System.Drawing.Point, System.Drawing">
<value>23, 36</value> <value>23, 36</value>
@ -394,7 +394,7 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;TXT_WPRad.ZOrder" xml:space="preserve"> <data name="&gt;&gt;TXT_WPRad.ZOrder" xml:space="preserve">
<value>14</value> <value>15</value>
</data> </data>
<data name="TXT_DefaultAlt.Location" type="System.Drawing.Point, System.Drawing"> <data name="TXT_DefaultAlt.Location" type="System.Drawing.Point, System.Drawing">
<value>154, 36</value> <value>154, 36</value>
@ -418,7 +418,7 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;TXT_DefaultAlt.ZOrder" xml:space="preserve"> <data name="&gt;&gt;TXT_DefaultAlt.ZOrder" xml:space="preserve">
<value>12</value> <value>13</value>
</data> </data>
<data name="LBL_WPRad.AutoSize" type="System.Boolean, mscorlib"> <data name="LBL_WPRad.AutoSize" type="System.Boolean, mscorlib">
<value>True</value> <value>True</value>
@ -448,7 +448,7 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;LBL_WPRad.ZOrder" xml:space="preserve"> <data name="&gt;&gt;LBL_WPRad.ZOrder" xml:space="preserve">
<value>5</value> <value>6</value>
</data> </data>
<data name="LBL_defalutalt.AutoSize" type="System.Boolean, mscorlib"> <data name="LBL_defalutalt.AutoSize" type="System.Boolean, mscorlib">
<value>True</value> <value>True</value>
@ -478,7 +478,7 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;LBL_defalutalt.ZOrder" xml:space="preserve"> <data name="&gt;&gt;LBL_defalutalt.ZOrder" xml:space="preserve">
<value>10</value> <value>11</value>
</data> </data>
<data name="TXT_loiterrad.Location" type="System.Drawing.Point, System.Drawing"> <data name="TXT_loiterrad.Location" type="System.Drawing.Point, System.Drawing">
<value>89, 36</value> <value>89, 36</value>
@ -502,7 +502,7 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;TXT_loiterrad.ZOrder" xml:space="preserve"> <data name="&gt;&gt;TXT_loiterrad.ZOrder" xml:space="preserve">
<value>8</value> <value>9</value>
</data> </data>
<data name="label5.AutoSize" type="System.Boolean, mscorlib"> <data name="label5.AutoSize" type="System.Boolean, mscorlib">
<value>True</value> <value>True</value>
@ -532,11 +532,80 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;label5.ZOrder" xml:space="preserve"> <data name="&gt;&gt;label5.ZOrder" xml:space="preserve">
<value>7</value> <value>8</value>
</data> </data>
<data name="panel5.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms"> <data name="panel5.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
<value>Bottom, Right</value> <value>Bottom, Right</value>
</data> </data>
<data name="&gt;&gt;BUT_write.Name" xml:space="preserve">
<value>BUT_write</value>
</data>
<data name="&gt;&gt;BUT_write.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_write.Parent" xml:space="preserve">
<value>panel5</value>
</data>
<data name="&gt;&gt;BUT_write.ZOrder" xml:space="preserve">
<value>0</value>
</data>
<data name="&gt;&gt;BUT_read.Name" xml:space="preserve">
<value>BUT_read</value>
</data>
<data name="&gt;&gt;BUT_read.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_read.Parent" xml:space="preserve">
<value>panel5</value>
</data>
<data name="&gt;&gt;BUT_read.ZOrder" xml:space="preserve">
<value>1</value>
</data>
<data name="&gt;&gt;SaveFile.Name" xml:space="preserve">
<value>SaveFile</value>
</data>
<data name="&gt;&gt;SaveFile.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;SaveFile.Parent" xml:space="preserve">
<value>panel5</value>
</data>
<data name="&gt;&gt;SaveFile.ZOrder" xml:space="preserve">
<value>2</value>
</data>
<data name="&gt;&gt;BUT_loadwpfile.Name" xml:space="preserve">
<value>BUT_loadwpfile</value>
</data>
<data name="&gt;&gt;BUT_loadwpfile.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_loadwpfile.Parent" xml:space="preserve">
<value>panel5</value>
</data>
<data name="&gt;&gt;BUT_loadwpfile.ZOrder" xml:space="preserve">
<value>3</value>
</data>
<data name="panel5.Location" type="System.Drawing.Point, System.Drawing">
<value>8, 250</value>
</data>
<data name="panel5.Size" type="System.Drawing.Size, System.Drawing">
<value>117, 114</value>
</data>
<data name="panel5.TabIndex" type="System.Int32, mscorlib">
<value>29</value>
</data>
<data name="&gt;&gt;panel5.Name" xml:space="preserve">
<value>panel5</value>
</data>
<data name="&gt;&gt;panel5.Type" xml:space="preserve">
<value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;panel5.Parent" xml:space="preserve">
<value>panelAction</value>
</data>
<data name="&gt;&gt;panel5.ZOrder" xml:space="preserve">
<value>1</value>
</data>
<data name="BUT_write.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms"> <data name="BUT_write.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value> <value>NoControl</value>
</data> </data>
@ -645,30 +714,114 @@
<data name="&gt;&gt;BUT_loadwpfile.ZOrder" xml:space="preserve"> <data name="&gt;&gt;BUT_loadwpfile.ZOrder" xml:space="preserve">
<value>3</value> <value>3</value>
</data> </data>
<data name="panel5.Location" type="System.Drawing.Point, System.Drawing">
<value>8, 250</value>
</data>
<data name="panel5.Size" type="System.Drawing.Size, System.Drawing">
<value>117, 114</value>
</data>
<data name="panel5.TabIndex" type="System.Int32, mscorlib">
<value>29</value>
</data>
<data name="&gt;&gt;panel5.Name" xml:space="preserve">
<value>panel5</value>
</data>
<data name="&gt;&gt;panel5.Type" xml:space="preserve">
<value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;panel5.Parent" xml:space="preserve">
<value>panelAction</value>
</data>
<data name="&gt;&gt;panel5.ZOrder" xml:space="preserve">
<value>1</value>
</data>
<data name="panel1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms"> <data name="panel1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
<value>Bottom, Right</value> <value>Bottom, Right</value>
</data> </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.LinkLabel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;label4.Parent" xml:space="preserve">
<value>panel1</value>
</data>
<data name="&gt;&gt;label4.ZOrder" xml:space="preserve">
<value>0</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>panel1</value>
</data>
<data name="&gt;&gt;label3.ZOrder" xml:space="preserve">
<value>1</value>
</data>
<data name="&gt;&gt;label2.Name" xml:space="preserve">
<value>label2</value>
</data>
<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;label2.Parent" xml:space="preserve">
<value>panel1</value>
</data>
<data name="&gt;&gt;label2.ZOrder" xml:space="preserve">
<value>2</value>
</data>
<data name="&gt;&gt;Label1.Name" xml:space="preserve">
<value>Label1</value>
</data>
<data name="&gt;&gt;Label1.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;Label1.Parent" xml:space="preserve">
<value>panel1</value>
</data>
<data name="&gt;&gt;Label1.ZOrder" xml:space="preserve">
<value>3</value>
</data>
<data name="&gt;&gt;TXT_homealt.Name" xml:space="preserve">
<value>TXT_homealt</value>
</data>
<data name="&gt;&gt;TXT_homealt.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_homealt.Parent" xml:space="preserve">
<value>panel1</value>
</data>
<data name="&gt;&gt;TXT_homealt.ZOrder" xml:space="preserve">
<value>4</value>
</data>
<data name="&gt;&gt;TXT_homelng.Name" xml:space="preserve">
<value>TXT_homelng</value>
</data>
<data name="&gt;&gt;TXT_homelng.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_homelng.Parent" xml:space="preserve">
<value>panel1</value>
</data>
<data name="&gt;&gt;TXT_homelng.ZOrder" xml:space="preserve">
<value>5</value>
</data>
<data name="&gt;&gt;TXT_homelat.Name" xml:space="preserve">
<value>TXT_homelat</value>
</data>
<data name="&gt;&gt;TXT_homelat.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_homelat.Parent" xml:space="preserve">
<value>panel1</value>
</data>
<data name="&gt;&gt;TXT_homelat.ZOrder" xml:space="preserve">
<value>6</value>
</data>
<data name="panel1.Location" type="System.Drawing.Point, System.Drawing">
<value>8, 365</value>
</data>
<data name="panel1.Size" type="System.Drawing.Size, System.Drawing">
<value>117, 89</value>
</data>
<data name="panel1.TabIndex" type="System.Int32, mscorlib">
<value>31</value>
</data>
<data name="&gt;&gt;panel1.Name" xml:space="preserve">
<value>panel1</value>
</data>
<data name="&gt;&gt;panel1.Type" xml:space="preserve">
<value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;panel1.Parent" xml:space="preserve">
<value>panelAction</value>
</data>
<data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
<value>2</value>
</data>
<data name="label4.AutoSize" type="System.Boolean, mscorlib"> <data name="label4.AutoSize" type="System.Boolean, mscorlib">
<value>True</value> <value>True</value>
</data> </data>
@ -852,27 +1005,6 @@
<data name="&gt;&gt;TXT_homelat.ZOrder" xml:space="preserve"> <data name="&gt;&gt;TXT_homelat.ZOrder" xml:space="preserve">
<value>6</value> <value>6</value>
</data> </data>
<data name="panel1.Location" type="System.Drawing.Point, System.Drawing">
<value>8, 365</value>
</data>
<data name="panel1.Size" type="System.Drawing.Size, System.Drawing">
<value>117, 89</value>
</data>
<data name="panel1.TabIndex" type="System.Int32, mscorlib">
<value>31</value>
</data>
<data name="&gt;&gt;panel1.Name" xml:space="preserve">
<value>panel1</value>
</data>
<data name="&gt;&gt;panel1.Type" xml:space="preserve">
<value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;panel1.Parent" xml:space="preserve">
<value>panelAction</value>
</data>
<data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
<value>2</value>
</data>
<data name="dataGridViewImageColumn1.HeaderText" xml:space="preserve"> <data name="dataGridViewImageColumn1.HeaderText" xml:space="preserve">
<value>Up</value> <value>Up</value>
</data> </data>
@ -912,6 +1044,111 @@
<data name="panel2.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms"> <data name="panel2.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
<value>Bottom, Right</value> <value>Bottom, Right</value>
</data> </data>
<data name="&gt;&gt;label7.Name" xml:space="preserve">
<value>label7</value>
</data>
<data name="&gt;&gt;label7.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;label7.Parent" xml:space="preserve">
<value>panel2</value>
</data>
<data name="&gt;&gt;label7.ZOrder" xml:space="preserve">
<value>0</value>
</data>
<data name="&gt;&gt;label8.Name" xml:space="preserve">
<value>label8</value>
</data>
<data name="&gt;&gt;label8.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;label8.Parent" xml:space="preserve">
<value>panel2</value>
</data>
<data name="&gt;&gt;label8.ZOrder" xml:space="preserve">
<value>1</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>panel2</value>
</data>
<data name="&gt;&gt;label9.ZOrder" xml:space="preserve">
<value>2</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>panel2</value>
</data>
<data name="&gt;&gt;label10.ZOrder" xml:space="preserve">
<value>3</value>
</data>
<data name="&gt;&gt;TXT_mousealt.Name" xml:space="preserve">
<value>TXT_mousealt</value>
</data>
<data name="&gt;&gt;TXT_mousealt.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_mousealt.Parent" xml:space="preserve">
<value>panel2</value>
</data>
<data name="&gt;&gt;TXT_mousealt.ZOrder" xml:space="preserve">
<value>4</value>
</data>
<data name="&gt;&gt;TXT_mouselong.Name" xml:space="preserve">
<value>TXT_mouselong</value>
</data>
<data name="&gt;&gt;TXT_mouselong.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_mouselong.Parent" xml:space="preserve">
<value>panel2</value>
</data>
<data name="&gt;&gt;TXT_mouselong.ZOrder" xml:space="preserve">
<value>5</value>
</data>
<data name="&gt;&gt;TXT_mouselat.Name" xml:space="preserve">
<value>TXT_mouselat</value>
</data>
<data name="&gt;&gt;TXT_mouselat.Type" xml:space="preserve">
<value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;TXT_mouselat.Parent" xml:space="preserve">
<value>panel2</value>
</data>
<data name="&gt;&gt;TXT_mouselat.ZOrder" xml:space="preserve">
<value>6</value>
</data>
<data name="panel2.Location" type="System.Drawing.Point, System.Drawing">
<value>8, 130</value>
</data>
<data name="panel2.Size" type="System.Drawing.Size, System.Drawing">
<value>114, 79</value>
</data>
<data name="panel2.TabIndex" type="System.Int32, mscorlib">
<value>38</value>
</data>
<data name="&gt;&gt;panel2.Name" xml:space="preserve">
<value>panel2</value>
</data>
<data name="&gt;&gt;panel2.Type" xml:space="preserve">
<value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;panel2.Parent" xml:space="preserve">
<value>panelAction</value>
</data>
<data name="&gt;&gt;panel2.ZOrder" xml:space="preserve">
<value>3</value>
</data>
<data name="label7.AutoSize" type="System.Boolean, mscorlib"> <data name="label7.AutoSize" type="System.Boolean, mscorlib">
<value>True</value> <value>True</value>
</data> </data>
@ -1095,27 +1332,9 @@
<data name="&gt;&gt;TXT_mouselat.ZOrder" xml:space="preserve"> <data name="&gt;&gt;TXT_mouselat.ZOrder" xml:space="preserve">
<value>6</value> <value>6</value>
</data> </data>
<data name="panel2.Location" type="System.Drawing.Point, System.Drawing"> <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>8, 130</value> <value>172, 17</value>
</data> </metadata>
<data name="panel2.Size" type="System.Drawing.Size, System.Drawing">
<value>114, 79</value>
</data>
<data name="panel2.TabIndex" type="System.Int32, mscorlib">
<value>38</value>
</data>
<data name="&gt;&gt;panel2.Name" xml:space="preserve">
<value>panel2</value>
</data>
<data name="&gt;&gt;panel2.Type" xml:space="preserve">
<value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;panel2.Parent" xml:space="preserve">
<value>panelAction</value>
</data>
<data name="&gt;&gt;panel2.ZOrder" xml:space="preserve">
<value>3</value>
</data>
<data name="comboBoxMapType.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms"> <data name="comboBoxMapType.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
<value>Bottom, Right</value> <value>Bottom, Right</value>
</data> </data>
@ -1128,9 +1347,6 @@
<data name="comboBoxMapType.TabIndex" type="System.Int32, mscorlib"> <data name="comboBoxMapType.TabIndex" type="System.Int32, mscorlib">
<value>42</value> <value>42</value>
</data> </data>
<metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>172, 17</value>
</metadata>
<data name="comboBoxMapType.ToolTip" xml:space="preserve"> <data name="comboBoxMapType.ToolTip" xml:space="preserve">
<value>Change the current map type</value> <value>Change the current map type</value>
</data> </data>
@ -1239,11 +1455,44 @@
<data name="&gt;&gt;splitter1.ZOrder" xml:space="preserve"> <data name="&gt;&gt;splitter1.ZOrder" xml:space="preserve">
<value>0</value> <value>0</value>
</data> </data>
<data name="BUT_loadkml.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value>
</data>
<data name="BUT_loadkml.Location" type="System.Drawing.Point, System.Drawing">
<value>800, 25</value>
</data>
<data name="BUT_loadkml.Size" type="System.Drawing.Size, System.Drawing">
<value>58, 23</value>
</data>
<data name="BUT_loadkml.TabIndex" type="System.Int32, mscorlib">
<value>54</value>
</data>
<data name="BUT_loadkml.Text" xml:space="preserve">
<value>KML overlay</value>
</data>
<metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>172, 17</value>
</metadata>
<data name="BUT_loadkml.ToolTip" xml:space="preserve">
<value>Get Camera settings for overlap</value>
</data>
<data name="&gt;&gt;BUT_loadkml.Name" xml:space="preserve">
<value>BUT_loadkml</value>
</data>
<data name="&gt;&gt;BUT_loadkml.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_loadkml.Parent" xml:space="preserve">
<value>panelWaypoints</value>
</data>
<data name="&gt;&gt;BUT_loadkml.ZOrder" xml:space="preserve">
<value>0</value>
</data>
<data name="BUT_zoomto.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms"> <data name="BUT_zoomto.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value> <value>NoControl</value>
</data> </data>
<data name="BUT_zoomto.Location" type="System.Drawing.Point, System.Drawing"> <data name="BUT_zoomto.Location" type="System.Drawing.Point, System.Drawing">
<value>746, 26</value> <value>732, 26</value>
</data> </data>
<data name="BUT_zoomto.Size" type="System.Drawing.Size, System.Drawing"> <data name="BUT_zoomto.Size" type="System.Drawing.Size, System.Drawing">
<value>62, 23</value> <value>62, 23</value>
@ -1267,13 +1516,13 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;BUT_zoomto.ZOrder" xml:space="preserve"> <data name="&gt;&gt;BUT_zoomto.ZOrder" xml:space="preserve">
<value>0</value> <value>1</value>
</data> </data>
<data name="BUT_Camera.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms"> <data name="BUT_Camera.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value> <value>NoControl</value>
</data> </data>
<data name="BUT_Camera.Location" type="System.Drawing.Point, System.Drawing"> <data name="BUT_Camera.Location" type="System.Drawing.Point, System.Drawing">
<value>692, 26</value> <value>678, 26</value>
</data> </data>
<data name="BUT_Camera.Size" type="System.Drawing.Size, System.Drawing"> <data name="BUT_Camera.Size" type="System.Drawing.Size, System.Drawing">
<value>48, 23</value> <value>48, 23</value>
@ -1297,13 +1546,13 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;BUT_Camera.ZOrder" xml:space="preserve"> <data name="&gt;&gt;BUT_Camera.ZOrder" xml:space="preserve">
<value>1</value> <value>2</value>
</data> </data>
<data name="BUT_grid.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms"> <data name="BUT_grid.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value> <value>NoControl</value>
</data> </data>
<data name="BUT_grid.Location" type="System.Drawing.Point, System.Drawing"> <data name="BUT_grid.Location" type="System.Drawing.Point, System.Drawing">
<value>638, 26</value> <value>624, 26</value>
</data> </data>
<data name="BUT_grid.Size" type="System.Drawing.Size, System.Drawing"> <data name="BUT_grid.Size" type="System.Drawing.Size, System.Drawing">
<value>48, 23</value> <value>48, 23</value>
@ -1327,13 +1576,13 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;BUT_grid.ZOrder" xml:space="preserve"> <data name="&gt;&gt;BUT_grid.ZOrder" xml:space="preserve">
<value>2</value> <value>3</value>
</data> </data>
<data name="BUT_Prefetch.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms"> <data name="BUT_Prefetch.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value> <value>NoControl</value>
</data> </data>
<data name="BUT_Prefetch.Location" type="System.Drawing.Point, System.Drawing"> <data name="BUT_Prefetch.Location" type="System.Drawing.Point, System.Drawing">
<value>576, 26</value> <value>562, 26</value>
</data> </data>
<data name="BUT_Prefetch.Size" type="System.Drawing.Size, System.Drawing"> <data name="BUT_Prefetch.Size" type="System.Drawing.Size, System.Drawing">
<value>56, 23</value> <value>56, 23</value>
@ -1357,7 +1606,7 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;BUT_Prefetch.ZOrder" xml:space="preserve"> <data name="&gt;&gt;BUT_Prefetch.ZOrder" xml:space="preserve">
<value>3</value> <value>4</value>
</data> </data>
<data name="button1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms"> <data name="button1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value> <value>NoControl</value>
@ -1366,7 +1615,7 @@
<value>479, 26</value> <value>479, 26</value>
</data> </data>
<data name="button1.Size" type="System.Drawing.Size, System.Drawing"> <data name="button1.Size" type="System.Drawing.Size, System.Drawing">
<value>91, 23</value> <value>77, 23</value>
</data> </data>
<data name="button1.TabIndex" type="System.Int32, mscorlib"> <data name="button1.TabIndex" type="System.Int32, mscorlib">
<value>48</value> <value>48</value>
@ -1387,7 +1636,7 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;button1.ZOrder" xml:space="preserve"> <data name="&gt;&gt;button1.ZOrder" xml:space="preserve">
<value>6</value> <value>7</value>
</data> </data>
<data name="BUT_Add.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms"> <data name="BUT_Add.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
<value>NoControl</value> <value>NoControl</value>
@ -1417,7 +1666,7 @@
<value>panelWaypoints</value> <value>panelWaypoints</value>
</data> </data>
<data name="&gt;&gt;BUT_Add.ZOrder" xml:space="preserve"> <data name="&gt;&gt;BUT_Add.ZOrder" xml:space="preserve">
<value>15</value> <value>16</value>
</data> </data>
<data name="panelWaypoints.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms"> <data name="panelWaypoints.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
<value>Bottom</value> <value>Bottom</value>
@ -1473,6 +1722,105 @@
<data name="&gt;&gt;panelAction.ZOrder" xml:space="preserve"> <data name="&gt;&gt;panelAction.ZOrder" xml:space="preserve">
<value>3</value> <value>3</value>
</data> </data>
<data name="&gt;&gt;lbl_distance.Name" xml:space="preserve">
<value>lbl_distance</value>
</data>
<data name="&gt;&gt;lbl_distance.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_distance.Parent" xml:space="preserve">
<value>panelMap</value>
</data>
<data name="&gt;&gt;lbl_distance.ZOrder" xml:space="preserve">
<value>0</value>
</data>
<data name="&gt;&gt;lbl_homedist.Name" xml:space="preserve">
<value>lbl_homedist</value>
</data>
<data name="&gt;&gt;lbl_homedist.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_homedist.Parent" xml:space="preserve">
<value>panelMap</value>
</data>
<data name="&gt;&gt;lbl_homedist.ZOrder" xml:space="preserve">
<value>1</value>
</data>
<data name="&gt;&gt;lbl_prevdist.Name" xml:space="preserve">
<value>lbl_prevdist</value>
</data>
<data name="&gt;&gt;lbl_prevdist.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_prevdist.Parent" xml:space="preserve">
<value>panelMap</value>
</data>
<data name="&gt;&gt;lbl_prevdist.ZOrder" xml:space="preserve">
<value>2</value>
</data>
<data name="&gt;&gt;MainMap.Name" xml:space="preserve">
<value>MainMap</value>
</data>
<data name="&gt;&gt;MainMap.Type" xml:space="preserve">
<value>GMap.NET.WindowsForms.GMapControl, GMap.NET.WindowsForms, Version=1.5.5.5, Culture=neutral, PublicKeyToken=b85b9027b614afef</value>
</data>
<data name="&gt;&gt;MainMap.Parent" xml:space="preserve">
<value>panelMap</value>
</data>
<data name="&gt;&gt;MainMap.ZOrder" xml:space="preserve">
<value>3</value>
</data>
<data name="&gt;&gt;trackBar1.Name" xml:space="preserve">
<value>trackBar1</value>
</data>
<data name="&gt;&gt;trackBar1.Type" xml:space="preserve">
<value>ArdupilotMega.MyTrackBar, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;trackBar1.Parent" xml:space="preserve">
<value>panelMap</value>
</data>
<data name="&gt;&gt;trackBar1.ZOrder" xml:space="preserve">
<value>4</value>
</data>
<data name="&gt;&gt;label11.Name" xml:space="preserve">
<value>label11</value>
</data>
<data name="&gt;&gt;label11.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;label11.Parent" xml:space="preserve">
<value>panelMap</value>
</data>
<data name="&gt;&gt;label11.ZOrder" xml:space="preserve">
<value>5</value>
</data>
<data name="panelMap.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
<value>Fill</value>
</data>
<data name="panelMap.Location" type="System.Drawing.Point, System.Drawing">
<value>0, 0</value>
</data>
<data name="panelMap.Size" type="System.Drawing.Size, System.Drawing">
<value>878, 313</value>
</data>
<data name="panelMap.TabIndex" type="System.Int32, mscorlib">
<value>51</value>
</data>
<data name="panelMap.Text" xml:space="preserve">
<value>panel6</value>
</data>
<data name="&gt;&gt;panelMap.Name" xml:space="preserve">
<value>panelMap</value>
</data>
<data name="&gt;&gt;panelMap.Type" xml:space="preserve">
<value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;panelMap.Parent" xml:space="preserve">
<value>panelBASE</value>
</data>
<data name="&gt;&gt;panelMap.ZOrder" xml:space="preserve">
<value>1</value>
</data>
<data name="lbl_distance.AutoSize" type="System.Boolean, mscorlib"> <data name="lbl_distance.AutoSize" type="System.Boolean, mscorlib">
<value>True</value> <value>True</value>
</data> </data>
@ -1569,93 +1917,6 @@
<metadata name="contextMenuStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a"> <metadata name="contextMenuStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value> <value>17, 17</value>
</metadata> </metadata>
<data name="deleteWPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
<data name="deleteWPToolStripMenuItem.Text" xml:space="preserve">
<value>Delete WP</value>
</data>
<data name="loiterForeverToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>113, 22</value>
</data>
<data name="loiterForeverToolStripMenuItem.Text" xml:space="preserve">
<value>Forever</value>
</data>
<data name="loitertimeToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>113, 22</value>
</data>
<data name="loitertimeToolStripMenuItem.Text" xml:space="preserve">
<value>Time</value>
</data>
<data name="loitercirclesToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>113, 22</value>
</data>
<data name="loitercirclesToolStripMenuItem.Text" xml:space="preserve">
<value>Circles</value>
</data>
<data name="loiterToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
<data name="loiterToolStripMenuItem.Text" xml:space="preserve">
<value>Loiter</value>
</data>
<data name="jumpstartToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>102, 22</value>
</data>
<data name="jumpstartToolStripMenuItem.Text" xml:space="preserve">
<value>Start</value>
</data>
<data name="jumpwPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>102, 22</value>
</data>
<data name="jumpwPToolStripMenuItem.Text" xml:space="preserve">
<value>WP #</value>
</data>
<data name="jumpToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
<data name="jumpToolStripMenuItem.Text" xml:space="preserve">
<value>Jump</value>
</data>
<data name="toolStripSeparator1.Size" type="System.Drawing.Size, System.Drawing">
<value>164, 6</value>
</data>
<data name="ContextMeasure.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
<data name="ContextMeasure.Text" xml:space="preserve">
<value>Measure Distance</value>
</data>
<data name="rotateMapToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
<data name="rotateMapToolStripMenuItem.Text" xml:space="preserve">
<value>Rotate Map</value>
</data>
<data name="addPolygonPointToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>174, 22</value>
</data>
<data name="addPolygonPointToolStripMenuItem.Text" xml:space="preserve">
<value>Add Polygon Point</value>
</data>
<data name="clearPolygonToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>174, 22</value>
</data>
<data name="clearPolygonToolStripMenuItem.Text" xml:space="preserve">
<value>Clear Polygon</value>
</data>
<data name="gridToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
<data name="gridToolStripMenuItem.Text" xml:space="preserve">
<value>Grid 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="contextMenuStrip1.Size" type="System.Drawing.Size, System.Drawing"> <data name="contextMenuStrip1.Size" type="System.Drawing.Size, System.Drawing">
<value>168, 164</value> <value>168, 164</value>
</data> </data>
@ -1831,6 +2092,93 @@
<data name="&gt;&gt;MainMap.ZOrder" xml:space="preserve"> <data name="&gt;&gt;MainMap.ZOrder" xml:space="preserve">
<value>3</value> <value>3</value>
</data> </data>
<data name="deleteWPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
<data name="deleteWPToolStripMenuItem.Text" xml:space="preserve">
<value>Delete WP</value>
</data>
<data name="loiterToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
<data name="loiterToolStripMenuItem.Text" xml:space="preserve">
<value>Loiter</value>
</data>
<data name="loiterForeverToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>113, 22</value>
</data>
<data name="loiterForeverToolStripMenuItem.Text" xml:space="preserve">
<value>Forever</value>
</data>
<data name="loitertimeToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>113, 22</value>
</data>
<data name="loitertimeToolStripMenuItem.Text" xml:space="preserve">
<value>Time</value>
</data>
<data name="loitercirclesToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>113, 22</value>
</data>
<data name="loitercirclesToolStripMenuItem.Text" xml:space="preserve">
<value>Circles</value>
</data>
<data name="jumpToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
<data name="jumpToolStripMenuItem.Text" xml:space="preserve">
<value>Jump</value>
</data>
<data name="jumpstartToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>102, 22</value>
</data>
<data name="jumpstartToolStripMenuItem.Text" xml:space="preserve">
<value>Start</value>
</data>
<data name="jumpwPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>102, 22</value>
</data>
<data name="jumpwPToolStripMenuItem.Text" xml:space="preserve">
<value>WP #</value>
</data>
<data name="toolStripSeparator1.Size" type="System.Drawing.Size, System.Drawing">
<value>164, 6</value>
</data>
<data name="ContextMeasure.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
<data name="ContextMeasure.Text" xml:space="preserve">
<value>Measure Distance</value>
</data>
<data name="rotateMapToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
<data name="rotateMapToolStripMenuItem.Text" xml:space="preserve">
<value>Rotate Map</value>
</data>
<data name="gridToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>167, 22</value>
</data>
<data name="gridToolStripMenuItem.Text" xml:space="preserve">
<value>Grid Polygon</value>
</data>
<data name="addPolygonPointToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>174, 22</value>
</data>
<data name="addPolygonPointToolStripMenuItem.Text" xml:space="preserve">
<value>Add Polygon Point</value>
</data>
<data name="clearPolygonToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>174, 22</value>
</data>
<data name="clearPolygonToolStripMenuItem.Text" xml:space="preserve">
<value>Clear 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="trackBar1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms"> <data name="trackBar1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
<value>Top, Bottom, Right</value> <value>Top, Bottom, Right</value>
</data> </data>
@ -1894,33 +2242,6 @@
<data name="&gt;&gt;label11.ZOrder" xml:space="preserve"> <data name="&gt;&gt;label11.ZOrder" xml:space="preserve">
<value>5</value> <value>5</value>
</data> </data>
<data name="panelMap.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
<value>Fill</value>
</data>
<data name="panelMap.Location" type="System.Drawing.Point, System.Drawing">
<value>0, 0</value>
</data>
<data name="panelMap.Size" type="System.Drawing.Size, System.Drawing">
<value>878, 313</value>
</data>
<data name="panelMap.TabIndex" type="System.Int32, mscorlib">
<value>51</value>
</data>
<data name="panelMap.Text" xml:space="preserve">
<value>panel6</value>
</data>
<data name="&gt;&gt;panelMap.Name" xml:space="preserve">
<value>panelMap</value>
</data>
<data name="&gt;&gt;panelMap.Type" xml:space="preserve">
<value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</data>
<data name="&gt;&gt;panelMap.Parent" xml:space="preserve">
<value>panelBASE</value>
</data>
<data name="&gt;&gt;panelMap.ZOrder" xml:space="preserve">
<value>1</value>
</data>
<data name="panelBASE.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms"> <data name="panelBASE.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
<value>Fill</value> <value>Fill</value>
</data> </data>

2
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -34,6 +34,7 @@ namespace ArdupilotMega
bool oldlogformat = false; bool oldlogformat = false;
byte mavlinkversion = 0; byte mavlinkversion = 0;
public byte aptype = 0;
byte[] readingpacket = new byte[256]; byte[] readingpacket = new byte[256];
public PointLatLngAlt[] wps = new PointLatLngAlt[200]; public PointLatLngAlt[] wps = new PointLatLngAlt[200];
@ -190,6 +191,7 @@ namespace ArdupilotMega
hb = (MAVLink.__mavlink_heartbeat_t)(temp); hb = (MAVLink.__mavlink_heartbeat_t)(temp);
mavlinkversion = hb.mavlink_version; mavlinkversion = hb.mavlink_version;
aptype = hb.type;
sysid = buffer[3]; sysid = buffer[3];
compid = buffer[4]; compid = buffer[4];

16
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -79,13 +79,12 @@ namespace ArdupilotMega
GCSViews.Firmware Firmware; GCSViews.Firmware Firmware;
GCSViews.Terminal Terminal; GCSViews.Terminal Terminal;
public void testpython()
{
Console.WriteLine("hello world from c# via python");
}
public MainV2() public MainV2()
{ {
//new temp().ShowDialog();
//return;
Form splash = new Splash(); Form splash = new Splash();
splash.Show(); splash.Show();
@ -108,10 +107,6 @@ namespace ArdupilotMega
//return; //return;
// preload
Python.CreateEngine();
var t = Type.GetType("Mono.Runtime"); var t = Type.GetType("Mono.Runtime");
MONO = (t != null); MONO = (t != null);
@ -176,6 +171,9 @@ namespace ArdupilotMega
Simulation = new GCSViews.Simulation(); Simulation = new GCSViews.Simulation();
Firmware = new GCSViews.Firmware(); Firmware = new GCSViews.Firmware();
//Terminal = new GCSViews.Terminal(); //Terminal = new GCSViews.Terminal();
// preload
Python.CreateEngine();
} }
catch (Exception e) { MessageBox.Show("A Major error has occured : " + e.ToString()); this.Close(); } catch (Exception e) { MessageBox.Show("A Major error has occured : " + e.ToString()); this.Close(); }

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
View File

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below: // by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")] // [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")] [assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.99")] [assembly: AssemblyFileVersion("1.1.1")]
[assembly: NeutralResourcesLanguageAttribute("")] [assembly: NeutralResourcesLanguageAttribute("")]

36
Tools/ArdupilotMegaPlanner/Setup/Setup.Designer.cs generated
View File

@ -121,13 +121,11 @@
this.label44 = new System.Windows.Forms.Label(); this.label44 = new System.Windows.Forms.Label();
this.label43 = new System.Windows.Forms.Label(); this.label43 = new System.Windows.Forms.Label();
this.label42 = new System.Windows.Forms.Label(); this.label42 = new System.Windows.Forms.Label();
this.BUT_HS4save = new ArdupilotMega.MyButton();
this.groupBox2 = new System.Windows.Forms.GroupBox(); this.groupBox2 = new System.Windows.Forms.GroupBox();
this.label24 = new System.Windows.Forms.Label(); this.label24 = new System.Windows.Forms.Label();
this.HS4_MIN = new System.Windows.Forms.TextBox(); this.HS4_MIN = new System.Windows.Forms.TextBox();
this.HS4_MAX = new System.Windows.Forms.TextBox(); this.HS4_MAX = new System.Windows.Forms.TextBox();
this.label40 = new System.Windows.Forms.Label(); this.label40 = new System.Windows.Forms.Label();
this.BUT_swash_manual = new ArdupilotMega.MyButton();
this.groupBox1 = new System.Windows.Forms.GroupBox(); this.groupBox1 = new System.Windows.Forms.GroupBox();
this.label41 = new System.Windows.Forms.Label(); this.label41 = new System.Windows.Forms.Label();
this.label21 = new System.Windows.Forms.Label(); this.label21 = new System.Windows.Forms.Label();
@ -160,6 +158,8 @@
this.HS2_REV = new System.Windows.Forms.CheckBox(); this.HS2_REV = new System.Windows.Forms.CheckBox();
this.HS1_REV = new System.Windows.Forms.CheckBox(); this.HS1_REV = new System.Windows.Forms.CheckBox();
this.label17 = new System.Windows.Forms.Label(); this.label17 = new System.Windows.Forms.Label();
this.BUT_HS4save = new ArdupilotMega.MyButton();
this.BUT_swash_manual = new ArdupilotMega.MyButton();
this.HS4 = new ArdupilotMega.HorizontalProgressBar2(); this.HS4 = new ArdupilotMega.HorizontalProgressBar2();
this.HS3 = new ArdupilotMega.VerticalProgressBar2(); this.HS3 = new ArdupilotMega.VerticalProgressBar2();
this.Gservoloc = new AGaugeApp.AGauge(); this.Gservoloc = new AGaugeApp.AGauge();
@ -874,9 +874,7 @@
this.tabHeli.Controls.Add(this.label44); this.tabHeli.Controls.Add(this.label44);
this.tabHeli.Controls.Add(this.label43); this.tabHeli.Controls.Add(this.label43);
this.tabHeli.Controls.Add(this.label42); this.tabHeli.Controls.Add(this.label42);
this.tabHeli.Controls.Add(this.BUT_HS4save);
this.tabHeli.Controls.Add(this.groupBox2); this.tabHeli.Controls.Add(this.groupBox2);
this.tabHeli.Controls.Add(this.BUT_swash_manual);
this.tabHeli.Controls.Add(this.groupBox1); this.tabHeli.Controls.Add(this.groupBox1);
this.tabHeli.Controls.Add(this.HS4_TRIM); this.tabHeli.Controls.Add(this.HS4_TRIM);
this.tabHeli.Controls.Add(this.HS3_TRIM); this.tabHeli.Controls.Add(this.HS3_TRIM);
@ -903,6 +901,8 @@
this.tabHeli.Controls.Add(this.HS2_REV); this.tabHeli.Controls.Add(this.HS2_REV);
this.tabHeli.Controls.Add(this.HS1_REV); this.tabHeli.Controls.Add(this.HS1_REV);
this.tabHeli.Controls.Add(this.label17); this.tabHeli.Controls.Add(this.label17);
this.tabHeli.Controls.Add(this.BUT_HS4save);
this.tabHeli.Controls.Add(this.BUT_swash_manual);
this.tabHeli.Controls.Add(this.HS4); this.tabHeli.Controls.Add(this.HS4);
this.tabHeli.Controls.Add(this.HS3); this.tabHeli.Controls.Add(this.HS3);
this.tabHeli.Controls.Add(this.Gservoloc); this.tabHeli.Controls.Add(this.Gservoloc);
@ -959,13 +959,6 @@
resources.ApplyResources(this.label42, "label42"); resources.ApplyResources(this.label42, "label42");
this.label42.Name = "label42"; this.label42.Name = "label42";
// //
// BUT_HS4save
//
resources.ApplyResources(this.BUT_HS4save, "BUT_HS4save");
this.BUT_HS4save.Name = "BUT_HS4save";
this.BUT_HS4save.UseVisualStyleBackColor = true;
this.BUT_HS4save.Click += new System.EventHandler(this.BUT_HS4save_Click);
//
// groupBox2 // groupBox2
// //
this.groupBox2.Controls.Add(this.label24); this.groupBox2.Controls.Add(this.label24);
@ -1002,13 +995,6 @@
resources.ApplyResources(this.label40, "label40"); resources.ApplyResources(this.label40, "label40");
this.label40.Name = "label40"; this.label40.Name = "label40";
// //
// BUT_swash_manual
//
resources.ApplyResources(this.BUT_swash_manual, "BUT_swash_manual");
this.BUT_swash_manual.Name = "BUT_swash_manual";
this.BUT_swash_manual.UseVisualStyleBackColor = true;
this.BUT_swash_manual.Click += new System.EventHandler(this.BUT_swash_manual_Click);
//
// groupBox1 // groupBox1
// //
this.groupBox1.Controls.Add(this.label41); this.groupBox1.Controls.Add(this.label41);
@ -1262,6 +1248,20 @@
resources.ApplyResources(this.label17, "label17"); resources.ApplyResources(this.label17, "label17");
this.label17.Name = "label17"; this.label17.Name = "label17";
// //
// BUT_HS4save
//
resources.ApplyResources(this.BUT_HS4save, "BUT_HS4save");
this.BUT_HS4save.Name = "BUT_HS4save";
this.BUT_HS4save.UseVisualStyleBackColor = true;
this.BUT_HS4save.Click += new System.EventHandler(this.BUT_HS4save_Click);
//
// BUT_swash_manual
//
resources.ApplyResources(this.BUT_swash_manual, "BUT_swash_manual");
this.BUT_swash_manual.Name = "BUT_swash_manual";
this.BUT_swash_manual.UseVisualStyleBackColor = true;
this.BUT_swash_manual.Click += new System.EventHandler(this.BUT_swash_manual_Click);
//
// HS4 // HS4
// //
this.HS4.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69))))); this.HS4.BackgroundColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69)))));

6
Tools/ArdupilotMegaPlanner/Setup/Setup.cs
View File

@ -544,6 +544,8 @@ namespace ArdupilotMega.Setup
} }
catch { MessageBox.Show("Invalid input!"); return; } catch { MessageBox.Show("Invalid input!"); return; }
TXT_declination.Text = dec.ToString();
MainV2.comPort.setParam("COMPASS_DEC", dec * deg2rad); MainV2.comPort.setParam("COMPASS_DEC", dec * deg2rad);
} }
} }
@ -786,11 +788,11 @@ namespace ArdupilotMega.Setup
} }
catch (Exception ex) { MainV2.givecomport = false; MessageBox.Show("Invalid Comport Settings : " + ex.Message); return; } catch (Exception ex) { MainV2.givecomport = false; MessageBox.Show("Invalid Comport Settings : " + ex.Message); return; }
BUT_reset.Text = "Rebooting (20 sec)"; BUT_reset.Text = "Rebooting (60 sec)";
BUT_reset.Refresh(); BUT_reset.Refresh();
Application.DoEvents(); Application.DoEvents();
Sleep(20000, comPortT); // wait for boot/reset Sleep(60000, comPortT); // wait for boot/reset
comPortT.DtrEnable = false; comPortT.DtrEnable = false;

2544
Tools/ArdupilotMegaPlanner/Setup/Setup.resx
View File

File diff suppressed because it is too large Load Diff

4
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
View File

@ -4,14 +4,14 @@
<description asmv2:publisher="Michael Oborne" asmv2:product="ArdupilotMegaPlanner" xmlns="urn:schemas-microsoft-com:asm.v1" /> <description asmv2:publisher="Michael Oborne" asmv2:product="ArdupilotMegaPlanner" xmlns="urn:schemas-microsoft-com:asm.v1" />
<deployment install="true" /> <deployment install="true" />
<dependency> <dependency>
<dependentAssembly dependencyType="install" codebase="ArdupilotMegaPlanner.exe.manifest" size="23309"> <dependentAssembly dependencyType="install" codebase="ArdupilotMegaPlanner.exe.manifest" size="25308">
<assemblyIdentity name="ArdupilotMegaPlanner.exe" version="0.0.0.1" publicKeyToken="0000000000000000" language="en-US" processorArchitecture="x86" type="win32" /> <assemblyIdentity name="ArdupilotMegaPlanner.exe" version="0.0.0.1" publicKeyToken="0000000000000000" language="en-US" processorArchitecture="x86" type="win32" />
<hash> <hash>
<dsig:Transforms> <dsig:Transforms>
<dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" /> <dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
</dsig:Transforms> </dsig:Transforms>
<dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" /> <dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
<dsig:DigestValue>QOAVY4eRCMREZxVv8+wq0bmXS7U=</dsig:DigestValue> <dsig:DigestValue>mN7pjMOs48ZdF2S8vaEAJbtq8b4=</dsig:DigestValue>
</hash> </hash>
</dependentAssembly> </dependentAssembly>
</dependency> </dependency>

0
Tools/ArdupilotMegaPlanner/bin/Release/srtm/placeholder.txt Normal file
View File

13
Tools/ArdupilotMegaPlanner/temp.Designer.cs generated
View File

@ -44,6 +44,7 @@
this.BUT_geinjection = new ArdupilotMega.MyButton(); this.BUT_geinjection = new ArdupilotMega.MyButton();
this.BUT_clearcustommaps = new ArdupilotMega.MyButton(); this.BUT_clearcustommaps = new ArdupilotMega.MyButton();
this.BUT_lang_edit = new ArdupilotMega.MyButton(); this.BUT_lang_edit = new ArdupilotMega.MyButton();
this.myButton1 = new ArdupilotMega.MyButton();
this.SuspendLayout(); this.SuspendLayout();
// //
// button1 // button1
@ -202,11 +203,22 @@
this.BUT_lang_edit.UseVisualStyleBackColor = true; this.BUT_lang_edit.UseVisualStyleBackColor = true;
this.BUT_lang_edit.Click += new System.EventHandler(this.BUT_lang_edit_Click); this.BUT_lang_edit.Click += new System.EventHandler(this.BUT_lang_edit_Click);
// //
// myButton1
//
this.myButton1.Location = new System.Drawing.Point(30, 174);
this.myButton1.Name = "myButton1";
this.myButton1.Size = new System.Drawing.Size(75, 23);
this.myButton1.TabIndex = 17;
this.myButton1.Text = "myButton1";
this.myButton1.UseVisualStyleBackColor = true;
this.myButton1.Click += new System.EventHandler(this.myButton1_Click);
//
// temp // temp
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(731, 281); this.ClientSize = new System.Drawing.Size(731, 281);
this.Controls.Add(this.myButton1);
this.Controls.Add(this.BUT_lang_edit); this.Controls.Add(this.BUT_lang_edit);
this.Controls.Add(this.BUT_clearcustommaps); this.Controls.Add(this.BUT_clearcustommaps);
this.Controls.Add(this.BUT_geinjection); this.Controls.Add(this.BUT_geinjection);
@ -249,6 +261,7 @@
private MyButton BUT_geinjection; private MyButton BUT_geinjection;
private MyButton BUT_clearcustommaps; private MyButton BUT_clearcustommaps;
private MyButton BUT_lang_edit; private MyButton BUT_lang_edit;
private MyButton myButton1;
//private SharpVectors.Renderers.Forms.SvgPictureBox svgPictureBox1; //private SharpVectors.Renderers.Forms.SvgPictureBox svgPictureBox1;
} }

217
Tools/ArdupilotMegaPlanner/temp.cs
View File

@ -9,12 +9,14 @@ using System.Text.RegularExpressions;
using System.IO.Ports; using System.IO.Ports;
using System.IO; using System.IO;
using System.Runtime.InteropServices; using System.Runtime.InteropServices;
using System.Net;
using GMap.NET.WindowsForms; using GMap.NET.WindowsForms;
using GMap.NET.CacheProviders; using GMap.NET.CacheProviders;
//using SharpVectors.Renderers.Forms; using OpenGlobe.Core;
//using SharpVectors.Converters; using OpenGlobe.Renderer;
using OpenGlobe.Scene;
namespace ArdupilotMega namespace ArdupilotMega
@ -870,6 +872,217 @@ namespace ArdupilotMega
{ {
new resedit.Form1().Show(); new resedit.Form1().Show();
} }
GraphicsWindow _window;
SceneState _sceneState;
CameraLookAtPoint _lookCamera;
CameraFly _flyCamera;
ClearState _clearState;
GlobeClipmapTerrain _clipmap;
HeadsUpDisplay _hud;
Font _hudFont;
RayCastedGlobe _globe;
ClearState _clearDepth;
Ellipsoid _ellipsoid;
private void myButton1_Click(object sender, EventArgs e)
{
_window = Device.CreateWindow(800, 600, "Chapter 13: Clipmap Terrain on a Globe");
_ellipsoid = Ellipsoid.Wgs84;
WorldWindTerrainSource terrainSource = new WorldWindTerrainSource();
GMapRestImagery imagery = new GMapRestImagery();
_clipmap = new GlobeClipmapTerrain(_window.Context, terrainSource, imagery, _ellipsoid, 511);
_clipmap.HeightExaggeration = 1.0f;
IList<GridResolution> gridResolutions = new List<GridResolution>();
gridResolutions.Add(new GridResolution(
new Interval(0, 1000000, IntervalEndpoint.Closed, IntervalEndpoint.Open),
new Vector2D(0.005, 0.005)));
gridResolutions.Add(new GridResolution(
new Interval(1000000, 2000000, IntervalEndpoint.Closed, IntervalEndpoint.Open),
new Vector2D(0.01, 0.01)));
gridResolutions.Add(new GridResolution(
new Interval(2000000, 20000000, IntervalEndpoint.Closed, IntervalEndpoint.Open),
new Vector2D(0.05, 0.05)));
gridResolutions.Add(new GridResolution(
new Interval(20000000, double.MaxValue, IntervalEndpoint.Closed, IntervalEndpoint.Open),
new Vector2D(0.1, 0.1)));
_sceneState = new SceneState();
_sceneState.DiffuseIntensity = 0.90f;
_sceneState.SpecularIntensity = 0.05f;
_sceneState.AmbientIntensity = 0.05f;
_sceneState.Camera.FieldOfViewY = Math.PI / 3.0;
_clearState = new ClearState();
_clearState.Color = Color.White;
_sceneState.Camera.PerspectiveNearPlaneDistance = 0.000001 * _ellipsoid.MaximumRadius;
_sceneState.Camera.PerspectiveFarPlaneDistance = 10.0 * _ellipsoid.MaximumRadius;
_sceneState.SunPosition = new Vector3D(200000, 300000, 200000) * _ellipsoid.MaximumRadius;
_lookCamera = new CameraLookAtPoint(_sceneState.Camera, _window, _ellipsoid);
_lookCamera.Range = 1.5 * _ellipsoid.MaximumRadius;
_globe = new RayCastedGlobe(_window.Context);
_globe.Shape = _ellipsoid;
Bitmap bitmap = new Bitmap("NE2_50M_SR_W_4096.jpg");
_globe.Texture = Device.CreateTexture2D(bitmap, TextureFormat.RedGreenBlue8, false);
//_globe.GridResolutions = new GridResolutionCollection(gridResolutions);
_clearDepth = new ClearState();
_clearDepth.Buffers = ClearBuffers.DepthBuffer | ClearBuffers.StencilBuffer;
//_window.Keyboard.KeyDown += OnKeyDown;
_window.Resize += OnResize;
_window.RenderFrame += OnRenderFrame;
_window.PreRenderFrame += OnPreRenderFrame;
_hudFont = new Font("Arial", 16);
_hud = new HeadsUpDisplay();
_hud.Color = Color.Blue;
//_flyCamera = new CameraFly(_sceneState.Camera, _window);
//_flyCamera.MovementRate = 1200.0;
//_flyCamera.InputEnabled = true;
_sceneState.Camera.Target = new Vector3D(115, -35, 100.0);
_window.Run(30);
}
private void OnResize()
{
_window.Context.Viewport = new Rectangle(0, 0, _window.Width, _window.Height);
_sceneState.Camera.AspectRatio = _window.Width / (double)_window.Height;
}
private void OnRenderFrame()
{
Context context = _window.Context;
context.Clear(_clearState);
_globe.Render(context, _sceneState);
context.Clear(_clearDepth);
_clipmap.Render(context, _sceneState);
//_sceneState.Camera.Target = new Vector3D(115000, -350000, 100000.0);
if (_hud != null)
{
//_hud.Render(context, _sceneState);
}
}
private void OnPreRenderFrame()
{
Context context = _window.Context;
_clipmap.PreRender(context, _sceneState);
}
} }
public class GMapRestImagery : RasterSource
{
GMapControl MainMap;
public GMapRestImagery()
{
//_baseUri = baseUri;
_levels = new RasterLevel[NumberOfLevels];
_levelsCollection = new RasterLevelCollection(_levels);
double deltaLongitude = LevelZeroDeltaLongitudeDegrees;
double deltaLatitude = LevelZeroDeltaLatitudeDegrees;
for (int i = 0; i < _levels.Length; ++i)
{
int longitudePosts = (int)Math.Round(360.0 / deltaLongitude) * TileLongitudePosts + 1;
int latitudePosts = (int)Math.Round(180 / deltaLatitude) * TileLatitudePosts + 1;
_levels[i] = new RasterLevel(this, i, _extent, longitudePosts, latitudePosts, TileLongitudePosts, TileLatitudePosts);
deltaLongitude /= 2.0;
deltaLatitude /= 2.0;
}
MainMap = new GMapControl();
MainMap.MapType = GMap.NET.MapType.GoogleSatellite;
MainMap.CacheLocation = Path.GetDirectoryName(Application.ExecutablePath) + "/gmapcache/";
}
public override GeodeticExtent Extent
{
get { return _extent; }
}
public int TileLongitudePosts
{
get { return 256; }
}
public int TileLatitudePosts
{
get { return 256; }
}
public override RasterLevelCollection Levels
{
get { return _levelsCollection; }
}
public override Texture2D LoadTileTexture(RasterTileIdentifier identifier)
{
//if (identifier.Level > 4)
//return null;
int level = identifier.Level; // 0 is -180 long
int longitudeIndex = ((_levels[level].LongitudePosts / _levels[level].LongitudePostsPerTile) / 2 / 2) + identifier.X; // (_levels[level].LongitudePosts / _levels[level].LongitudePostsPerTile) -
int latitudeIndex = identifier.Y; // (_levels[level].LatitudePosts / _levels[level].LatitudePostsPerTile) -
int damn = (1 << level) - latitudeIndex - 1;
Console.WriteLine(" z {0} lat {1} lon {2} ", level, damn, longitudeIndex);
GMap.NET.PureImage img = MainMap.Manager.ImageCacheLocal.GetImageFromCache(GMap.NET.MapType.GoogleSatellite, new GMap.NET.GPoint(longitudeIndex, damn), level);
Application.DoEvents();
try
{
Bitmap bitmap = new Bitmap(new Bitmap(img.Data), 256, 256);
Graphics e = Graphics.FromImage(bitmap);
e.DrawString(level + " " +longitudeIndex + "," + damn, new Font("Arial", 20), Brushes.White, new PointF(0, 0));
return Device.CreateTexture2DRectangle(bitmap, TextureFormat.RedGreenBlue8);
}
catch {
try
{
return null;
}
catch { return null; }
}
}
private Uri _baseUri;
private GeodeticExtent _extent = new GeodeticExtent(-0, -90, 360, 90);
private int _tilesLoaded;
private RasterLevel[] _levels;
private RasterLevelCollection _levelsCollection;
private const int NumberOfLevels = 20;
private const double LevelZeroDeltaLongitudeDegrees = 180;
private const double LevelZeroDeltaLatitudeDegrees = 180;
}
} }

8
Tools/autotest/pysim/aircraft.py
View File

@ -17,9 +17,17 @@ class Aircraft(object):
self.pitch = 0.0 # degrees self.pitch = 0.0 # degrees
self.roll = 0.0 # degrees self.roll = 0.0 # degrees
self.yaw = 0.0 # degrees self.yaw = 0.0 # degrees
# rates in earth frame
self.pitch_rate = 0.0 # degrees/s self.pitch_rate = 0.0 # degrees/s
self.roll_rate = 0.0 # degrees/s self.roll_rate = 0.0 # degrees/s
self.yaw_rate = 0.0 # degrees/s self.yaw_rate = 0.0 # degrees/s
# rates in body frame
self.pDeg = 0.0 # degrees/s
self.qDeg = 0.0 # degrees/s
self.rDeg = 0.0 # degrees/s
self.velocity = euclid.Vector3(0, 0, 0) # m/s, North, East, Up self.velocity = euclid.Vector3(0, 0, 0) # m/s, North, East, Up
self.position = euclid.Vector3(0, 0, 0) # m North, East, Up self.position = euclid.Vector3(0, 0, 0) # m North, East, Up
self.accel = euclid.Vector3(0, 0, 0) # m/s/s North, East, Up self.accel = euclid.Vector3(0, 0, 0) # m/s/s North, East, Up

16
Tools/autotest/pysim/quadcopter.py
View File

@ -34,15 +34,21 @@ class QuadCopter(Aircraft):
delta_time = t - self.last_time delta_time = t - self.last_time
self.last_time = t self.last_time = t
# rotational acceleration, in degrees/s/s # rotational acceleration, in degrees/s/s, in body frame
roll_accel = (m[1] - m[0]) * 5000.0 roll_accel = (m[1] - m[0]) * 5000.0
pitch_accel = (m[2] - m[3]) * 5000.0 pitch_accel = (m[2] - m[3]) * 5000.0
yaw_accel = -((m[2]+m[3]) - (m[0]+m[1])) * 400.0 yaw_accel = -((m[2]+m[3]) - (m[0]+m[1])) * 400.0
# update rotational rates # update rotational rates in body frame
self.roll_rate += roll_accel * delta_time self.pDeg += roll_accel * delta_time
self.pitch_rate += pitch_accel * delta_time self.qDeg += pitch_accel * delta_time
self.yaw_rate += yaw_accel * delta_time self.rDeg += yaw_accel * delta_time
# calculate rates in earth frame
(self.roll_rate,
self.pitch_rate,
self.yaw_rate) = util.BodyRatesToEarthRates(self.roll, self.pitch, self.yaw,
self.pDeg, self.qDeg, self.rDeg)
# update rotation # update rotation
self.roll += self.roll_rate * delta_time self.roll += self.roll_rate * delta_time

49
Tools/autotest/pysim/util.py
View File

@ -290,6 +290,55 @@ def check_parent(parent_pid=os.getppid()):
sys.exit(1) sys.exit(1)
def EarthRatesToBodyRates(roll, pitch, yaw,
rollRate, pitchRate, yawRate):
'''convert the angular velocities from earth frame to
body frame. Thanks to James Goppert for the formula
all inputs and outputs are in degrees
returns a tuple, (p,q,r)
'''
from math import radians, degrees, sin, cos, tan
phi = radians(roll)
theta = radians(pitch)
phiDot = radians(rollRate)
thetaDot = radians(pitchRate)
psiDot = radians(yawRate)
p = phiDot - psiDot*sin(theta)
q = cos(phi)*thetaDot + sin(phi)*psiDot*cos(theta)
r = cos(phi)*psiDot*cos(theta) - sin(phi)*thetaDot
return (degrees(p), degrees(q), degrees(r))
def BodyRatesToEarthRates(roll, pitch, yaw, pDeg, qDeg, rDeg):
'''convert the angular velocities from body frame to
earth frame.
all inputs and outputs are in degrees
returns a tuple, (rollRate,pitchRate,yawRate)
'''
from math import radians, degrees, sin, cos, tan, fabs
p = radians(pDeg)
q = radians(qDeg)
r = radians(rDeg)
phi = radians(roll)
theta = radians(pitch)
phiDot = p + tan(theta)*(q*sin(phi) + r*cos(phi))
thetaDot = q*cos(phi) - r*sin(phi)
if fabs(cos(theta)) < 1.0e-20:
theta += 1.0e-10
psiDot = (q*sin(phi) + r*cos(phi))/cos(theta)
return (degrees(phiDot), degrees(thetaDot), degrees(psiDot))
if __name__ == "__main__": if __name__ == "__main__":
import doctest import doctest
doctest.testmod() doctest.testmod()

17
libraries/APM_PI/APM_PI.cpp
View File

@ -7,10 +7,14 @@
#include "APM_PI.h" #include "APM_PI.h"
long int32_t APM_PI::get_p(int32_t error)
APM_PI::get_pi(int32_t error, float dt, bool calc_i)
{ {
if(calc_i){ return (float)error * _kp;
}
int32_t APM_PI::get_i(int32_t error, float dt)
{
if(dt != 0){
_integrator += ((float)error * _ki) * dt; _integrator += ((float)error * _ki) * dt;
if (_integrator < -_imax) { if (_integrator < -_imax) {
@ -19,7 +23,12 @@ APM_PI::get_pi(int32_t error, float dt, bool calc_i)
_integrator = _imax; _integrator = _imax;
} }
} }
return (float)error * _kp + _integrator; return _integrator;
}
int32_t APM_PI::get_pi(int32_t error, float dt)
{
return get_p(error) + get_i(error, dt);
} }
void void

5
libraries/APM_PI/APM_PI.h
View File

@ -78,7 +78,10 @@ public:
/// @returns The updated control output. /// @returns The updated control output.
/// ///
//long get_pi(int32_t error, float dt); //long get_pi(int32_t error, float dt);
long get_pi(int32_t error, float dt, bool calc_i=true); int32_t get_pi(int32_t error, float dt);
int32_t get_p(int32_t error);
int32_t get_i(int32_t error, float dt);
/// Reset the PI integrator /// Reset the PI integrator
/// ///

2
libraries/APM_RC/APM_RC.h
View File

@ -39,7 +39,7 @@ class Arduino_Mega_ISR_Registry;
class APM_RC_Class class APM_RC_Class
{ {
public: public:
virtual void Init( Arduino_Mega_ISR_Registry * isr_reg ); virtual void Init( Arduino_Mega_ISR_Registry * isr_reg ) = 0;
virtual void OutputCh(uint8_t ch, uint16_t pwm) = 0; virtual void OutputCh(uint8_t ch, uint16_t pwm) = 0;
virtual uint16_t InputCh(uint8_t ch) = 0; virtual uint16_t InputCh(uint8_t ch) = 0;
virtual uint8_t GetState() = 0; virtual uint8_t GetState() = 0;