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APM Planner 1.1.54 

change default rates to 3 hz
fix log play issue without a log loaded
fix heli setup screen
This commit is contained in:
Michael Oborne 2012-03-19 07:26:20 +08:00
parent f3eb15167c
commit 92ff8a75d5
16 changed files with 194 additions and 201 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
Tools/ArdupilotMegaPlanner/CurrentState.cs
View File

@ -271,9 +271,9 @@ namespace ArdupilotMega
{ {
mode = ""; mode = "";
messages = new List<string>(); messages = new List<string>();
rateattitude = 10; rateattitude = 3;
rateposition = 3; rateposition = 3;
ratestatus = 1; ratestatus = 3;
ratesensors = 3; ratesensors = 3;
raterc = 3; raterc = 3;
datetime = DateTime.MinValue; datetime = DateTime.MinValue;
@ -583,9 +583,9 @@ namespace ArdupilotMega
packetdropremote = sysstatus.packet_drop; packetdropremote = sysstatus.packet_drop;
if (oldmode != mode && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechmodeenabled") == "True") if (oldmode != mode && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechmodeenabled") == "True")
{ {
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode"))); MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
} }
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null; //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
@ -734,9 +734,9 @@ namespace ArdupilotMega
wpno = wpcur.seq; wpno = wpcur.seq;
if (oldwp != wpno && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechwaypointenabled") == "True") if (oldwp != wpno && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechwaypointenabled") == "True")
{ {
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint"))); MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
} }
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null; //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;

6
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
View File

@ -863,10 +863,10 @@ namespace ArdupilotMega.GCSViews
private void CHK_enablespeech_CheckedChanged(object sender, EventArgs e) private void CHK_enablespeech_CheckedChanged(object sender, EventArgs e)
{ {
MainV2.speechenable = CHK_enablespeech.Checked; MainV2.speechEnable = CHK_enablespeech.Checked;
MainV2.config["speechenable"] = CHK_enablespeech.Checked; MainV2.config["speechenable"] = CHK_enablespeech.Checked;
if (MainV2.talk != null) if (MainV2.speechEngine != null)
MainV2.talk.SpeakAsyncCancelAll(); MainV2.speechEngine.SpeakAsyncCancelAll();
} }
private void CMB_language_SelectedIndexChanged(object sender, EventArgs e) private void CMB_language_SelectedIndexChanged(object sender, EventArgs e)
{ {

12
Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
View File

@ -22,7 +22,7 @@ namespace ArdupilotMega.GCSViews
fd.ShowDialog(); fd.ShowDialog();
if (File.Exists(fd.FileName)) if (File.Exists(fd.FileName))
{ {
UploadFlash(fd.FileName, ArduinoDetect.DetectBoard(MainV2.comportname)); UploadFlash(fd.FileName, ArduinoDetect.DetectBoard(MainV2.comPortName));
} }
return true; return true;
} }
@ -312,7 +312,7 @@ namespace ArdupilotMega.GCSViews
MainV2.comPort.BaseStream.DtrEnable = false; MainV2.comPort.BaseStream.DtrEnable = false;
MainV2.comPort.Close(); MainV2.comPort.Close();
System.Threading.Thread.Sleep(100); System.Threading.Thread.Sleep(100);
MainV2.givecomport = true; MainV2.giveComport = true;
try try
{ {
@ -326,7 +326,7 @@ namespace ArdupilotMega.GCSViews
this.Refresh(); this.Refresh();
board = ArduinoDetect.DetectBoard(MainV2.comportname); board = ArduinoDetect.DetectBoard(MainV2.comPortName);
if (board == "") if (board == "")
{ {
@ -338,7 +338,7 @@ namespace ArdupilotMega.GCSViews
try try
{ {
apmformat_version = ArduinoDetect.decodeApVar(MainV2.comportname, board); apmformat_version = ArduinoDetect.decodeApVar(MainV2.comPortName, board);
} }
catch { } catch { }
@ -480,7 +480,7 @@ namespace ArdupilotMega.GCSViews
try try
{ {
port.PortName = MainV2.comportname; port.PortName = MainV2.comPortName;
port.Open(); port.Open();
@ -592,7 +592,7 @@ namespace ArdupilotMega.GCSViews
port.Close(); port.Close();
} }
flashing = false; flashing = false;
MainV2.givecomport = false; MainV2.giveComport = false;
} }
void port_Progress(int progress,string status) void port_Progress(int progress,string status)

11
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
View File

@ -258,7 +258,7 @@ namespace ArdupilotMega.GCSViews
{ {
if (threadrun == 0) { return; } if (threadrun == 0) { return; }
if (MainV2.givecomport == true) if (MainV2.giveComport == true)
{ {
System.Threading.Thread.Sleep(20); System.Threading.Thread.Sleep(20);
continue; continue;
@ -356,6 +356,9 @@ namespace ArdupilotMega.GCSViews
} }
else else
{ {
// ensure we know to stop
if (MainV2.comPort.logreadmode)
MainV2.comPort.logreadmode = false;
updatePlayPauseButton(false); updatePlayPauseButton(false);
} }
@ -914,15 +917,15 @@ namespace ArdupilotMega.GCSViews
try try
{ {
MainV2.givecomport = true; MainV2.giveComport = true;
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2); MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt,"Guided Mode"); GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt,"Guided Mode");
MainV2.givecomport = false; MainV2.giveComport = false;
} }
catch (Exception ex) { MainV2.givecomport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); } catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); }
} }

11
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
View File

@ -1012,7 +1012,6 @@ namespace ArdupilotMega.GCSViews
t1.Name = "Row number updater"; t1.Name = "Row number updater";
t1.IsBackground = true; t1.IsBackground = true;
t1.Start(); t1.Start();
MainV2.threads.Add(t1);
long temp = System.Diagnostics.Stopwatch.GetTimestamp(); long temp = System.Diagnostics.Stopwatch.GetTimestamp();
@ -1225,7 +1224,7 @@ namespace ArdupilotMega.GCSViews
throw new Exception("Please Connect First!"); throw new Exception("Please Connect First!");
} }
MainV2.givecomport = true; MainV2.giveComport = true;
param = port.param; param = port.param;
@ -1262,7 +1261,7 @@ namespace ArdupilotMega.GCSViews
catch (Exception exx) { log.Info(exx.ToString()); } catch (Exception exx) { log.Info(exx.ToString()); }
} }
MainV2.givecomport = false; MainV2.giveComport = false;
BUT_read.Enabled = true; BUT_read.Enabled = true;
@ -1334,7 +1333,7 @@ namespace ArdupilotMega.GCSViews
throw new Exception("Please Connect First!"); throw new Exception("Please Connect First!");
} }
MainV2.givecomport = true; MainV2.giveComport = true;
Locationwp home = new Locationwp(); Locationwp home = new Locationwp();
@ -1414,9 +1413,9 @@ namespace ArdupilotMega.GCSViews
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done."); ((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done.");
} }
catch (Exception ex) { MainV2.givecomport = false; throw ex; } catch (Exception ex) { MainV2.giveComport = false; throw ex; }
MainV2.givecomport = false; MainV2.giveComport = false;
} }
/// <summary> /// <summary>

1
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
View File

@ -336,7 +336,6 @@ namespace ArdupilotMega.GCSViews
IsBackground = true IsBackground = true
}; };
t11.Start(); t11.Start();
MainV2.threads.Add(t11);
timer_servo_graph.Start(); timer_servo_graph.Start();
} }
else else

5
Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs
View File

@ -171,14 +171,14 @@ namespace ArdupilotMega.GCSViews
{ {
try try
{ {
MainV2.givecomport = true; MainV2.giveComport = true;
if (comPort.IsOpen) if (comPort.IsOpen)
comPort.Close(); comPort.Close();
comPort.ReadBufferSize = 1024 * 1024; comPort.ReadBufferSize = 1024 * 1024;
comPort.PortName = MainV2.comportname; comPort.PortName = MainV2.comPortName;
comPort.Open(); comPort.Open();
@ -232,7 +232,6 @@ namespace ArdupilotMega.GCSViews
t11.IsBackground = true; t11.IsBackground = true;
t11.Name = "Terminal serial thread"; t11.Name = "Terminal serial thread";
t11.Start(); t11.Start();
MainV2.threads.Add(t11);
// doesnt seem to work on mac // doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived); //comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);

3
Tools/ArdupilotMegaPlanner/Log.cs
View File

@ -118,7 +118,6 @@ namespace ArdupilotMega
log.Info("Comport thread close"); log.Info("Comport thread close");
}) {Name = "comport reader"}; }) {Name = "comport reader"};
t11.Start(); t11.Start();
MainV2.threads.Add(t11);
// doesnt seem to work on mac // doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived); //comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
@ -728,7 +727,6 @@ namespace ArdupilotMega
System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadthread(1, logcount); }); System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadthread(1, logcount); });
t11.Name = "Log Download All thread"; t11.Name = "Log Download All thread";
t11.Start(); t11.Start();
MainV2.threads.Add(t11);
} }
} }
@ -779,7 +777,6 @@ namespace ArdupilotMega
System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadsinglethread(); }); System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadsinglethread(); });
t11.Name = "Log download single thread"; t11.Name = "Log download single thread";
t11.Start(); t11.Start();
MainV2.threads.Add(t11);
} }
} }

88
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -172,7 +172,7 @@ namespace ArdupilotMega
try try
{ {
MainV2.givecomport = true; MainV2.giveComport = true;
BaseStream.ReadBufferSize = 4 * 1024; BaseStream.ReadBufferSize = 4 * 1024;
@ -217,7 +217,7 @@ namespace ArdupilotMega
countDown.Stop(); countDown.Stop();
if (BaseStream.IsOpen) if (BaseStream.IsOpen)
BaseStream.Close(); BaseStream.Close();
MainV2.givecomport = false; MainV2.giveComport = false;
return; return;
} }
@ -296,7 +296,7 @@ namespace ArdupilotMega
if (frmProgressReporter.doWorkArgs.CancelAcknowledged == true) if (frmProgressReporter.doWorkArgs.CancelAcknowledged == true)
{ {
MainV2.givecomport = false; MainV2.giveComport = false;
if (BaseStream.IsOpen) if (BaseStream.IsOpen)
BaseStream.Close(); BaseStream.Close();
return; return;
@ -309,7 +309,7 @@ namespace ArdupilotMega
BaseStream.Close(); BaseStream.Close();
} }
catch { } catch { }
MainV2.givecomport = false; MainV2.giveComport = false;
// if (Progress != null) // if (Progress != null)
// Progress(-1, "Connect Failed\n" + e.Message); // Progress(-1, "Connect Failed\n" + e.Message);
if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage)) if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage))
@ -317,7 +317,7 @@ namespace ArdupilotMega
throw e; throw e;
} }
//frmProgressReporter.Close(); //frmProgressReporter.Close();
MainV2.givecomport = false; MainV2.giveComport = false;
frmProgressReporter.UpdateProgressAndStatus(100, "Done."); frmProgressReporter.UpdateProgressAndStatus(100, "Done.");
log.Info("Done open " + sysid + " " + compid); log.Info("Done open " + sysid + " " + compid);
packetslost = 0; packetslost = 0;
@ -491,7 +491,7 @@ namespace ArdupilotMega
return false; return false;
} }
MainV2.givecomport = true; MainV2.giveComport = true;
__mavlink_param_set_t req = new __mavlink_param_set_t(); __mavlink_param_set_t req = new __mavlink_param_set_t();
req.target_system = sysid; req.target_system = sysid;
@ -527,7 +527,7 @@ namespace ArdupilotMega
retrys--; retrys--;
continue; continue;
} }
MainV2.givecomport = false; MainV2.giveComport = false;
throw new Exception("Timeout on read - setParam " + paramname); throw new Exception("Timeout on read - setParam " + paramname);
} }
@ -557,7 +557,7 @@ namespace ArdupilotMega
param[st] = (par.param_value); param[st] = (par.param_value);
MainV2.givecomport = false; MainV2.giveComport = false;
//System.Threading.Thread.Sleep(100);//(int)(8.5 * 5)); // 8.5ms per byte //System.Threading.Thread.Sleep(100);//(int)(8.5 * 5)); // 8.5ms per byte
return true; return true;
} }
@ -602,7 +602,7 @@ namespace ArdupilotMega
/// <returns></returns> /// <returns></returns>
private Hashtable getParamListBG() private Hashtable getParamListBG()
{ {
MainV2.givecomport = true; MainV2.giveComport = true;
List<int> got = new List<int>(); List<int> got = new List<int>();
// clear old // clear old
@ -629,7 +629,7 @@ namespace ArdupilotMega
if (frmProgressReporter.doWorkArgs.CancelRequested) if (frmProgressReporter.doWorkArgs.CancelRequested)
{ {
frmProgressReporter.doWorkArgs.CancelAcknowledged = true; frmProgressReporter.doWorkArgs.CancelAcknowledged = true;
MainV2.givecomport = false; MainV2.giveComport = false;
frmProgressReporter.doWorkArgs.ErrorMessage = "User Canceled"; frmProgressReporter.doWorkArgs.ErrorMessage = "User Canceled";
return param; return param;
} }
@ -645,7 +645,7 @@ namespace ArdupilotMega
retrys--; retrys--;
continue; continue;
} }
MainV2.givecomport = false; MainV2.giveComport = false;
throw new Exception("Timeout on read - getParamList " + got.Count + " " + param_total + "\n\nYour serial link isn't fast enough\n"); throw new Exception("Timeout on read - getParamList " + got.Count + " " + param_total + "\n\nYour serial link isn't fast enough\n");
} }
@ -715,7 +715,7 @@ namespace ArdupilotMega
} }
throw new Exception("Missing Params"); throw new Exception("Missing Params");
} }
MainV2.givecomport = false; MainV2.giveComport = false;
return param; return param;
} }
@ -918,7 +918,7 @@ namespace ArdupilotMega
} }
} }
#else #else
MainV2.givecomport = true; MainV2.giveComport = true;
byte[] buffer; byte[] buffer;
__mavlink_waypoint_set_current_t req = new __mavlink_waypoint_set_current_t(); __mavlink_waypoint_set_current_t req = new __mavlink_waypoint_set_current_t();
@ -944,7 +944,7 @@ namespace ArdupilotMega
retrys--; retrys--;
continue; continue;
} }
MainV2.givecomport = false; MainV2.giveComport = false;
throw new Exception("Timeout on read - setWPCurrent"); throw new Exception("Timeout on read - setWPCurrent");
} }
@ -953,7 +953,7 @@ namespace ArdupilotMega
{ {
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_CURRENT) if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_CURRENT)
{ {
MainV2.givecomport = false; MainV2.giveComport = false;
return true; return true;
} }
} }
@ -962,7 +962,7 @@ namespace ArdupilotMega
public bool doAction(MAV_ACTION actionid) public bool doAction(MAV_ACTION actionid)
{ {
MainV2.givecomport = true; MainV2.giveComport = true;
byte[] buffer; byte[] buffer;
__mavlink_action_t req = new __mavlink_action_t(); __mavlink_action_t req = new __mavlink_action_t();
@ -1002,7 +1002,7 @@ namespace ArdupilotMega
retrys--; retrys--;
continue; continue;
} }
MainV2.givecomport = false; MainV2.giveComport = false;
throw new Exception("Timeout on read - doAction"); throw new Exception("Timeout on read - doAction");
} }
@ -1013,12 +1013,12 @@ namespace ArdupilotMega
{ {
if (buffer[7] == 1) if (buffer[7] == 1)
{ {
MainV2.givecomport = false; MainV2.giveComport = false;
return true; return true;
} }
else else
{ {
MainV2.givecomport = false; MainV2.giveComport = false;
return false; return false;
} }
} }
@ -1065,9 +1065,18 @@ namespace ArdupilotMega
} }
break; break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA3: case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA3:
if (packetspersecondbuild[MAVLINK_MSG_ID_DCM] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_DCM];
if (hzratecheck(pps, hzrate))
{
return;
}
break; break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION: case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION:
// ac2 does not send rate position
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
return;
if (packetspersecondbuild[MAVLINK_MSG_ID_GLOBAL_POSITION_INT] < DateTime.Now.AddSeconds(-2)) if (packetspersecondbuild[MAVLINK_MSG_ID_GLOBAL_POSITION_INT] < DateTime.Now.AddSeconds(-2))
break; break;
pps = packetspersecond[MAVLINK_MSG_ID_GLOBAL_POSITION_INT]; pps = packetspersecond[MAVLINK_MSG_ID_GLOBAL_POSITION_INT];
@ -1156,7 +1165,6 @@ namespace ArdupilotMega
req.req_stream_id = id; // id req.req_stream_id = id; // id
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req); generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
} }
/// <summary> /// <summary>
@ -1165,7 +1173,7 @@ namespace ArdupilotMega
/// <returns></returns> /// <returns></returns>
public byte getWPCount() public byte getWPCount()
{ {
MainV2.givecomport = true; MainV2.giveComport = true;
byte[] buffer; byte[] buffer;
#if MAVLINK10 #if MAVLINK10
__mavlink_mission_request_list_t req = new __mavlink_mission_request_list_t(); __mavlink_mission_request_list_t req = new __mavlink_mission_request_list_t();
@ -1236,13 +1244,13 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport); log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.giveComport);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, req); generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
continue; continue;
} }
MainV2.givecomport = false; MainV2.giveComport = false;
//return (byte)int.Parse(param["WP_TOTAL"].ToString()); //return (byte)int.Parse(param["WP_TOTAL"].ToString());
throw new Exception("Timeout on read - getWPCount"); throw new Exception("Timeout on read - getWPCount");
} }
@ -1254,7 +1262,7 @@ namespace ArdupilotMega
{ {
log.Info("wpcount: " + buffer[9]); log.Info("wpcount: " + buffer[9]);
MainV2.givecomport = false; MainV2.giveComport = false;
return buffer[9]; // should be ushort, but apm has limited wp count < byte return buffer[9]; // should be ushort, but apm has limited wp count < byte
} }
else else
@ -1273,7 +1281,7 @@ namespace ArdupilotMega
/// <returns>WP</returns> /// <returns>WP</returns>
public Locationwp getWP(ushort index) public Locationwp getWP(ushort index)
{ {
MainV2.givecomport = true; MainV2.giveComport = true;
Locationwp loc = new Locationwp(); Locationwp loc = new Locationwp();
#if MAVLINK10 #if MAVLINK10
__mavlink_mission_request_t req = new __mavlink_mission_request_t(); __mavlink_mission_request_t req = new __mavlink_mission_request_t();
@ -1350,7 +1358,7 @@ namespace ArdupilotMega
retrys--; retrys--;
continue; continue;
} }
MainV2.givecomport = false; MainV2.giveComport = false;
throw new Exception("Timeout on read - getWP"); throw new Exception("Timeout on read - getWP");
} }
//Console.WriteLine("getwp read " + DateTime.Now.Millisecond); //Console.WriteLine("getwp read " + DateTime.Now.Millisecond);
@ -1449,7 +1457,7 @@ namespace ArdupilotMega
} }
} }
} }
MainV2.givecomport = false; MainV2.giveComport = false;
return loc; return loc;
} }
@ -1608,7 +1616,7 @@ namespace ArdupilotMega
} }
} }
#else #else
MainV2.givecomport = true; MainV2.giveComport = true;
__mavlink_waypoint_count_t req = new __mavlink_waypoint_count_t(); __mavlink_waypoint_count_t req = new __mavlink_waypoint_count_t();
req.target_system = sysid; req.target_system = sysid;
@ -1633,7 +1641,7 @@ namespace ArdupilotMega
retrys--; retrys--;
continue; continue;
} }
MainV2.givecomport = false; MainV2.giveComport = false;
throw new Exception("Timeout on read - setWPTotal"); throw new Exception("Timeout on read - setWPTotal");
} }
byte[] buffer = readPacket(); byte[] buffer = readPacket();
@ -1649,7 +1657,7 @@ namespace ArdupilotMega
param["WP_TOTAL"] = (float)wp_total - 1; param["WP_TOTAL"] = (float)wp_total - 1;
if (param["CMD_TOTAL"] != null) if (param["CMD_TOTAL"] != null)
param["CMD_TOTAL"] = (float)wp_total - 1; param["CMD_TOTAL"] = (float)wp_total - 1;
MainV2.givecomport = false; MainV2.giveComport = false;
return; return;
} }
} }
@ -1672,7 +1680,7 @@ namespace ArdupilotMega
/// <param name="current">0 = no , 2 = guided mode</param> /// <param name="current">0 = no , 2 = guided mode</param>
public void setWP(Locationwp loc, ushort index, MAV_FRAME frame, byte current) public void setWP(Locationwp loc, ushort index, MAV_FRAME frame, byte current)
{ {
MainV2.givecomport = true; MainV2.giveComport = true;
#if MAVLINK10 #if MAVLINK10
__mavlink_mission_item_t req = new __mavlink_mission_item_t(); __mavlink_mission_item_t req = new __mavlink_mission_item_t();
#else #else
@ -1778,7 +1786,7 @@ namespace ArdupilotMega
retrys--; retrys--;
continue; continue;
} }
MainV2.givecomport = false; MainV2.giveComport = false;
throw new Exception("Timeout on read - setWP"); throw new Exception("Timeout on read - setWP");
} }
byte[] buffer = readPacket(); byte[] buffer = readPacket();
@ -1831,7 +1839,7 @@ namespace ArdupilotMega
if (ans.seq == (index + 1)) if (ans.seq == (index + 1))
{ {
log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]); log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
MainV2.givecomport = false; MainV2.giveComport = false;
break; break;
} }
else else
@ -2090,7 +2098,7 @@ namespace ArdupilotMega
if (bpstime.Second != DateTime.Now.Second && !logreadmode) if (bpstime.Second != DateTime.Now.Second && !logreadmode)
{ {
Console.Write("bps {0} loss {1} left {2} mem {3} \n", bps1, synclost, BaseStream.BytesToRead, System.GC.GetTotalMemory(false)); Console.Write("bps {0} loss {1} left {2} mem {3} \n", bps1, synclost, BaseStream.BytesToRead, System.GC.GetTotalMemory(false) / 1024 / 1024.0);
bps2 = bps1; // prev sec bps2 = bps1; // prev sec
bps1 = 0; // current sec bps1 = 0; // current sec
bpstime = DateTime.Now; bpstime = DateTime.Now;
@ -2196,7 +2204,7 @@ namespace ArdupilotMega
logdata = logdata.Substring(0, ind); logdata = logdata.Substring(0, ind);
log.Info(DateTime.Now + " " + logdata); log.Info(DateTime.Now + " " + logdata);
if (MainV2.talk != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True") if (MainV2.speechEngine != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True")
{ {
//MainV2.talk.SpeakAsync(logdata); //MainV2.talk.SpeakAsync(logdata);
} }
@ -2268,7 +2276,7 @@ namespace ArdupilotMega
{ {
byte[] buffer; byte[] buffer;
MainV2.givecomport = true; MainV2.giveComport = true;
PointLatLngAlt plla = new PointLatLngAlt(); PointLatLngAlt plla = new PointLatLngAlt();
__mavlink_fence_fetch_point_t req = new __mavlink_fence_fetch_point_t(); __mavlink_fence_fetch_point_t req = new __mavlink_fence_fetch_point_t();
@ -2289,13 +2297,13 @@ namespace ArdupilotMega
{ {
if (retrys > 0) if (retrys > 0)
{ {
log.Info("getFencePoint Retry " + retrys + " - giv com " + MainV2.givecomport); log.Info("getFencePoint Retry " + retrys + " - giv com " + MainV2.giveComport);
generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req); generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req);
start = DateTime.Now; start = DateTime.Now;
retrys--; retrys--;
continue; continue;
} }
MainV2.givecomport = false; MainV2.giveComport = false;
throw new Exception("Timeout on read - getFencePoint"); throw new Exception("Timeout on read - getFencePoint");
} }
@ -2304,7 +2312,7 @@ namespace ArdupilotMega
{ {
if (buffer[5] == MAVLINK_MSG_ID_FENCE_POINT) if (buffer[5] == MAVLINK_MSG_ID_FENCE_POINT)
{ {
MainV2.givecomport = false; MainV2.giveComport = false;
__mavlink_fence_point_t fp = buffer.ByteArrayToStructure<__mavlink_fence_point_t>(6); __mavlink_fence_point_t fp = buffer.ByteArrayToStructure<__mavlink_fence_point_t>(6);

166
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -39,14 +39,14 @@ namespace ArdupilotMega
const int SW_HIDE = 0; const int SW_HIDE = 0;
public static MAVLink comPort = new MAVLink(); public static MAVLink comPort = new MAVLink();
public static string comportname = ""; public static string comPortName = "";
public static Hashtable config = new Hashtable(); public static Hashtable config = new Hashtable();
public static bool givecomport = false; public static bool giveComport = false;
public static Firmwares APMFirmware = Firmwares.ArduPlane; public static Firmwares APMFirmware = Firmwares.ArduPlane;
public static bool MONO = false; public static bool MONO = false;
public static bool speechenable = false; public static bool speechEnable = false;
public static Speech talk = null; public static Speech speechEngine = null;
public static Joystick joystick = null; public static Joystick joystick = null;
DateTime lastjoystick = DateTime.Now; DateTime lastjoystick = DateTime.Now;
@ -55,22 +55,14 @@ namespace ArdupilotMega
public static CurrentState cs = new CurrentState(); public static CurrentState cs = new CurrentState();
bool serialthread = false; bool serialThread = false;
TcpListener listener; TcpListener listener;
DateTime heatbeatsend = DateTime.Now; DateTime heatbeatSend = DateTime.Now;
public static List<System.Threading.Thread> threads = new List<System.Threading.Thread>();
public static MainV2 instance = null; public static MainV2 instance = null;
/*
* "PITCH_KP",
"PITCH_KI",
"PITCH_LIM",
*/
public enum Firmwares public enum Firmwares
{ {
ArduPlane, ArduPlane,
@ -106,9 +98,7 @@ namespace ArdupilotMega
var t = Type.GetType("Mono.Runtime"); var t = Type.GetType("Mono.Runtime");
MONO = (t != null); MONO = (t != null);
talk = new Speech(); speechEngine = new Speech();
//talk.SpeakAsync("Welcome to APM Planner");
MyRenderer.currentpressed = MenuFlightData; MyRenderer.currentpressed = MenuFlightData;
@ -208,7 +198,7 @@ namespace ArdupilotMega
MainV2.cs.raterc = byte.Parse(config["CMB_ratesensors"].ToString()); MainV2.cs.raterc = byte.Parse(config["CMB_ratesensors"].ToString());
if (config["speechenable"] != null) if (config["speechenable"] != null)
MainV2.speechenable = bool.Parse(config["speechenable"].ToString()); MainV2.speechEnable = bool.Parse(config["speechenable"].ToString());
//int fixme; //int fixme;
/* /*
@ -461,7 +451,7 @@ namespace ArdupilotMega
MenuConnect_Click(sender, e); MenuConnect_Click(sender, e);
} }
givecomport = true; giveComport = true;
MyView.Controls.Clear(); MyView.Controls.Clear();
@ -493,7 +483,7 @@ namespace ArdupilotMega
private void MenuConnect_Click(object sender, EventArgs e) private void MenuConnect_Click(object sender, EventArgs e)
{ {
givecomport = false; giveComport = false;
if (comPort.BaseStream.IsOpen && cs.groundspeed > 4) if (comPort.BaseStream.IsOpen && cs.groundspeed > 4)
{ {
@ -509,8 +499,8 @@ namespace ArdupilotMega
{ {
try try
{ {
if (talk != null) // cancel all pending speech if (speechEngine != null) // cancel all pending speech
talk.SpeakAsyncCancelAll(); speechEngine.SpeakAsyncCancelAll();
} }
catch { } catch { }
@ -548,9 +538,6 @@ namespace ArdupilotMega
comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1"); comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1");
comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None"); comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None");
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
comPort.BaseStream.toggleDTR();
comPort.BaseStream.DtrEnable = false; comPort.BaseStream.DtrEnable = false;
try try
@ -642,13 +629,13 @@ namespace ArdupilotMega
private void CMB_serialport_SelectedIndexChanged(object sender, EventArgs e) private void CMB_serialport_SelectedIndexChanged(object sender, EventArgs e)
{ {
comportname = CMB_serialport.Text; comPortName = CMB_serialport.Text;
if (comportname == "UDP" || comportname == "TCP") if (comPortName == "UDP" || comPortName == "TCP")
{ {
CMB_baudrate.Enabled = false; CMB_baudrate.Enabled = false;
if (comportname == "TCP") if (comPortName == "TCP")
MainV2.comPort.BaseStream = new TcpSerial(); MainV2.comPort.BaseStream = new TcpSerial();
if (comportname == "UDP") if (comPortName == "UDP")
MainV2.comPort.BaseStream = new UdpSerial(); MainV2.comPort.BaseStream = new UdpSerial();
} }
else else
@ -682,7 +669,7 @@ namespace ArdupilotMega
GCSViews.FlightData.threadrun = 0; GCSViews.FlightData.threadrun = 0;
GCSViews.Simulation.threadrun = 0; GCSViews.Simulation.threadrun = 0;
serialthread = false; serialThread = false;
try try
{ {
@ -725,7 +712,7 @@ namespace ArdupilotMega
xmlwriter.WriteStartElement("Config"); xmlwriter.WriteStartElement("Config");
xmlwriter.WriteElementString("comport", comportname); xmlwriter.WriteElementString("comport", comPortName);
xmlwriter.WriteElementString("baudrate", CMB_baudrate.Text); xmlwriter.WriteElementString("baudrate", CMB_baudrate.Text);
@ -779,7 +766,7 @@ namespace ArdupilotMega
CMB_serialport.Text = temp; // allows ports that dont exist - yet CMB_serialport.Text = temp; // allows ports that dont exist - yet
} }
comPort.BaseStream.PortName = temp; comPort.BaseStream.PortName = temp;
comportname = temp; comPortName = temp;
break; break;
case "baudrate": case "baudrate":
string temp2 = xmlreader.ReadString(); string temp2 = xmlreader.ReadString();
@ -876,31 +863,10 @@ namespace ArdupilotMega
} }
} }
private void updateConnectIcon()
private void SerialReader()
{ {
if (serialthread == true)
return;
serialthread = true;
int minbytes = 10;
if (MONO)
minbytes = 0;
DateTime menuupdate = DateTime.Now; DateTime menuupdate = DateTime.Now;
DateTime speechcustomtime = DateTime.Now;
DateTime linkqualitytime = DateTime.Now;
while (serialthread)
{
try
{
System.Threading.Thread.Sleep(5);
if ((DateTime.Now - menuupdate).Milliseconds > 500) if ((DateTime.Now - menuupdate).Milliseconds > 500)
{ {
// Console.WriteLine(DateTime.Now.Millisecond); // Console.WriteLine(DateTime.Now.Millisecond);
@ -932,8 +898,33 @@ namespace ArdupilotMega
} }
menuupdate = DateTime.Now; menuupdate = DateTime.Now;
} }
}
if (speechenable && talk != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
private void SerialReader()
{
if (serialThread == true)
return;
serialThread = true;
int minbytes = 10;
if (MONO)
minbytes = 0;
DateTime speechcustomtime = DateTime.Now;
DateTime linkqualitytime = DateTime.Now;
while (serialThread)
{
try
{
System.Threading.Thread.Sleep(5);
updateConnectIcon();
if (speechEnable && speechEngine != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
{ {
//speechbatteryvolt //speechbatteryvolt
float warnvolt = 0; float warnvolt = 0;
@ -941,12 +932,12 @@ namespace ArdupilotMega
if (MainV2.getConfig("speechbatteryenabled") == "True" && MainV2.cs.battery_voltage <= warnvolt) if (MainV2.getConfig("speechbatteryenabled") == "True" && MainV2.cs.battery_voltage <= warnvolt)
{ {
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechbattery"))); MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechbattery")));
} }
if (MainV2.getConfig("speechcustomenabled") == "True") if (MainV2.getConfig("speechcustomenabled") == "True")
{ {
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechcustom"))); MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechcustom")));
} }
speechcustomtime = DateTime.Now; speechcustomtime = DateTime.Now;
@ -970,7 +961,7 @@ namespace ArdupilotMega
GC.Collect(); GC.Collect();
} }
if (speechenable && talk != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen)) if (speechEnable && speechEngine != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
{ {
float warnalt = float.MaxValue; float warnalt = float.MaxValue;
float.TryParse(MainV2.getConfig("speechaltheight"), out warnalt); float.TryParse(MainV2.getConfig("speechaltheight"), out warnalt);
@ -978,20 +969,20 @@ namespace ArdupilotMega
{ {
if (MainV2.getConfig("speechaltenabled") == "True" && (MainV2.cs.alt - (int)double.Parse(MainV2.getConfig("TXT_homealt"))) <= warnalt) if (MainV2.getConfig("speechaltenabled") == "True" && (MainV2.cs.alt - (int)double.Parse(MainV2.getConfig("TXT_homealt"))) <= warnalt)
{ {
if (MainV2.talk.State == SynthesizerState.Ready) if (MainV2.speechEngine.State == SynthesizerState.Ready)
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechalt"))); MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechalt")));
} }
} }
catch { } // silent fail catch { } // silent fail
} }
if (!comPort.BaseStream.IsOpen || givecomport == true) if (!comPort.BaseStream.IsOpen || giveComport == true)
{ {
System.Threading.Thread.Sleep(100); System.Threading.Thread.Sleep(100);
continue; continue;
} }
if (heatbeatsend.Second != DateTime.Now.Second) if (heatbeatSend.Second != DateTime.Now.Second)
{ {
// Console.WriteLine("remote lost {0}", cs.packetdropremote); // Console.WriteLine("remote lost {0}", cs.packetdropremote);
@ -1008,22 +999,22 @@ namespace ArdupilotMega
#endif #endif
comPort.sendPacket(htb); comPort.sendPacket(htb);
heatbeatsend = DateTime.Now; heatbeatSend = DateTime.Now;
} }
// data loss warning // data loss warning
if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds > 10) if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds > 10)
{ {
if (speechenable && talk != null) if (speechEnable && speechEngine != null)
{ {
if (MainV2.talk.State == SynthesizerState.Ready) if (MainV2.speechEngine.State == SynthesizerState.Ready)
MainV2.talk.SpeakAsync("WARNING No Data for " + (int)(DateTime.Now - comPort.lastvalidpacket).TotalSeconds + " Seconds"); MainV2.speechEngine.SpeakAsync("WARNING No Data for " + (int)(DateTime.Now - comPort.lastvalidpacket).TotalSeconds + " Seconds");
} }
} }
//Console.WriteLine(comPort.BaseStream.BytesToRead); //Console.WriteLine(DateTime.Now.Millisecond + " " + comPort.BaseStream.BytesToRead);
while (comPort.BaseStream.BytesToRead > minbytes && givecomport == false) while (comPort.BaseStream.BytesToRead > minbytes && giveComport == false)
comPort.readPacket(); comPort.readPacket();
} }
catch (Exception e) catch (Exception e)
@ -1085,12 +1076,7 @@ namespace ArdupilotMega
private void MainV2_Load(object sender, EventArgs e) private void MainV2_Load(object sender, EventArgs e)
{ {
// generate requestall for jani and sandro // init button depressed
comPort.sysid = 7;
comPort.compid = 1;
//comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL,3);
//
MenuFlightData_Click(sender, e); MenuFlightData_Click(sender, e);
// for long running tasks using own threads. // for long running tasks using own threads.
@ -1099,13 +1085,11 @@ namespace ArdupilotMega
try try
{ {
listener = new TcpListener(IPAddress.Any, 56781); listener = new TcpListener(IPAddress.Any, 56781);
var t13 = new Thread(listernforclients) new Thread(listernforclients)
{ {
Name = "motion jpg stream", Name = "motion jpg stream-network kml",
IsBackground = true IsBackground = true
}; }.Start();
// wait for tcp connections
t13.Start();
} }
catch (Exception ex) catch (Exception ex)
{ {
@ -1113,20 +1097,18 @@ namespace ArdupilotMega
CustomMessageBox.Show(ex.ToString()); CustomMessageBox.Show(ex.ToString());
} }
var t12 = new Thread(new ThreadStart(joysticksend)) new Thread(new ThreadStart(joysticksend))
{ {
IsBackground = true, IsBackground = true,
Priority = ThreadPriority.AboveNormal, Priority = ThreadPriority.AboveNormal,
Name = "Main joystick sender" Name = "Main joystick sender"
}; }.Start();
t12.Start();
var t11 = new Thread(SerialReader) new Thread(SerialReader)
{ {
IsBackground = true, IsBackground = true,
Name = "Main Serial reader" Name = "Main Serial reader"
}; }.Start();
t11.Start();
if (Debugger.IsAttached) if (Debugger.IsAttached)
{ {
@ -1469,12 +1451,12 @@ namespace ArdupilotMega
} }
public static void updatecheck(ProgressReporterDialogue frmProgressReporter) public static void updateCheckMain(ProgressReporterDialogue frmProgressReporter)
{ {
var baseurl = ConfigurationManager.AppSettings["UpdateLocation"]; var baseurl = ConfigurationManager.AppSettings["UpdateLocation"];
try try
{ {
bool update = updatecheck(frmProgressReporter, baseurl, ""); bool update = updateCheck(frmProgressReporter, baseurl, "");
var process = new Process(); var process = new Process();
string exePath = Path.GetDirectoryName(Application.ExecutablePath); string exePath = Path.GetDirectoryName(Application.ExecutablePath);
if (MONO) if (MONO)
@ -1618,20 +1600,20 @@ namespace ArdupilotMega
ThemeManager.ApplyThemeTo(frmProgressReporter); ThemeManager.ApplyThemeTo(frmProgressReporter);
frmProgressReporter.DoWork += new Controls.ProgressReporterDialogue.DoWorkEventHandler(frmProgressReporter_DoWork); frmProgressReporter.DoWork += new Controls.ProgressReporterDialogue.DoWorkEventHandler(DoUpdateWorker_DoWork);
frmProgressReporter.UpdateProgressAndStatus(-1, "Checking for Updates"); frmProgressReporter.UpdateProgressAndStatus(-1, "Checking for Updates");
frmProgressReporter.RunBackgroundOperationAsync(); frmProgressReporter.RunBackgroundOperationAsync();
} }
static void frmProgressReporter_DoWork(object sender, Controls.ProgressWorkerEventArgs e) static void DoUpdateWorker_DoWork(object sender, Controls.ProgressWorkerEventArgs e)
{ {
((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Getting Base URL"); ((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Getting Base URL");
MainV2.updatecheck((ProgressReporterDialogue)sender); MainV2.updateCheckMain((ProgressReporterDialogue)sender);
} }
private static bool updatecheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir) private static bool updateCheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir)
{ {
bool update = false; bool update = false;
List<string> files = new List<string>(); List<string> files = new List<string>();
@ -1692,7 +1674,7 @@ namespace ArdupilotMega
} }
if (file.EndsWith("/")) if (file.EndsWith("/"))
{ {
update = updatecheck(frmProgressReporter, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update; update = updateCheck(frmProgressReporter, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update;
continue; continue;
} }
if (frmProgressReporter != null) if (frmProgressReporter != null)

4
Tools/ArdupilotMegaPlanner/MavlinkLog.cs
View File

@ -403,8 +403,8 @@ namespace ArdupilotMega
try try
{ {
if (MainV2.talk != null) if (MainV2.speechEngine != null)
MainV2.talk.SpeakAsyncCancelAll(); MainV2.speechEngine.SpeakAsyncCancelAll();
} }
catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting. catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting.

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("1.1.53")] [assembly: AssemblyFileVersion("1.1.54")]
[assembly: NeutralResourcesLanguageAttribute("")] [assembly: NeutralResourcesLanguageAttribute("")]

8
Tools/ArdupilotMegaPlanner/SerialInput.cs
View File

@ -153,19 +153,19 @@ namespace ArdupilotMega
} }
catch { } catch { }
if (MainV2.comPort.BaseStream.IsOpen && MainV2.givecomport == false) if (MainV2.comPort.BaseStream.IsOpen && MainV2.giveComport == false)
{ {
try try
{ {
MainV2.givecomport = true; MainV2.giveComport = true;
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2); MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
GCSViews.FlightData.GuidedModeWP = new PointLatLngAlt(gotohere); GCSViews.FlightData.GuidedModeWP = new PointLatLngAlt(gotohere);
MainV2.givecomport = false; MainV2.giveComport = false;
} }
catch { MainV2.givecomport = false; } catch { MainV2.giveComport = false; }
} }
} }
} }

22
Tools/ArdupilotMegaPlanner/Setup/Setup.cs
View File

@ -510,7 +510,7 @@ namespace ArdupilotMega.Setup
if (tabControl1.SelectedTab == tabHeli) if (tabControl1.SelectedTab == tabHeli)
{ {
if (MainV2.comPort.param["GYR_ENABLE_"] == null) if (MainV2.comPort.param["GYR_ENABLE"] == null)
{ {
tabHeli.Enabled = false; tabHeli.Enabled = false;
return; return;
@ -518,6 +518,12 @@ namespace ArdupilotMega.Setup
startup = true; startup = true;
try try
{ {
if (MainV2.comPort.param.ContainsKey("H1_ENABLE"))
{
CCPM.Checked = MainV2.comPort.param["H1_ENABLE"].ToString() == "0" ? true : false;
H1_ENABLE.Checked = !CCPM.Checked;
}
foreach (string value in MainV2.comPort.param.Keys) foreach (string value in MainV2.comPort.param.Keys)
{ {
if (value == "") if (value == "")
@ -915,7 +921,7 @@ namespace ArdupilotMega.Setup
} }
catch { CustomMessageBox.Show("Set SYSID_SW_MREV Failed"); return; } catch { CustomMessageBox.Show("Set SYSID_SW_MREV Failed"); return; }
MainV2.givecomport = true; MainV2.giveComport = true;
ICommsSerial comPortT = MainV2.comPort.BaseStream; ICommsSerial comPortT = MainV2.comPort.BaseStream;
@ -931,7 +937,7 @@ namespace ArdupilotMega.Setup
comPortT.DtrEnable = true; comPortT.DtrEnable = true;
comPortT.Open(); comPortT.Open();
} }
catch (Exception ex) { MainV2.givecomport = false; CustomMessageBox.Show("Invalid Comport Settings : " + ex.Message); return; } catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Invalid Comport Settings : " + ex.Message); return; }
BUT_reset.Text = "Rebooting (17 sec)"; BUT_reset.Text = "Rebooting (17 sec)";
BUT_reset.Refresh(); BUT_reset.Refresh();
@ -951,7 +957,7 @@ namespace ArdupilotMega.Setup
comPortT.Close(); comPortT.Close();
MainV2.givecomport = false; MainV2.giveComport = false;
try try
{ {
MainV2.comPort.Open(true); MainV2.comPort.Open(true);
@ -1087,9 +1093,9 @@ namespace ArdupilotMega.Setup
try try
{ {
MainV2.comPort.setParam("COL_MID_", MainV2.cs.ch3in); MainV2.comPort.setParam("COL_MID", MainV2.cs.ch3in);
COL_MID.Text = MainV2.comPort.param["COL_MID_"].ToString(); COL_MID.Text = MainV2.comPort.param["COL_MID"].ToString();
} }
catch { CustomMessageBox.Show("Set COL_MID_ failed"); } catch { CustomMessageBox.Show("Set COL_MID_ failed"); }
} }
@ -1290,8 +1296,8 @@ namespace ArdupilotMega.Setup
{ {
if (MainV2.comPort.param["HSV_MAN"].ToString() == "1") if (MainV2.comPort.param["HSV_MAN"].ToString() == "1")
{ {
MainV2.comPort.setParam("COL_MIN_", int.Parse(COL_MIN.Text)); MainV2.comPort.setParam("COL_MIN", int.Parse(COL_MIN.Text));
MainV2.comPort.setParam("COL_MAX_", int.Parse(COL_MAX.Text)); MainV2.comPort.setParam("COL_MAX", int.Parse(COL_MAX.Text));
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
BUT_swash_manual.Text = "Manual"; BUT_swash_manual.Text = "Manual";

BIN
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb
View File

Binary file not shown.

16
Tools/ArdupilotMegaPlanner/temp.cs
View File

@ -151,7 +151,7 @@ namespace ArdupilotMega
port.Parity = Parity.None; port.Parity = Parity.None;
port.DtrEnable = true; port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comportname; port.PortName = ArdupilotMega.MainV2.comPortName;
try try
{ {
port.Open(); port.Open();
@ -222,7 +222,7 @@ namespace ArdupilotMega
port.Parity = Parity.None; port.Parity = Parity.None;
port.DtrEnable = true; port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comportname; port.PortName = ArdupilotMega.MainV2.comPortName;
try try
{ {
port.Open(); port.Open();
@ -285,7 +285,7 @@ namespace ArdupilotMega
port.Parity = Parity.None; port.Parity = Parity.None;
port.DtrEnable = true; port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comportname; port.PortName = ArdupilotMega.MainV2.comPortName;
try try
{ {
port.Open(); port.Open();
@ -392,7 +392,7 @@ namespace ArdupilotMega
try try
{ {
port.PortName = ArdupilotMega.MainV2.comportname; port.PortName = ArdupilotMega.MainV2.comPortName;
port.Open(); port.Open();
@ -536,7 +536,7 @@ namespace ArdupilotMega
try try
{ {
port.PortName = ArdupilotMega.MainV2.comportname; port.PortName = ArdupilotMega.MainV2.comPortName;
log.Info("Open Port"); log.Info("Open Port");
port.Open(); port.Open();
@ -587,7 +587,7 @@ namespace ArdupilotMega
try try
{ {
port.PortName = ArdupilotMega.MainV2.comportname; port.PortName = ArdupilotMega.MainV2.comPortName;
log.Info("Open Port"); log.Info("Open Port");
port.Open(); port.Open();
@ -651,7 +651,7 @@ namespace ArdupilotMega
try try
{ {
port.PortName = ArdupilotMega.MainV2.comportname; port.PortName = ArdupilotMega.MainV2.comPortName;
log.Info("Open Port"); log.Info("Open Port");
port.Open(); port.Open();
@ -728,7 +728,7 @@ namespace ArdupilotMega
try try
{ {
port.PortName = ArdupilotMega.MainV2.comportname; port.PortName = ArdupilotMega.MainV2.comPortName;
port.Open(); port.Open();