mirror of https://github.com/ArduPilot/ardupilot
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:
parent
f3eb15167c
commit
92ff8a75d5
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@ -271,9 +271,9 @@ namespace ArdupilotMega
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{
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{
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mode = "";
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mode = "";
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messages = new List<string>();
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messages = new List<string>();
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rateattitude = 10;
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rateattitude = 3;
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rateposition = 3;
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rateposition = 3;
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ratestatus = 1;
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ratestatus = 3;
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ratesensors = 3;
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ratesensors = 3;
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raterc = 3;
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raterc = 3;
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datetime = DateTime.MinValue;
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datetime = DateTime.MinValue;
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@ -583,9 +583,9 @@ namespace ArdupilotMega
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packetdropremote = sysstatus.packet_drop;
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packetdropremote = sysstatus.packet_drop;
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if (oldmode != mode && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechmodeenabled") == "True")
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if (oldmode != mode && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechmodeenabled") == "True")
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{
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{
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MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
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MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
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}
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}
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//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
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//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
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@ -734,9 +734,9 @@ namespace ArdupilotMega
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wpno = wpcur.seq;
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wpno = wpcur.seq;
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if (oldwp != wpno && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechwaypointenabled") == "True")
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if (oldwp != wpno && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechwaypointenabled") == "True")
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{
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{
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MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
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MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
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}
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}
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//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
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//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
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@ -863,10 +863,10 @@ namespace ArdupilotMega.GCSViews
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private void CHK_enablespeech_CheckedChanged(object sender, EventArgs e)
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private void CHK_enablespeech_CheckedChanged(object sender, EventArgs e)
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{
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{
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MainV2.speechenable = CHK_enablespeech.Checked;
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MainV2.speechEnable = CHK_enablespeech.Checked;
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MainV2.config["speechenable"] = CHK_enablespeech.Checked;
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MainV2.config["speechenable"] = CHK_enablespeech.Checked;
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if (MainV2.talk != null)
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if (MainV2.speechEngine != null)
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MainV2.talk.SpeakAsyncCancelAll();
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MainV2.speechEngine.SpeakAsyncCancelAll();
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}
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}
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private void CMB_language_SelectedIndexChanged(object sender, EventArgs e)
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private void CMB_language_SelectedIndexChanged(object sender, EventArgs e)
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{
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{
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@ -22,7 +22,7 @@ namespace ArdupilotMega.GCSViews
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fd.ShowDialog();
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fd.ShowDialog();
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if (File.Exists(fd.FileName))
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if (File.Exists(fd.FileName))
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{
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{
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UploadFlash(fd.FileName, ArduinoDetect.DetectBoard(MainV2.comportname));
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UploadFlash(fd.FileName, ArduinoDetect.DetectBoard(MainV2.comPortName));
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}
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}
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return true;
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return true;
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}
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}
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@ -312,7 +312,7 @@ namespace ArdupilotMega.GCSViews
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MainV2.comPort.BaseStream.DtrEnable = false;
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MainV2.comPort.BaseStream.DtrEnable = false;
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MainV2.comPort.Close();
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MainV2.comPort.Close();
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System.Threading.Thread.Sleep(100);
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System.Threading.Thread.Sleep(100);
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MainV2.givecomport = true;
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MainV2.giveComport = true;
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try
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try
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{
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{
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@ -326,7 +326,7 @@ namespace ArdupilotMega.GCSViews
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this.Refresh();
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this.Refresh();
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board = ArduinoDetect.DetectBoard(MainV2.comportname);
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board = ArduinoDetect.DetectBoard(MainV2.comPortName);
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if (board == "")
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if (board == "")
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{
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{
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@ -338,7 +338,7 @@ namespace ArdupilotMega.GCSViews
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try
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try
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{
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{
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apmformat_version = ArduinoDetect.decodeApVar(MainV2.comportname, board);
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apmformat_version = ArduinoDetect.decodeApVar(MainV2.comPortName, board);
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}
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}
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catch { }
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catch { }
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@ -480,7 +480,7 @@ namespace ArdupilotMega.GCSViews
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try
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try
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{
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{
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port.PortName = MainV2.comportname;
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port.PortName = MainV2.comPortName;
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port.Open();
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port.Open();
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@ -592,7 +592,7 @@ namespace ArdupilotMega.GCSViews
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port.Close();
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port.Close();
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}
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}
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flashing = false;
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flashing = false;
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MainV2.givecomport = false;
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MainV2.giveComport = false;
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}
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}
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void port_Progress(int progress,string status)
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void port_Progress(int progress,string status)
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@ -258,7 +258,7 @@ namespace ArdupilotMega.GCSViews
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{
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{
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if (threadrun == 0) { return; }
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if (threadrun == 0) { return; }
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if (MainV2.givecomport == true)
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if (MainV2.giveComport == true)
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{
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{
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System.Threading.Thread.Sleep(20);
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System.Threading.Thread.Sleep(20);
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continue;
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continue;
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@ -356,6 +356,9 @@ namespace ArdupilotMega.GCSViews
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}
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}
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else
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else
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{
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{
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// ensure we know to stop
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if (MainV2.comPort.logreadmode)
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MainV2.comPort.logreadmode = false;
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updatePlayPauseButton(false);
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updatePlayPauseButton(false);
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}
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}
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@ -914,15 +917,15 @@ namespace ArdupilotMega.GCSViews
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try
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try
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{
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{
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MainV2.givecomport = true;
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MainV2.giveComport = true;
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MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
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MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
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GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt,"Guided Mode");
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GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt,"Guided Mode");
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MainV2.givecomport = false;
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MainV2.giveComport = false;
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}
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}
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catch (Exception ex) { MainV2.givecomport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); }
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catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); }
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}
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}
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@ -1012,7 +1012,6 @@ namespace ArdupilotMega.GCSViews
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t1.Name = "Row number updater";
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t1.Name = "Row number updater";
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t1.IsBackground = true;
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t1.IsBackground = true;
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t1.Start();
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t1.Start();
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MainV2.threads.Add(t1);
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long temp = System.Diagnostics.Stopwatch.GetTimestamp();
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long temp = System.Diagnostics.Stopwatch.GetTimestamp();
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@ -1225,7 +1224,7 @@ namespace ArdupilotMega.GCSViews
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throw new Exception("Please Connect First!");
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throw new Exception("Please Connect First!");
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}
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}
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MainV2.givecomport = true;
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MainV2.giveComport = true;
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param = port.param;
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param = port.param;
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@ -1262,7 +1261,7 @@ namespace ArdupilotMega.GCSViews
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catch (Exception exx) { log.Info(exx.ToString()); }
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catch (Exception exx) { log.Info(exx.ToString()); }
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}
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}
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MainV2.givecomport = false;
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MainV2.giveComport = false;
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BUT_read.Enabled = true;
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BUT_read.Enabled = true;
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@ -1334,7 +1333,7 @@ namespace ArdupilotMega.GCSViews
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throw new Exception("Please Connect First!");
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throw new Exception("Please Connect First!");
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}
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}
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MainV2.givecomport = true;
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MainV2.giveComport = true;
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Locationwp home = new Locationwp();
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Locationwp home = new Locationwp();
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@ -1414,9 +1413,9 @@ namespace ArdupilotMega.GCSViews
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((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done.");
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((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done.");
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}
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}
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catch (Exception ex) { MainV2.givecomport = false; throw ex; }
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catch (Exception ex) { MainV2.giveComport = false; throw ex; }
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MainV2.givecomport = false;
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MainV2.giveComport = false;
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}
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}
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/// <summary>
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/// <summary>
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IsBackground = true
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IsBackground = true
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};
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};
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t11.Start();
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t11.Start();
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MainV2.threads.Add(t11);
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timer_servo_graph.Start();
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timer_servo_graph.Start();
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}
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}
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else
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else
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@ -171,14 +171,14 @@ namespace ArdupilotMega.GCSViews
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{
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{
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try
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try
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{
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{
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MainV2.givecomport = true;
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MainV2.giveComport = true;
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if (comPort.IsOpen)
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if (comPort.IsOpen)
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comPort.Close();
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comPort.Close();
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comPort.ReadBufferSize = 1024 * 1024;
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comPort.ReadBufferSize = 1024 * 1024;
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comPort.PortName = MainV2.comportname;
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comPort.PortName = MainV2.comPortName;
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comPort.Open();
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comPort.Open();
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@ -232,7 +232,6 @@ namespace ArdupilotMega.GCSViews
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t11.IsBackground = true;
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t11.IsBackground = true;
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t11.Name = "Terminal serial thread";
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t11.Name = "Terminal serial thread";
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t11.Start();
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t11.Start();
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MainV2.threads.Add(t11);
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// doesnt seem to work on mac
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// doesnt seem to work on mac
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//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
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//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
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@ -118,7 +118,6 @@ namespace ArdupilotMega
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log.Info("Comport thread close");
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log.Info("Comport thread close");
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}) {Name = "comport reader"};
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}) {Name = "comport reader"};
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t11.Start();
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t11.Start();
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MainV2.threads.Add(t11);
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// doesnt seem to work on mac
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// doesnt seem to work on mac
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//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
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//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
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@ -728,7 +727,6 @@ namespace ArdupilotMega
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System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadthread(1, logcount); });
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System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadthread(1, logcount); });
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t11.Name = "Log Download All thread";
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t11.Name = "Log Download All thread";
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t11.Start();
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t11.Start();
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MainV2.threads.Add(t11);
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}
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}
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}
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}
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@ -779,7 +777,6 @@ namespace ArdupilotMega
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System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadsinglethread(); });
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System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadsinglethread(); });
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t11.Name = "Log download single thread";
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t11.Name = "Log download single thread";
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t11.Start();
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t11.Start();
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MainV2.threads.Add(t11);
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}
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}
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}
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}
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@ -172,7 +172,7 @@ namespace ArdupilotMega
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try
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try
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{
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{
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MainV2.givecomport = true;
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MainV2.giveComport = true;
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BaseStream.ReadBufferSize = 4 * 1024;
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BaseStream.ReadBufferSize = 4 * 1024;
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@ -217,7 +217,7 @@ namespace ArdupilotMega
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countDown.Stop();
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countDown.Stop();
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if (BaseStream.IsOpen)
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if (BaseStream.IsOpen)
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BaseStream.Close();
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BaseStream.Close();
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MainV2.givecomport = false;
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MainV2.giveComport = false;
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return;
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return;
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}
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}
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@ -296,7 +296,7 @@ namespace ArdupilotMega
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if (frmProgressReporter.doWorkArgs.CancelAcknowledged == true)
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if (frmProgressReporter.doWorkArgs.CancelAcknowledged == true)
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{
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{
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MainV2.givecomport = false;
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MainV2.giveComport = false;
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if (BaseStream.IsOpen)
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if (BaseStream.IsOpen)
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BaseStream.Close();
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BaseStream.Close();
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return;
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return;
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@ -309,7 +309,7 @@ namespace ArdupilotMega
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BaseStream.Close();
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BaseStream.Close();
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}
|
}
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catch { }
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catch { }
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MainV2.givecomport = false;
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MainV2.giveComport = false;
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// if (Progress != null)
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// if (Progress != null)
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// Progress(-1, "Connect Failed\n" + e.Message);
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// Progress(-1, "Connect Failed\n" + e.Message);
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if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage))
|
if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage))
|
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@ -317,7 +317,7 @@ namespace ArdupilotMega
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throw e;
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throw e;
|
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}
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}
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//frmProgressReporter.Close();
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//frmProgressReporter.Close();
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MainV2.givecomport = false;
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MainV2.giveComport = false;
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frmProgressReporter.UpdateProgressAndStatus(100, "Done.");
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frmProgressReporter.UpdateProgressAndStatus(100, "Done.");
|
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log.Info("Done open " + sysid + " " + compid);
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log.Info("Done open " + sysid + " " + compid);
|
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packetslost = 0;
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packetslost = 0;
|
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@ -491,7 +491,7 @@ namespace ArdupilotMega
|
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return false;
|
return false;
|
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}
|
}
|
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|
|
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MainV2.givecomport = true;
|
MainV2.giveComport = true;
|
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|
|
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__mavlink_param_set_t req = new __mavlink_param_set_t();
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__mavlink_param_set_t req = new __mavlink_param_set_t();
|
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req.target_system = sysid;
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req.target_system = sysid;
|
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@ -527,7 +527,7 @@ namespace ArdupilotMega
|
||||||
retrys--;
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retrys--;
|
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continue;
|
continue;
|
||||||
}
|
}
|
||||||
MainV2.givecomport = false;
|
MainV2.giveComport = false;
|
||||||
throw new Exception("Timeout on read - setParam " + paramname);
|
throw new Exception("Timeout on read - setParam " + paramname);
|
||||||
}
|
}
|
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|
|
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@ -557,7 +557,7 @@ namespace ArdupilotMega
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||||||
|
|
||||||
param[st] = (par.param_value);
|
param[st] = (par.param_value);
|
||||||
|
|
||||||
MainV2.givecomport = false;
|
MainV2.giveComport = false;
|
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//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;
|
||||||
}
|
}
|
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|
@ -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
|
||||||
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@ -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);
|
||||||
|
|
||||||
|
|
|
@ -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();
|
||||||
|
@ -876,64 +863,68 @@ namespace ArdupilotMega
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
private void updateConnectIcon()
|
||||||
|
{
|
||||||
|
DateTime menuupdate = DateTime.Now;
|
||||||
|
|
||||||
|
if ((DateTime.Now - menuupdate).Milliseconds > 500)
|
||||||
|
{
|
||||||
|
// Console.WriteLine(DateTime.Now.Millisecond);
|
||||||
|
if (comPort.BaseStream.IsOpen)
|
||||||
|
{
|
||||||
|
if ((string)this.MenuConnect.BackgroundImage.Tag != "Disconnect")
|
||||||
|
{
|
||||||
|
this.Invoke((MethodInvoker)delegate
|
||||||
|
{
|
||||||
|
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
|
||||||
|
this.MenuConnect.BackgroundImage.Tag = "Disconnect";
|
||||||
|
CMB_baudrate.Enabled = false;
|
||||||
|
CMB_serialport.Enabled = false;
|
||||||
|
});
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
if ((string)this.MenuConnect.BackgroundImage.Tag != "Connect")
|
||||||
|
{
|
||||||
|
this.Invoke((MethodInvoker)delegate
|
||||||
|
{
|
||||||
|
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
|
||||||
|
this.MenuConnect.BackgroundImage.Tag = "Connect";
|
||||||
|
CMB_baudrate.Enabled = true;
|
||||||
|
CMB_serialport.Enabled = true;
|
||||||
|
});
|
||||||
|
}
|
||||||
|
}
|
||||||
|
menuupdate = DateTime.Now;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
private void SerialReader()
|
private void SerialReader()
|
||||||
{
|
{
|
||||||
if (serialthread == true)
|
if (serialThread == true)
|
||||||
return;
|
return;
|
||||||
serialthread = true;
|
serialThread = true;
|
||||||
|
|
||||||
int minbytes = 10;
|
int minbytes = 10;
|
||||||
|
|
||||||
if (MONO)
|
if (MONO)
|
||||||
minbytes = 0;
|
minbytes = 0;
|
||||||
|
|
||||||
DateTime menuupdate = DateTime.Now;
|
|
||||||
|
|
||||||
DateTime speechcustomtime = DateTime.Now;
|
DateTime speechcustomtime = DateTime.Now;
|
||||||
|
|
||||||
DateTime linkqualitytime = DateTime.Now;
|
DateTime linkqualitytime = DateTime.Now;
|
||||||
|
|
||||||
while (serialthread)
|
while (serialThread)
|
||||||
{
|
{
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
System.Threading.Thread.Sleep(5);
|
System.Threading.Thread.Sleep(5);
|
||||||
if ((DateTime.Now - menuupdate).Milliseconds > 500)
|
|
||||||
{
|
updateConnectIcon();
|
||||||
// Console.WriteLine(DateTime.Now.Millisecond);
|
|
||||||
if (comPort.BaseStream.IsOpen)
|
|
||||||
{
|
|
||||||
if ((string)this.MenuConnect.BackgroundImage.Tag != "Disconnect")
|
|
||||||
{
|
|
||||||
this.Invoke((MethodInvoker)delegate
|
|
||||||
{
|
|
||||||
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
|
|
||||||
this.MenuConnect.BackgroundImage.Tag = "Disconnect";
|
|
||||||
CMB_baudrate.Enabled = false;
|
|
||||||
CMB_serialport.Enabled = false;
|
|
||||||
});
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
if ((string)this.MenuConnect.BackgroundImage.Tag != "Connect")
|
|
||||||
{
|
|
||||||
this.Invoke((MethodInvoker)delegate
|
|
||||||
{
|
|
||||||
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
|
|
||||||
this.MenuConnect.BackgroundImage.Tag = "Connect";
|
|
||||||
CMB_baudrate.Enabled = true;
|
|
||||||
CMB_serialport.Enabled = true;
|
|
||||||
});
|
|
||||||
}
|
|
||||||
}
|
|
||||||
menuupdate = DateTime.Now;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (speechenable && talk != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
|
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)
|
||||||
|
|
|
@ -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.
|
||||||
|
|
||||||
|
|
|
@ -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("")]
|
||||||
|
|
|
@ -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; }
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
@ -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";
|
||||||
|
|
||||||
|
|
Binary file not shown.
|
@ -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();
|
||||||
|
|
||||||
|
|
Loading…
Reference in New Issue