mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-11 02:18:29 -04:00
Mission Planner 1.2.8
fix mjpeg stream from VLC. add grid mode V2 fix hdop scaling
This commit is contained in:
Michael Oborne
parent
61277af526
commit
989b799130
@ -1326,6 +1326,9 @@
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<Install>true</Install>
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</BootstrapperPackage>
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</ItemGroup>
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<ItemGroup>
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<Folder Include="px4\" />
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</ItemGroup>
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<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
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<PropertyGroup>
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<PostBuildEvent>"$(TargetDir)version.exe" "$(TargetPath)" > "$(TargetDir)version.txt"</PostBuildEvent>
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@ -9,6 +9,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "wix", "wix\wix.csproj", "{7
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EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "3DRRadio", "3DRRadio\3DRRadio.csproj", "{B8943726-04B0-4477-BFDA-E156A0CD98A4}"
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EndProject
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "px4uploader", "..\px4uploader\px4uploader.csproj", "{664FC484-2A94-4B0D-808F-A71F88E06B11}"
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EndProject
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|Any CPU = Debug|Any CPU
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@ -69,6 +71,18 @@ Global
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{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Release|Win32.ActiveCfg = Release|x86
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{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Release|x86.ActiveCfg = Release|x86
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{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Release|x86.Build.0 = Release|x86
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{664FC484-2A94-4B0D-808F-A71F88E06B11}.Debug|Any CPU.ActiveCfg = Debug|x86
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{664FC484-2A94-4B0D-808F-A71F88E06B11}.Debug|Mixed Platforms.ActiveCfg = Debug|x86
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{664FC484-2A94-4B0D-808F-A71F88E06B11}.Debug|Mixed Platforms.Build.0 = Debug|x86
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{664FC484-2A94-4B0D-808F-A71F88E06B11}.Debug|Win32.ActiveCfg = Debug|x86
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{664FC484-2A94-4B0D-808F-A71F88E06B11}.Debug|x86.ActiveCfg = Debug|x86
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{664FC484-2A94-4B0D-808F-A71F88E06B11}.Debug|x86.Build.0 = Debug|x86
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{664FC484-2A94-4B0D-808F-A71F88E06B11}.Release|Any CPU.ActiveCfg = Release|x86
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{664FC484-2A94-4B0D-808F-A71F88E06B11}.Release|Mixed Platforms.ActiveCfg = Release|x86
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{664FC484-2A94-4B0D-808F-A71F88E06B11}.Release|Mixed Platforms.Build.0 = Release|x86
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{664FC484-2A94-4B0D-808F-A71F88E06B11}.Release|Win32.ActiveCfg = Release|x86
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{664FC484-2A94-4B0D-808F-A71F88E06B11}.Release|x86.ActiveCfg = Release|x86
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{664FC484-2A94-4B0D-808F-A71F88E06B11}.Release|x86.Build.0 = Release|x86
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE
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@ -286,7 +286,9 @@ namespace ArdupilotMega.Controls
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//GL.Enable(EnableCap.AlphaTest)
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// Console.WriteLine("hud paint");
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// Console.WriteLine("ms " + (DateTime.Now.Millisecond));
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if (!started)
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return;
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@ -751,7 +751,7 @@ namespace ArdupilotMega
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gpsstatus = gps.fix_type;
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// Console.WriteLine("gpsfix {0}",gpsstatus);
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gpshdop = gps.eph;
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gpshdop = (float)Math.Round((double)gps.eph / 10.0,2);
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satcount = gps.satellites_visible;
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@ -2020,6 +2020,8 @@ print 'Roll complete'
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MainV2.config["mjpeg_url"] = url;
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Utilities.CaptureMJPEG.Stop();
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Utilities.CaptureMJPEG.URL = url;
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Utilities.CaptureMJPEG.OnNewImage += new EventHandler(CaptureMJPEG_OnNewImage);
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@ -122,6 +122,7 @@
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this.autoWPToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
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this.createWpCircleToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
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this.gridToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
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this.gridV2ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
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this.mapToolToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
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this.ContextMeasure = new System.Windows.Forms.ToolStripMenuItem();
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this.rotateMapToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
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@ -591,7 +592,6 @@
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this.comboBoxMapType.FormattingEnabled = true;
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this.comboBoxMapType.Name = "comboBoxMapType";
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this.toolTip1.SetToolTip(this.comboBoxMapType, resources.GetString("comboBoxMapType.ToolTip"));
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this.comboBoxMapType.SelectedIndexChanged += new System.EventHandler(this.comboBoxMapType_SelectedValueChanged);
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//
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// panelMap
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//
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@ -836,7 +836,8 @@
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//
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this.autoWPToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
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this.createWpCircleToolStripMenuItem,
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this.gridToolStripMenuItem});
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this.gridToolStripMenuItem,
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this.gridV2ToolStripMenuItem});
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this.autoWPToolStripMenuItem.Name = "autoWPToolStripMenuItem";
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resources.ApplyResources(this.autoWPToolStripMenuItem, "autoWPToolStripMenuItem");
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//
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@ -852,6 +853,12 @@
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resources.ApplyResources(this.gridToolStripMenuItem, "gridToolStripMenuItem");
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this.gridToolStripMenuItem.Click += new System.EventHandler(this.gridToolStripMenuItem_Click);
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//
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// gridV2ToolStripMenuItem
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//
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this.gridV2ToolStripMenuItem.Name = "gridV2ToolStripMenuItem";
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resources.ApplyResources(this.gridV2ToolStripMenuItem, "gridV2ToolStripMenuItem");
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this.gridV2ToolStripMenuItem.Click += new System.EventHandler(this.gridV2ToolStripMenuItem_Click);
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//
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// mapToolToolStripMenuItem
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//
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this.mapToolToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
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@ -1105,5 +1112,6 @@
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private System.Windows.Forms.ToolStripMenuItem saveWPFileToolStripMenuItem;
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private System.Windows.Forms.ToolStripMenuItem trackerHomeToolStripMenuItem;
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private System.Windows.Forms.ToolStripMenuItem flyToHereToolStripMenuItem;
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private System.Windows.Forms.ToolStripMenuItem gridV2ToolStripMenuItem;
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}
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}
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@ -343,9 +343,8 @@ namespace ArdupilotMega.GCSViews
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}
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// creating a WP
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Commands.Rows.Add();
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selectedrow = Commands.RowCount - 1;
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Commands.CurrentCell = Commands.Rows[selectedrow].Cells[Param1.Index];
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selectedrow = Commands.Rows.Add();
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// Commands.CurrentCell = Commands.Rows[selectedrow].Cells[Param1.Index];
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setfromGE(lat, lng, alt);
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}
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@ -568,14 +567,14 @@ namespace ArdupilotMega.GCSViews
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if (Commands.RowCount <= 1)
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{
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Commands.Rows.Add();
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selectedrow = Commands.Rows.Add();
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}
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else
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{
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if (Commands.RowCount == selectedrow + 1)
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{
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DataGridViewRow temp = Commands.Rows[selectedrow];
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Commands.Rows.Add();
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selectedrow = Commands.Rows.Add();
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}
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else
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{
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@ -1425,7 +1424,7 @@ namespace ArdupilotMega.GCSViews
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break;
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if (i + 1 >= Commands.Rows.Count)
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{
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Commands.Rows.Add();
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selectedrow = Commands.Rows.Add();
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}
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//if (i == 0 && temp.alt == 0) // skip 0 home
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// continue;
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@ -2236,7 +2235,13 @@ namespace ArdupilotMega.GCSViews
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private void comboBoxMapType_SelectedValueChanged(object sender, EventArgs e)
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{
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try
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{
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MainMap.MapType = (MapType)comboBoxMapType.SelectedItem;
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FlightData.mymap.MapType = (MapType)comboBoxMapType.SelectedItem;
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MainV2.config["MapType"] = comboBoxMapType.Text;
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}
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catch { CustomMessageBox.Show("Map change failed. try zomming out first."); }
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}
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private void Commands_EditingControlShowing(object sender, DataGridViewEditingControlShowingEventArgs e)
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@ -2554,9 +2559,12 @@ namespace ArdupilotMega.GCSViews
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private void clearMissionToolStripMenuItem_Click(object sender, EventArgs e)
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{
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quickadd = true;
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while (Commands.Rows.Count > 0)
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Commands.Rows.RemoveAt(0);
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selectedrow = 0;
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quickadd = false;
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writeKML();
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}
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@ -2578,13 +2586,13 @@ namespace ArdupilotMega.GCSViews
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string repeat = "5";
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Common.InputBox("Jump repeat", "Number of times to Repeat", ref repeat);
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int row = Commands.Rows.Add();
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selectedrow = Commands.Rows.Add();
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Commands.Rows[row].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP.ToString();
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Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP.ToString();
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Commands.Rows[row].Cells[Param1.Index].Value = 1;
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Commands.Rows[selectedrow].Cells[Param1.Index].Value = 1;
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Commands.Rows[row].Cells[Param2.Index].Value = repeat;
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Commands.Rows[selectedrow].Cells[Param2.Index].Value = repeat;
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writeKML();
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}
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@ -2596,13 +2604,13 @@ namespace ArdupilotMega.GCSViews
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string repeat = "5";
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Common.InputBox("Jump repeat", "Number of times to Repeat", ref repeat);
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int row = Commands.Rows.Add();
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selectedrow = Commands.Rows.Add();
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Commands.Rows[row].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP.ToString();
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Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP.ToString();
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Commands.Rows[row].Cells[Param1.Index].Value = wp;
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Commands.Rows[selectedrow].Cells[Param1.Index].Value = wp;
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Commands.Rows[row].Cells[Param2.Index].Value = repeat;
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Commands.Rows[selectedrow].Cells[Param2.Index].Value = repeat;
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writeKML();
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}
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@ -3184,6 +3192,382 @@ namespace ArdupilotMega.GCSViews
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writeKML();
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}
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public struct linelatlng
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{
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public PointLatLng p1;
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public PointLatLng p2;
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// used as a base for grid along line
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public PointLatLng basepnt;
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}
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private void gridv2()
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{
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polygongridmode = false;
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if (drawnpolygon == null || drawnpolygon.Points.Count == 0)
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{
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CustomMessageBox.Show("Right click the map to draw a polygon", "Area", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
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return;
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}
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// ensure points/latlong are current
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MainMap.Zoom = (int)MainMap.Zoom;
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MainMap.Refresh();
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GMapPolygon area = drawnpolygon;
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if (area.Points[0] != area.Points[area.Points.Count - 1])
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area.Points.Add(area.Points[0]); // make a full loop
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RectLatLng arearect = getPolyMinMax(area);
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if (area.Distance > 0)
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{
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PointLatLng topright = new PointLatLng(arearect.LocationTopLeft.Lat, arearect.LocationRightBottom.Lng);
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PointLatLng bottomleft = new PointLatLng(arearect.LocationRightBottom.Lat, arearect.LocationTopLeft.Lng);
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double diagdist = MainMap.Manager.GetDistance(arearect.LocationTopLeft, arearect.LocationRightBottom) * 1000;
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double heightdist = MainMap.Manager.GetDistance(arearect.LocationTopLeft, bottomleft) * 1000;
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double widthdist = MainMap.Manager.GetDistance(arearect.LocationTopLeft, topright) * 1000;
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string alt = (100 * MainV2.cs.multiplierdist).ToString("0");
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Common.InputBox("Altitude", "Relative Altitude", ref alt);
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string distance = (50 * MainV2.cs.multiplierdist).ToString("0");
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Common.InputBox("Distance", "Distance between lines", ref distance);
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string wpevery = (40 * MainV2.cs.multiplierdist).ToString("0");
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Common.InputBox("Every", "Put a WP every x distance (-1 for none)", ref wpevery);
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string angle = (90).ToString("0");
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Common.InputBox("Angle", "Enter the line direction (0-90)", ref angle);
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double tryme = 0;
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if (!double.TryParse(angle, out tryme))
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{
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CustomMessageBox.Show("Invalid Angle");
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return;
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}
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if (!double.TryParse(alt, out tryme))
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{
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CustomMessageBox.Show("Invalid Alt");
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return;
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}
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if (!double.TryParse(distance, out tryme))
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{
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CustomMessageBox.Show("Invalid Distance");
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return;
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}
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if (!double.TryParse(wpevery, out tryme))
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{
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CustomMessageBox.Show("Invalid Waypoint spacing");
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return;
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}
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// get x y components
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double y1 = Math.Cos((double.Parse(angle)) * deg2rad); // needs to mod for long scale
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double x1 = Math.Sin((double.Parse(angle)) * deg2rad);
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// get x y step amount in lat lng from m
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double latdiff = arearect.HeightLat / ((heightdist / (double.Parse(distance) * (x1) / MainV2.cs.multiplierdist)));
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double lngdiff = arearect.WidthLng / ((widthdist / (double.Parse(distance) * (y1) / MainV2.cs.multiplierdist)));
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double latlngdiff = Math.Sqrt(latdiff * latdiff + lngdiff * lngdiff);
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double latlngdiff2 = Math.Sqrt(arearect.HeightLat * arearect.HeightLat + arearect.WidthLng * arearect.WidthLng);
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double fulllatdiff = arearect.HeightLat * x1 * 2;
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double fulllngdiff = arearect.WidthLng * y1 * 2;
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int altitude = (int)(double.Parse(alt) / MainV2.cs.multiplierdist);
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// draw a grid
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double x = bottomleft.Lng - 0.00001;
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double y = bottomleft.Lat;
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newpos(ref y, ref x, double.Parse(angle) - 90, diagdist);
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List<linelatlng> grid = new List<linelatlng>();
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int lines = 0;
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y1 = Math.Cos((double.Parse(angle) + 90) * deg2rad); // needs to mod for long scale
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x1 = Math.Sin((double.Parse(angle) + 90) * deg2rad);
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// get x y step amount in lat lng from m
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latdiff = arearect.HeightLat / ((heightdist / (double.Parse(distance) * (y1) / MainV2.cs.multiplierdist)));
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lngdiff = arearect.WidthLng / ((widthdist / (double.Parse(distance) * (x1) / MainV2.cs.multiplierdist)));
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quickadd = true;
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while (lines * double.Parse(distance) < diagdist * 3) //x < topright.Lat && y < topright.Lng)
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{
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//callMe(y, x, 0);
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double nx = x;
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double ny = y;
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newpos(ref ny, ref nx, double.Parse(angle), diagdist);
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//callMe(ny, nx, 0);
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linelatlng line = new linelatlng();
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line.p1 = new PointLatLng(y, x);
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line.p2 = new PointLatLng(ny, nx);
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line.basepnt = new PointLatLng(y, x);
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grid.Add(line);
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x += lngdiff;
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y += latdiff;
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lines++;
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}
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// callMe(x, y, 0);
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quickadd = false;
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// return;
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// find intersections
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List<linelatlng> remove = new List<linelatlng>();
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int gridno = grid.Count;
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for (int a = 0; a < gridno; a++)
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{
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double noc = double.MaxValue;
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double nof = double.MinValue;
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PointLatLng closestlatlong = PointLatLng.Zero;
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PointLatLng farestlatlong = PointLatLng.Zero;
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List<PointLatLng> matchs = new List<PointLatLng>();
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int b = -1;
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int crosses = 0;
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PointLatLng newlatlong = PointLatLng.Zero;
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foreach (PointLatLng pnt in area.Points)
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{
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b++;
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if (b == 0)
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{
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continue;
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}
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newlatlong = FindLineIntersection(area.Points[b - 1], area.Points[b], grid[a].p1, grid[a].p2);
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if (!newlatlong.IsZero)
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{
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crosses++;
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matchs.Add(newlatlong);
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if (noc > MainMap.Manager.GetDistance(grid[a].p1, newlatlong))
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{
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closestlatlong.Lat = newlatlong.Lat;
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closestlatlong.Lng = newlatlong.Lng;
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noc = MainMap.Manager.GetDistance(grid[a].p1, newlatlong);
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}
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if (nof < MainMap.Manager.GetDistance(grid[a].p1, newlatlong))
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{
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farestlatlong.Lat = newlatlong.Lat;
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farestlatlong.Lng = newlatlong.Lng;
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nof = MainMap.Manager.GetDistance(grid[a].p1, newlatlong);
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}
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}
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}
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if (crosses == 0)
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{
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if (!PointInPolygon(grid[a].p1, area.Points) && !PointInPolygon(grid[a].p2, area.Points))
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remove.Add(grid[a]);
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}
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else if (crosses == 1)
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{
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}
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else if (crosses == 2)
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{
|
||||
linelatlng line = grid[a];
|
||||
line.p1 = closestlatlong;
|
||||
line.p2 = farestlatlong;
|
||||
grid[a] = line;
|
||||
}/*
|
||||
else if (crosses == 4)
|
||||
{
|
||||
linelatlng line = grid[a];
|
||||
line.p1 = closestlatlong;
|
||||
|
||||
PointLatLng far = farestlatlong;
|
||||
|
||||
matchs.Remove(closestlatlong);
|
||||
matchs.Remove(farestlatlong);
|
||||
|
||||
farestlatlong = findClosestPoint(line.p1, matchs);
|
||||
|
||||
matchs.Remove(farestlatlong);
|
||||
|
||||
line.p2 = farestlatlong;
|
||||
grid[a] = line;
|
||||
|
||||
grid.Add(new linelatlng() { p1 = matchs[0], p2 = far, basepnt = line.basepnt });
|
||||
|
||||
}*/
|
||||
else
|
||||
{
|
||||
linelatlng line = grid[a];
|
||||
remove.Add(line);
|
||||
/*
|
||||
// set new start point
|
||||
line.p1 = findClosestPoint(line.basepnt, matchs); ;
|
||||
matchs.Remove(line.p1);
|
||||
|
||||
line.p2 = findClosestPoint(line.basepnt, matchs);
|
||||
matchs.Remove(line.p2);
|
||||
|
||||
grid[a] = line;
|
||||
|
||||
callMe(line.basepnt.Lat, line.basepnt.Lng, altitude);
|
||||
callMe(line.p1.Lat, line.p1.Lng, altitude);
|
||||
callMe(line.p2.Lat, line.p2.Lng, altitude);
|
||||
|
||||
continue;
|
||||
*/
|
||||
|
||||
while (matchs.Count > 1)
|
||||
{
|
||||
linelatlng newline = new linelatlng();
|
||||
|
||||
closestlatlong = findClosestPoint(closestlatlong, matchs);
|
||||
newline.p1 = closestlatlong;
|
||||
matchs.Remove(closestlatlong);
|
||||
|
||||
closestlatlong = findClosestPoint(closestlatlong, matchs);
|
||||
newline.p2 = closestlatlong;
|
||||
matchs.Remove(closestlatlong);
|
||||
|
||||
newline.basepnt = line.basepnt;
|
||||
|
||||
grid.Add(newline);
|
||||
}
|
||||
if (a > 150)
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// return;
|
||||
|
||||
foreach (linelatlng line in remove)
|
||||
{
|
||||
grid.Remove(line);
|
||||
}
|
||||
|
||||
quickadd = true;
|
||||
|
||||
linelatlng closest = findClosestLine(MainV2.cs.HomeLocation.Point(),grid);
|
||||
|
||||
PointLatLng lastpnt = closest.p1;
|
||||
|
||||
while (grid.Count > 0)
|
||||
{
|
||||
if (MainMap.Manager.GetDistance(closest.p1, lastpnt) < MainMap.Manager.GetDistance(closest.p2, lastpnt))
|
||||
{
|
||||
callMe(closest.p1.Lat, closest.p1.Lng, altitude);
|
||||
|
||||
if (double.Parse(wpevery) > 0)
|
||||
{
|
||||
for (int d = (int)(double.Parse(wpevery) - ((MainMap.Manager.GetDistance(closest.basepnt, closest.p1) * 1000) % double.Parse(wpevery))); d < (MainMap.Manager.GetDistance(closest.p1, closest.p2) * 1000); d += (int)double.Parse(wpevery))
|
||||
{
|
||||
double ax = closest.p1.Lat;
|
||||
double ay = closest.p1.Lng;
|
||||
|
||||
newpos(ref ax, ref ay, double.Parse(angle), d);
|
||||
callMe(ax, ay, altitude);
|
||||
}
|
||||
}
|
||||
|
||||
callMe(closest.p2.Lat, closest.p2.Lng, altitude);
|
||||
|
||||
lastpnt = closest.p2;
|
||||
|
||||
grid.Remove(closest);
|
||||
if (grid.Count == 0)
|
||||
break;
|
||||
closest = findClosestLine(closest.p2, grid);
|
||||
}
|
||||
else
|
||||
{
|
||||
callMe(closest.p2.Lat, closest.p2.Lng, altitude);
|
||||
|
||||
if (double.Parse(wpevery) > 0)
|
||||
{
|
||||
for (int d = (int)((MainMap.Manager.GetDistance(closest.basepnt, closest.p2) * 1000) % double.Parse(wpevery)); d < (MainMap.Manager.GetDistance(closest.p1, closest.p2) * 1000); d += (int)double.Parse(wpevery))
|
||||
{
|
||||
double ax = closest.p2.Lat;
|
||||
double ay = closest.p2.Lng;
|
||||
|
||||
newpos(ref ax, ref ay, double.Parse(angle), -d);
|
||||
callMe(ax, ay, altitude);
|
||||
}
|
||||
}
|
||||
|
||||
callMe(closest.p1.Lat, closest.p1.Lng, altitude);
|
||||
|
||||
lastpnt = closest.p1;
|
||||
|
||||
grid.Remove(closest);
|
||||
if (grid.Count == 0)
|
||||
break;
|
||||
closest = findClosestLine(closest.p1, grid);
|
||||
}
|
||||
}
|
||||
|
||||
foreach (linelatlng line in grid)
|
||||
{
|
||||
// callMe(line.p1.Lat, line.p1.Lng, 0);
|
||||
// callMe(line.p2.Lat, line.p2.Lng, 0);
|
||||
}
|
||||
|
||||
quickadd = false;
|
||||
|
||||
writeKML();
|
||||
}
|
||||
}
|
||||
|
||||
PointLatLng findClosestPoint(PointLatLng start, List<PointLatLng> list)
|
||||
{
|
||||
PointLatLng answer = PointLatLng.Zero;
|
||||
double currentbest = double.MaxValue;
|
||||
|
||||
foreach (PointLatLng pnt in list)
|
||||
{
|
||||
double dist1 = MainMap.Manager.GetDistance(start, pnt);
|
||||
|
||||
if (dist1 < currentbest)
|
||||
{
|
||||
answer = pnt;
|
||||
currentbest = dist1;
|
||||
}
|
||||
}
|
||||
|
||||
return answer;
|
||||
}
|
||||
|
||||
linelatlng findClosestLine(PointLatLng start, List<linelatlng> list)
|
||||
{
|
||||
linelatlng answer = list[0];
|
||||
double shortest = double.MaxValue;
|
||||
|
||||
foreach (linelatlng line in list)
|
||||
{
|
||||
double ans1 = MainMap.Manager.GetDistance(start, line.p1);
|
||||
double ans2 = MainMap.Manager.GetDistance(start, line.p2);
|
||||
PointLatLng shorterpnt = ans1 < ans2 ? line.p1 : line.p2;
|
||||
|
||||
if (shortest > MainMap.Manager.GetDistance(start, shorterpnt))
|
||||
{
|
||||
answer = line;
|
||||
shortest = MainMap.Manager.GetDistance(start, shorterpnt);
|
||||
}
|
||||
}
|
||||
|
||||
return answer;
|
||||
}
|
||||
|
||||
private void gridToolStripMenuItem_Click(object sender, EventArgs e)
|
||||
{
|
||||
polygongridmode = false;
|
||||
@ -3290,6 +3674,8 @@ namespace ArdupilotMega.GCSViews
|
||||
|
||||
log.InfoFormat("{0} < {1} {2} < {3}", x, (topright.Lat), y, (topright.Lng));
|
||||
|
||||
quickadd = true;
|
||||
|
||||
while (x < (topright.Lat + Math.Abs(latlngdiff)) && y < (topright.Lng + Math.Abs(latlngdiff)))
|
||||
{
|
||||
if (double.Parse(angle) < 45)
|
||||
@ -3450,11 +3836,55 @@ namespace ArdupilotMega.GCSViews
|
||||
|
||||
//drawnpolygon.Points.Clear();
|
||||
//drawnpolygons.Markers.Clear();
|
||||
quickadd = false;
|
||||
writeKML();
|
||||
MainMap.Refresh();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
bool PointInPolygon(PointLatLng p, List<PointLatLng> poly)
|
||||
{
|
||||
PointLatLng p1, p2;
|
||||
bool inside = false;
|
||||
|
||||
if (poly.Count < 3)
|
||||
{
|
||||
return inside;
|
||||
}
|
||||
PointLatLng oldPoint = new PointLatLng(
|
||||
|
||||
poly[poly.Count - 1].Lat, poly[poly.Count - 1].Lng);
|
||||
|
||||
for (int i = 0; i < poly.Count; i++)
|
||||
{
|
||||
|
||||
PointLatLng newPoint = new PointLatLng(poly[i].Lat, poly[i].Lng);
|
||||
|
||||
if (newPoint.Lat > oldPoint.Lat)
|
||||
{
|
||||
p1 = oldPoint;
|
||||
p2 = newPoint;
|
||||
}
|
||||
else
|
||||
{
|
||||
p1 = newPoint;
|
||||
p2 = oldPoint;
|
||||
}
|
||||
|
||||
if ((newPoint.Lat < p.Lat) == (p.Lat <= oldPoint.Lat)
|
||||
&& ((double)p.Lng - (double)p1.Lng) * (double)(p2.Lat - p1.Lat)
|
||||
< ((double)p2.Lng - (double)p1.Lng) * (double)(p.Lat - p1.Lat))
|
||||
{
|
||||
inside = !inside;
|
||||
}
|
||||
oldPoint = newPoint;
|
||||
}
|
||||
return inside;
|
||||
}
|
||||
|
||||
|
||||
void newpos(ref double lat, ref double lon, double bearing, double distance)
|
||||
{
|
||||
// '''extrapolate latitude/longitude given a heading and distance
|
||||
@ -3692,5 +4122,10 @@ namespace ArdupilotMega.GCSViews
|
||||
{
|
||||
MainV2.cs.TrackerLocation = new PointLatLngAlt(end) { Alt = MainV2.cs.HomeAlt };
|
||||
}
|
||||
|
||||
private void gridV2ToolStripMenuItem_Click(object sender, EventArgs e)
|
||||
{
|
||||
gridv2();
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -556,7 +556,7 @@
|
||||
<value>BUT_write</value>
|
||||
</data>
|
||||
<data name=">>BUT_write.Type" xml:space="preserve">
|
||||
<value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4613.14163, Culture=neutral, PublicKeyToken=null</value>
|
||||
<value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4615.38724, Culture=neutral, PublicKeyToken=null</value>
|
||||
</data>
|
||||
<data name=">>BUT_write.Parent" xml:space="preserve">
|
||||
<value>panel5</value>
|
||||
@ -583,7 +583,7 @@
|
||||
<value>BUT_read</value>
|
||||
</data>
|
||||
<data name=">>BUT_read.Type" xml:space="preserve">
|
||||
<value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4613.14163, Culture=neutral, PublicKeyToken=null</value>
|
||||
<value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4615.38724, Culture=neutral, PublicKeyToken=null</value>
|
||||
</data>
|
||||
<data name=">>BUT_read.Parent" xml:space="preserve">
|
||||
<value>panel5</value>
|
||||
@ -1147,7 +1147,7 @@
|
||||
<value>BUT_Add</value>
|
||||
</data>
|
||||
<data name=">>BUT_Add.Type" xml:space="preserve">
|
||||
<value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4613.14163, Culture=neutral, PublicKeyToken=null</value>
|
||||
<value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4615.38724, Culture=neutral, PublicKeyToken=null</value>
|
||||
</data>
|
||||
<data name=">>BUT_Add.Parent" xml:space="preserve">
|
||||
<value>panelWaypoints</value>
|
||||
@ -1488,6 +1488,12 @@
|
||||
<data name="gridToolStripMenuItem.Text" xml:space="preserve">
|
||||
<value>Grid</value>
|
||||
</data>
|
||||
<data name="gridV2ToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
|
||||
<value>162, 22</value>
|
||||
</data>
|
||||
<data name="gridV2ToolStripMenuItem.Text" xml:space="preserve">
|
||||
<value>GridV2</value>
|
||||
</data>
|
||||
<data name="autoWPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
|
||||
<value>152, 22</value>
|
||||
</data>
|
||||
@ -1742,7 +1748,7 @@
|
||||
<value>MainMap</value>
|
||||
</data>
|
||||
<data name=">>MainMap.Type" xml:space="preserve">
|
||||
<value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4613.14163, Culture=neutral, PublicKeyToken=null</value>
|
||||
<value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4615.38724, Culture=neutral, PublicKeyToken=null</value>
|
||||
</data>
|
||||
<data name=">>MainMap.Parent" xml:space="preserve">
|
||||
<value>panelMap</value>
|
||||
@ -1772,7 +1778,7 @@
|
||||
<value>trackBar1</value>
|
||||
</data>
|
||||
<data name=">>trackBar1.Type" xml:space="preserve">
|
||||
<value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4613.14163, Culture=neutral, PublicKeyToken=null</value>
|
||||
<value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4615.38724, Culture=neutral, PublicKeyToken=null</value>
|
||||
</data>
|
||||
<data name=">>trackBar1.Parent" xml:space="preserve">
|
||||
<value>panelMap</value>
|
||||
@ -2125,6 +2131,12 @@
|
||||
<data name=">>gridToolStripMenuItem.Type" xml:space="preserve">
|
||||
<value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||
</data>
|
||||
<data name=">>gridV2ToolStripMenuItem.Name" xml:space="preserve">
|
||||
<value>gridV2ToolStripMenuItem</value>
|
||||
</data>
|
||||
<data name=">>gridV2ToolStripMenuItem.Type" xml:space="preserve">
|
||||
<value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||
</data>
|
||||
<data name=">>mapToolToolStripMenuItem.Name" xml:space="preserve">
|
||||
<value>mapToolToolStripMenuItem</value>
|
||||
</data>
|
||||
@ -2219,6 +2231,6 @@
|
||||
<value>FlightPlanner</value>
|
||||
</data>
|
||||
<data name=">>$this.Type" xml:space="preserve">
|
||||
<value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4613.14163, Culture=neutral, PublicKeyToken=null</value>
|
||||
<value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4615.38724, Culture=neutral, PublicKeyToken=null</value>
|
||||
</data>
|
||||
</root>
|
||||
@ -34,5 +34,5 @@ using System.Resources;
|
||||
// by using the '*' as shown below:
|
||||
// [assembly: AssemblyVersion("1.0.*")]
|
||||
[assembly: AssemblyVersion("1.1.*")]
|
||||
[assembly: AssemblyFileVersion("1.2.7")]
|
||||
[assembly: AssemblyFileVersion("1.2.8")]
|
||||
[assembly: NeutralResourcesLanguageAttribute("")]
|
||||
|
||||
@ -26,7 +26,7 @@ namespace ArdupilotMega.Utilities
|
||||
|
||||
public static void runAsync()
|
||||
{
|
||||
while (running && asyncthread != null && asyncthread.IsAlive)
|
||||
while (asyncthread != null && asyncthread.IsAlive)
|
||||
{
|
||||
running = false;
|
||||
}
|
||||
@ -46,6 +46,22 @@ namespace ArdupilotMega.Utilities
|
||||
running = false;
|
||||
}
|
||||
|
||||
public static string ReadLine(BinaryReader br)
|
||||
{
|
||||
StringBuilder sb = new StringBuilder();
|
||||
|
||||
while (true) {
|
||||
byte by = br.ReadByte();
|
||||
sb.Append((char)by);
|
||||
if (by == '\n')
|
||||
break;
|
||||
}
|
||||
|
||||
sb = sb.Replace("\r\n", "");
|
||||
|
||||
return sb.ToString();
|
||||
}
|
||||
|
||||
static void getUrl()
|
||||
{
|
||||
|
||||
@ -69,21 +85,37 @@ namespace ArdupilotMega.Utilities
|
||||
// Get the stream containing content returned by the server.
|
||||
Stream dataStream = response.GetResponseStream();
|
||||
|
||||
StreamReader sr = new StreamReader(dataStream);
|
||||
BinaryReader br = new BinaryReader(dataStream);
|
||||
|
||||
// get boundary header
|
||||
|
||||
string mpheader = response.Headers["Content-Type"];
|
||||
int startboundary = mpheader.IndexOf("boundary=") + 9;
|
||||
int endboundary = mpheader.Length;
|
||||
if (mpheader.IndexOf("boundary=") == -1) {
|
||||
ReadLine(br); // this is a blank line
|
||||
string line = "proxyline";
|
||||
while (line.Length > 2)
|
||||
{
|
||||
line = ReadLine(br);
|
||||
if (line.StartsWith("--")) {
|
||||
mpheader = line;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
int startboundary = mpheader.IndexOf("boundary=") + 9;
|
||||
int endboundary = mpheader.Length;
|
||||
|
||||
mpheader = mpheader.Substring(startboundary, endboundary - startboundary);
|
||||
mpheader = mpheader.Substring(startboundary, endboundary - startboundary);
|
||||
}
|
||||
|
||||
while (running)
|
||||
{
|
||||
try
|
||||
{
|
||||
// get the multipart start header
|
||||
int length = int.Parse(getHeader(sr)["Content-Length"]);
|
||||
int length = int.Parse(getHeader(br)["Content-Length"]);
|
||||
|
||||
// read boundary header
|
||||
if (length > 0)
|
||||
@ -95,13 +127,26 @@ namespace ArdupilotMega.Utilities
|
||||
int offset = 0;
|
||||
int len = 0;
|
||||
|
||||
while ((len = dataStream.Read(buf1, offset, length)) > 0)
|
||||
while ((len = br.Read(buf1, offset, length)) > 0)
|
||||
{
|
||||
offset += len;
|
||||
length -= len;
|
||||
|
||||
}
|
||||
/*
|
||||
BinaryWriter sw = new BinaryWriter(File.OpenWrite("test.jpg"));
|
||||
|
||||
frame = new Bitmap(new MemoryStream(buf1));
|
||||
sw.Write(buf1,0,buf1.Length);
|
||||
|
||||
sw.Close();
|
||||
*/
|
||||
try
|
||||
{
|
||||
|
||||
frame = new Bitmap(new MemoryStream(buf1));
|
||||
|
||||
}
|
||||
catch { }
|
||||
|
||||
fps++;
|
||||
|
||||
@ -117,7 +162,7 @@ namespace ArdupilotMega.Utilities
|
||||
}
|
||||
|
||||
// blank line at end of data
|
||||
sr.ReadLine();
|
||||
ReadLine(br);
|
||||
}
|
||||
catch (Exception ex) { log.Info(ex); break; }
|
||||
}
|
||||
@ -138,7 +183,7 @@ namespace ArdupilotMega.Utilities
|
||||
|
||||
}
|
||||
|
||||
static Dictionary<string, string> getHeader(StreamReader stream)
|
||||
static Dictionary<string, string> getHeader(BinaryReader stream)
|
||||
{
|
||||
Dictionary<string, string> answer = new Dictionary<string, string>();
|
||||
|
||||
@ -146,7 +191,7 @@ namespace ArdupilotMega.Utilities
|
||||
|
||||
do
|
||||
{
|
||||
line = stream.ReadLine();
|
||||
line = ReadLine(stream);
|
||||
|
||||
string[] items = line.Split(new char[] { ':' }, StringSplitOptions.RemoveEmptyEntries);
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user