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APM Planner 1.1.28

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fix updatechecker
fix battery config screen
This commit is contained in:
Michael Oborne 2012-01-23 21:36:20 +08:00
parent ce11d51f7a
commit a9b2f39a66
11 changed files with 2213 additions and 619 deletions
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2
Tools/ArdupilotMegaPlanner/GCSViews/Help.Designer.cs generated
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@ -52,7 +52,7 @@
resources.ApplyResources(this.BUT_updatecheck, "BUT_updatecheck");
this.BUT_updatecheck.Name = "BUT_updatecheck";
this.BUT_updatecheck.UseVisualStyleBackColor = true;
this.BUT_updatecheck.Click += new System.EventHandler(Help.BUT_updatecheck_Click);
this.BUT_updatecheck.Click += new System.EventHandler(this.BUT_updatecheck_Click);
//
// Help
//

26
Tools/ArdupilotMegaPlanner/GCSViews/Help.cs
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@ -22,29 +22,9 @@ namespace ArdupilotMega.GCSViews
catch { }
}
public static void BUT_updatecheck_Click(object sender, EventArgs e)
public void BUT_updatecheck_Click(object sender, EventArgs e)
{
Form loading = new Form();
loading.Width = 400;
loading.Height = 150;
loading.StartPosition = FormStartPosition.CenterScreen;
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
loading.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
Label loadinglabel = new Label();
loadinglabel.Location = new System.Drawing.Point(50, 40);
loadinglabel.Name = "load";
loadinglabel.AutoSize = true;
loadinglabel.Text = "Checking...";
loadinglabel.Size = new System.Drawing.Size(100, 20);
loading.Controls.Add(loadinglabel);
loading.Show();
System.Threading.Thread t12 = new System.Threading.Thread(delegate() { try { MainV2.updatecheck(loadinglabel); } catch (Exception ex) { Console.WriteLine(ex.ToString()); } }); // wait for tcp connections
t12.Name = "Update check thread";
t12.Start();
MainV2.threads.Add(t12);
MainV2.doupdate();
}
private void CHK_showconsole_CheckedChanged(object sender, EventArgs e)
@ -54,7 +34,7 @@ namespace ArdupilotMega.GCSViews
private void Help_Load(object sender, EventArgs e)
{
richTextBox1.Rtf = new ComponentResourceManager(this.GetType()).GetString("Help_text");
richTextBox1.Rtf = new ComponentResourceManager(this.GetType()).GetString("help_text");
}
}
}

6
Tools/ArdupilotMegaPlanner/GCSViews/Help.resx
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@ -196,7 +196,7 @@
<value>BUT_updatecheck</value>
</data>
<data name="&gt;&gt;BUT_updatecheck.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.4199.27022, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="&gt;&gt;BUT_updatecheck.Parent" xml:space="preserve">
<value>$this</value>
@ -220,9 +220,9 @@
<value>Help</value>
</data>
<data name="&gt;&gt;$this.Type" xml:space="preserve">
<value>System.Windows.Forms.UserControl, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
<value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
</data>
<data name="Help_text" type="System.Resources.ResXFileRef, System.Windows.Forms">
<data name="help_text" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\Resources\Welcome_to_Michael_Oborne.rtf;System.String, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089;Windows-1252</value>
</data>
</root>

39
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
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@ -13,6 +13,8 @@ using ZedGraph; // Graphs
using ArdupilotMega;
using System.Reflection;
using System.Drawing.Drawing2D;
// Written by Michael Oborne
namespace ArdupilotMega.GCSViews
{
@ -903,46 +905,17 @@ namespace ArdupilotMega.GCSViews
var answer = HIL.Utils.EarthRatesToBodyRatesRyan(att.roll * -rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelZ * rad2deg);
var answer = HIL.Utils.EarthRatesToBodyRatesMine(att.roll * rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelZ * rad2deg);
Console.WriteLine("\n{0:0.000} {1:0.000} {2:0.000} ", answer.Item1 * deg2rad, answer.Item2 * deg2rad, answer.Item3 * deg2rad);
//answer = HIL.Utils.OGLtoBCBF(aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelZ * rad2deg, att.pitch * rad2deg, att.roll * rad2deg, att.yaw * rad2deg);
//Console.WriteLine("{0:0.000} {1:0.000} {2:0.000} ", answer.Item1 * deg2rad, answer.Item2 * deg2rad, answer.Item3 * deg2rad);
// answer = HIL.Utils.EarthRatesToBodyRatesRyan(att.roll * rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelZ * rad2deg);
//Console.WriteLine("{0:0.000} {1:0.000} {2:0.000} ", answer.Item1 * deg2rad, answer.Item2 * deg2rad, answer.Item3 * deg2rad);
// answer = HIL.Utils.EarthRatesToBodyRatesRyan(att.roll * rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelZ * rad2deg, aeroin.Model_fAngVelY * rad2deg);
//Console.WriteLine("{0:0.000} {1:0.000} {2:0.000} ", answer.Item1 * deg2rad, answer.Item2 * deg2rad, answer.Item3 * deg2rad);
// answer = HIL.Utils.EarthRatesToBodyRatesRyan(att.roll * rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelZ * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelX * rad2deg);
//Console.WriteLine("{0:0.000} {1:0.000} {2:0.000} ", answer.Item1 * deg2rad, answer.Item2 * deg2rad, answer.Item3 * deg2rad);
// answer = HIL.Utils.EarthRatesToBodyRatesRyan(att.roll * rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelZ * rad2deg, aeroin.Model_fAngVelX * rad2deg);
//Console.WriteLine("{0:0.000} {1:0.000} {2:0.000} ", answer.Item1 * deg2rad, answer.Item2 * deg2rad, answer.Item3 * deg2rad);
//answer = HIL.Utils.EarthRatesToBodyRatesRyan(att.roll * rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelZ * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelY * rad2deg);
//Console.WriteLine("{0:0.000} {1:0.000} {2:0.000} ", answer.Item1 * deg2rad, answer.Item2 * deg2rad, answer.Item3 * deg2rad);
//att.pitchspeed = (float)answer.Item1 * deg2rad;
//att.rollspeed = (float)answer.Item2 * deg2rad;
//att.yawspeed = (float)answer.Item3 * deg2rad;
// att.pitchspeed = (float)answer.Item1 * -deg2rad;
// att.rollspeed = (float)answer.Item2 * -deg2rad;
// att.yawspeed = (float)answer.Item3 * -deg2rad;
//att.pitchspeed = (float)(Math.Cos(att.yaw) * aeroin.Model_fAngVelX - Math.Sin(att.yaw) * aeroin.Model_fAngVelY);
//att.rollspeed = (float)(Math.Sin(att.yaw) * aeroin.Model_fAngVelX + Math.Cos(att.yaw) * aeroin.Model_fAngVelY);
// att.yawspeed = (float)-aeroin.Model_fAngVelZ * deg2rad;
// if (aeroin.Model_fAngVelX > 2 || aeroin.Model_fAngVelZ < -2 || aeroin.Model_fAngVelY > 2 || aeroin.Model_fAngVelY < -2)
// Console.Write("head {0:0.000}\troll {1:0.000}\tx {2:0.000} \ty {3:0.000} x2 {4:0.000} y2 {5:0.000} \n", aeroin.Model_fHeading * rad2deg, att.roll * rad2deg, aeroin.Model_fAngVelX, aeroin.Model_fAngVelY, att.pitchspeed, att.rollspeed);
//att.pitchspeed = 0;
//att.rollspeed = 0;
// att.pitchspeed = (float)answer.Item1 * deg2rad;
// att.rollspeed = (float)answer.Item2 * deg2rad;
//att.yawspeed = (float)answer.Item3 * -deg2rad;
#if MAVLINK10
imu.time_usec = ((ulong)DateTime.Now.ToBinary());

59
Tools/ArdupilotMegaPlanner/HIL/Utils.cs
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@ -90,10 +90,6 @@ namespace ArdupilotMega.HIL
var Ro = radians(yawRate);
var Qo = radians(rollRate);
// CpCy, CpSy, -Sp | local_ax
// SrSpCy-CrSy, SrSpSy+CrCy, SrCp | local_ay
// CrSpCy+SrSy, CrSpSy-SrCy, CrCp | local_az
var P = Po * cos(psi) * cos(theta) - Ro * sin(theta) + Qo * cos(theta) * sin(psi);
var Q = Qo * (cos(phi) * cos(psi) + sin(phi) * sin(psi) * sin(theta)) - Po * (cos(phi) * sin(psi) - cos(psi) * sin(phi) * sin(theta)) + Ro * cos(theta) * sin(phi);
@ -103,6 +99,61 @@ namespace ArdupilotMega.HIL
return new Tuple<double, double, double>(degrees(P), degrees(Q), degrees(R));
}
public static Tuple<double, double, double> EarthRatesToBodyRatesMine(double roll, double pitch, double yaw,
double rollRate, double pitchRate, double yawRate)
{
// thanks to ryan beall
var phi = radians(roll);
var theta = radians(pitch);
var psi = radians(yaw);
var Po = radians(pitchRate);
var Ro = radians(yawRate);
var Qo = radians(rollRate);
var Q = Po * cos(psi) + Qo * sin(psi);
var P = Po * sin(psi) + Qo * cos(psi); ;
var R = Ro;
return new Tuple<double, double, double>(degrees(P), degrees(Q), degrees(R));
/*
double Cr, Cp, Cz;
double Sr, Sp, Sz;
var phi = radians(roll);
var theta = radians(pitch);
var psi = radians(yaw);
var Po = radians(rollRate);
var Ro = radians(pitchRate);
var Qo = radians(yawRate);
Cr = Math.Cos((phi));
Cp = Math.Cos((theta));
Cz = Math.Cos((psi));
Sr = Math.Sin((phi));
Sp = Math.Sin((theta));
Sz = Math.Sin((psi));
// http://planning.cs.uiuc.edu/node102.html
// Z Y X
// roll -Sp, CpSr, CpCr
// pitch SzCp, SzSpSr+CzCr, SzSpCr-CpCr
// yaw CzCp, CzSpSr-SzCr, CzSpCr+SzSr
var P = -(Qo * Sp) + Po * Cp * Sr + Ro * Cp * Cr;
var Q = Qo * (Sz * Cp) + Po * (Sz * Sp * Sr + Cz * Cr) + Ro * (Sz * Sp * Cr - Cp * Cr);
var R = Qo * (Cz * Cp) + Po * (Cz * Sp * Sr - Sz * Cr) + Ro * (Cz * Sp * Cr + Sz * Sr);
return new Tuple<double, double, double>(degrees(P), degrees(Q), degrees(R));
* */
}
public static Tuple<double, double, double> OGLtoBCBF(double phi, double theta, double psi,double x, double y, double z)
{
double x_NED, y_NED, z_NED;

2
Tools/ArdupilotMegaPlanner/HUD.cs
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@ -240,7 +240,7 @@ namespace hud
protected override void OnPaint(PaintEventArgs e)
{
//GL.Enable(EnableCap.AlphaTest);
//GL.Enable(EnableCap.AlphaTest)
if (this.DesignMode)
{

56
Tools/ArdupilotMegaPlanner/MainV2.cs
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@ -97,6 +97,10 @@ namespace ArdupilotMega
Application.DoEvents();
instance = this;
InitializeComponent();
srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm";
var t = Type.GetType("Mono.Runtime");
@ -104,15 +108,6 @@ namespace ArdupilotMega
//talk.SpeakAsync("Welcome to APM Planner");
try
{
checkForUpdate();
}
catch { Console.WriteLine("update check failed"); }
InitializeComponent();
MyRenderer.currentpressed = MenuFlightData;
MainMenu.Renderer = new MyRenderer();
@ -251,7 +246,7 @@ namespace ArdupilotMega
Application.DoEvents();
instance = this;
splash.Close();
}
@ -1234,7 +1229,6 @@ namespace ArdupilotMega
//comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL,3);
//
MenuFlightData_Click(sender, e);
try
@ -1267,6 +1261,12 @@ namespace ArdupilotMega
Name = "Main Serial reader"
};
t11.Start();
try
{
checkForUpdate();
}
catch { Console.WriteLine("update check failed"); }
}
public static String ComputeWebSocketHandshakeSecurityHash09(String secWebSocketKey)
@ -1689,7 +1689,7 @@ namespace ArdupilotMega
DialogResult dr = MessageBox.Show("Update Found\n\nDo you wish to update now?", "Update Now", MessageBoxButtons.YesNo);
if (dr == DialogResult.Yes)
{
GCSViews.Help.BUT_updatecheck_Click(null, null);
doupdate();
}
else
{
@ -1698,6 +1698,38 @@ namespace ArdupilotMega
}
}
public static void doupdate()
{
//System.Threading.Thread t12 = new System.Threading.Thread(delegate()
{
Form loading = new Form();
loading.Width = 400;
loading.Height = 150;
loading.StartPosition = FormStartPosition.CenterScreen;
loading.TopMost = true;
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
loading.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
Label loadinglabel = new Label();
loadinglabel.Location = new System.Drawing.Point(50, 40);
loadinglabel.Name = "load";
loadinglabel.AutoSize = true;
loadinglabel.Text = "Checking...";
loadinglabel.Size = new System.Drawing.Size(100, 20);
loading.Controls.Add(loadinglabel);
loading.Show();
try { MainV2.updatecheck(loadinglabel); } catch (Exception ex) { Console.WriteLine(ex.ToString()); }
}
//);
//t12.Name = "Update check thread";
//t12.Start();
//MainV2.threads.Add(t12);
}
private static bool updatecheck(Label loadinglabel, string baseurl, string subdir)
{
bool update = false;

11
Tools/ArdupilotMegaPlanner/Program.cs
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@ -29,16 +29,19 @@ namespace ArdupilotMega
//Common.linearRegression();
var answer = HIL.Utils.EarthRatesToBodyRatesRyan(0, 0, 0, 0, 5, 0);
var answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 0, 0, 5, 0);
Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1 , answer.Item2 , answer.Item3);
answer = HIL.Utils.EarthRatesToBodyRatesRyan(0, 0, 45, 2.5, 2.5, 0);
answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 45, 0, 5, 0);
Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1, answer.Item2, answer.Item3);
answer = HIL.Utils.EarthRatesToBodyRatesRyan(0, 0, 90, 5, 0, 0);
answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 90, 0, 5, 0);
Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1, answer.Item2, answer.Item3);
// Console.ReadLine();
answer = HIL.Utils.EarthRatesToBodyRatesMine(0, 0, 135, 0, 5, 0);
Console.WriteLine("roll {0:0.000} {1:0.000} {2:0.000} ", answer.Item1, answer.Item2, answer.Item3);
//Console.ReadLine();
//return;

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
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@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.1.27")]
[assembly: AssemblyFileVersion("1.1.28")]
[assembly: NeutralResourcesLanguageAttribute("")]

32
Tools/ArdupilotMegaPlanner/Setup/Setup.cs
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@ -146,8 +146,14 @@ namespace ArdupilotMega.Setup
MainV2.cs.rateposition = 0;
MainV2.cs.ratestatus = 0;
try
{
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, 10);
}
catch { }
BUT_Calibrateradio.Text = "Click when Done";
run = true;
@ -253,8 +259,14 @@ namespace ArdupilotMega.Setup
MainV2.cs.rateposition = oldpos;
MainV2.cs.ratestatus = oldstatus;
try
{
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, oldrc);
}
catch { }
if (Configuration != null)
{
Configuration.startup = true;
@ -408,14 +420,29 @@ namespace ArdupilotMega.Setup
bool not_supported = false;
if (MainV2.comPort.param["BATT_MONITOR"] != null)
{
if (MainV2.comPort.param["BATT_MONITOR"].ToString() != "0")
if (MainV2.comPort.param["BATT_MONITOR"].ToString() != "0.0")
{
CMB_batmontype.SelectedIndex = getIndex(CMB_batmontype,(int)float.Parse(MainV2.comPort.param["BATT_MONITOR"].ToString()));
}
if (TXT_ampspervolt.Text == "13.6612")
{
CMB_batmonsensortype.SelectedIndex = 1;
}
else if (TXT_ampspervolt.Text == "27.3224")
{
CMB_batmonsensortype.SelectedIndex = 2;
}
else if (TXT_ampspervolt.Text == "54.64481")
{
CMB_batmonsensortype.SelectedIndex = 3;
}
else
{
CMB_batmonsensortype.SelectedIndex = 0;
}
}
if (MainV2.comPort.param["BATT_CAPACITY"] != null)
TXT_battcapacity.Text = MainV2.comPort.param["BATT_CAPACITY"].ToString();
@ -729,6 +756,9 @@ namespace ArdupilotMega.Setup
groupBox4.Enabled = true;
CMB_batmonsensortype.Enabled = false;
TXT_ampspervolt.Enabled = false;
TXT_inputvoltage.Enabled = true;
TXT_measuredvoltage.Enabled = true;
TXT_divider.Enabled = true;
}
MainV2.comPort.setParam("BATT_MONITOR", selection);

2589
Tools/ArdupilotMegaPlanner/Setup/Setup.resx
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