diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 6e9037014d..e0d90e3cbe 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -235,6 +235,7 @@ AP_TimerProcess timer_scheduler;
AP_DCM_HIL dcm;
AP_GPS_HIL g_gps_driver(NULL);
AP_Compass_HIL compass; // never used
+ AP_Baro_BMP085_HIL barometer;
AP_IMU_Shim imu; // never used
AP_InertialSensor_Stub ins;
AP_PeriodicProcessStub timer_scheduler;
diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index f2dbcb7bbb..555a214ea3 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -203,6 +203,7 @@ AP_DCM_HIL dcm;
AP_GPS_HIL g_gps_driver(NULL);
AP_Compass_HIL compass; // never used
AP_IMU_Shim imu; // never used
+AP_Baro_BMP085_HIL barometer;
#else
#error Unrecognised HIL_MODE setting.
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 3bf8642db8..dbfbe7614c 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -420,7 +420,7 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
(float)airspeed / 100.0,
(float)g_gps->ground_speed / 100.0,
(dcm.yaw_sensor / 100) % 360,
- (uint16_t)(100 * g.channel_throttle.norm_output()),
+ (uint16_t)(100 * (g.channel_throttle.norm_output() / 2.0 + 0.5)), // scale -1,1 to 0-100
current_loc.alt / 100.0,
0);
}
diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
index 0b97741b3f..93dc01bf8d 100644
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
@@ -247,6 +247,12 @@
ImageLabel.cs
+
+ Form
+
+
+ XorPlus.cs
+
Form
@@ -420,6 +426,9 @@
ImageLabel.cs
+
+ XorPlus.cs
+
Configuration.cs
diff --git a/Tools/ArdupilotMegaPlanner/Controls/XorPlus.Designer.cs b/Tools/ArdupilotMegaPlanner/Controls/XorPlus.Designer.cs
new file mode 100644
index 0000000000..2a14e1fe1f
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/Controls/XorPlus.Designer.cs
@@ -0,0 +1,112 @@
+namespace ArdupilotMega
+{
+ partial class XorPlus
+ {
+ ///
+ /// Required designer variable.
+ ///
+ private System.ComponentModel.IContainer components = null;
+
+ ///
+ /// Clean up any resources being used.
+ ///
+ /// true if managed resources should be disposed; otherwise, false.
+ protected override void Dispose(bool disposing)
+ {
+ if (disposing && (components != null))
+ {
+ components.Dispose();
+ }
+ base.Dispose(disposing);
+ }
+
+ #region Component Designer generated code
+
+ ///
+ /// Required method for Designer support - do not modify
+ /// the contents of this method with the code editor.
+ ///
+ private void InitializeComponent()
+ {
+ this.label16 = new System.Windows.Forms.Label();
+ this.label15 = new System.Windows.Forms.Label();
+ this.pictureBoxQuadX = new System.Windows.Forms.PictureBox();
+ this.pictureBoxQuad = new System.Windows.Forms.PictureBox();
+ ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuadX)).BeginInit();
+ ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuad)).BeginInit();
+ this.SuspendLayout();
+ //
+ // label16
+ //
+ this.label16.AutoSize = true;
+ this.label16.ImeMode = System.Windows.Forms.ImeMode.NoControl;
+ this.label16.Location = new System.Drawing.Point(108, 211);
+ this.label16.Name = "label16";
+ this.label16.Size = new System.Drawing.Size(192, 26);
+ this.label16.TabIndex = 11;
+ this.label16.Text = "NOTE: images are for presentation only\r\nwill work with hexa\'s etc";
+ //
+ // label15
+ //
+ this.label15.AutoSize = true;
+ this.label15.ImeMode = System.Windows.Forms.ImeMode.NoControl;
+ this.label15.Location = new System.Drawing.Point(151, 2);
+ this.label15.Name = "label15";
+ this.label15.Size = new System.Drawing.Size(102, 13);
+ this.label15.TabIndex = 10;
+ this.label15.Text = "Frame Setup (+ or x)";
+ //
+ // pictureBoxQuadX
+ //
+ this.pictureBoxQuadX.Cursor = System.Windows.Forms.Cursors.Hand;
+ this.pictureBoxQuadX.Image = global::ArdupilotMega.Properties.Resources.quadx;
+ this.pictureBoxQuadX.ImeMode = System.Windows.Forms.ImeMode.NoControl;
+ this.pictureBoxQuadX.Location = new System.Drawing.Point(210, 18);
+ this.pictureBoxQuadX.Name = "pictureBoxQuadX";
+ this.pictureBoxQuadX.Size = new System.Drawing.Size(190, 190);
+ this.pictureBoxQuadX.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
+ this.pictureBoxQuadX.TabIndex = 9;
+ this.pictureBoxQuadX.TabStop = false;
+ this.pictureBoxQuadX.Click += new System.EventHandler(this.pictureBoxQuadX_Click);
+ //
+ // pictureBoxQuad
+ //
+ this.pictureBoxQuad.Cursor = System.Windows.Forms.Cursors.Hand;
+ this.pictureBoxQuad.Image = global::ArdupilotMega.Properties.Resources.quad;
+ this.pictureBoxQuad.ImeMode = System.Windows.Forms.ImeMode.NoControl;
+ this.pictureBoxQuad.Location = new System.Drawing.Point(3, 18);
+ this.pictureBoxQuad.Name = "pictureBoxQuad";
+ this.pictureBoxQuad.Size = new System.Drawing.Size(190, 190);
+ this.pictureBoxQuad.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
+ this.pictureBoxQuad.TabIndex = 8;
+ this.pictureBoxQuad.TabStop = false;
+ this.pictureBoxQuad.Click += new System.EventHandler(this.pictureBoxQuad_Click);
+ //
+ // XorPlus
+ //
+ this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
+ this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+ this.ClientSize = new System.Drawing.Size(404, 242);
+ this.Controls.Add(this.label16);
+ this.Controls.Add(this.label15);
+ this.Controls.Add(this.pictureBoxQuadX);
+ this.Controls.Add(this.pictureBoxQuad);
+ this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedToolWindow;
+ this.Name = "XorPlus";
+ this.StartPosition = System.Windows.Forms.FormStartPosition.CenterParent;
+ this.Text = "Frame Type";
+ ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuadX)).EndInit();
+ ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuad)).EndInit();
+ this.ResumeLayout(false);
+ this.PerformLayout();
+
+ }
+
+ #endregion
+
+ private System.Windows.Forms.Label label16;
+ private System.Windows.Forms.Label label15;
+ private System.Windows.Forms.PictureBox pictureBoxQuadX;
+ private System.Windows.Forms.PictureBox pictureBoxQuad;
+ }
+}
diff --git a/Tools/ArdupilotMegaPlanner/Controls/XorPlus.cs b/Tools/ArdupilotMegaPlanner/Controls/XorPlus.cs
new file mode 100644
index 0000000000..98808fe432
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/Controls/XorPlus.cs
@@ -0,0 +1,48 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Data;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+
+namespace ArdupilotMega
+{
+ public partial class XorPlus : Form
+ {
+ public new event EventHandler Click;
+
+ ///
+ /// either X or +
+ ///
+ public string frame = "";
+
+ public XorPlus()
+ {
+ InitializeComponent();
+ }
+
+ private void pictureBoxQuad_Click(object sender, EventArgs e)
+ {
+ frame = "+";
+ if (Click != null)
+ {
+ Click(sender, new EventArgs());
+ }
+
+ this.Close();
+ }
+
+ private void pictureBoxQuadX_Click(object sender, EventArgs e)
+ {
+ frame = "X";
+ if (Click != null)
+ {
+ Click(sender, new EventArgs());
+ }
+
+ this.Close();
+ }
+ }
+}
diff --git a/Tools/ArdupilotMegaPlanner/Controls/XorPlus.resx b/Tools/ArdupilotMegaPlanner/Controls/XorPlus.resx
new file mode 100644
index 0000000000..7080a7d118
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/Controls/XorPlus.resx
@@ -0,0 +1,120 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ text/microsoft-resx
+
+
+ 2.0
+
+
+ System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
+
+
+ System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
+
+
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml b/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
index f772467318..c93ea11515 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
+++ b/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
@@ -79,7 +79,19 @@
http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex
http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex
http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex
- ArduCopter V2.2 b2 Hexa
+ ArduCopter V2.2 b2 Hexa X
+
+#define FRAME_CONFIG HEXA_FRAME
+#define FRAME_ORIENTATION X_FRAME
+
+
+ 113
+
+
+ http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex
+ http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex
+ http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex
+ ArduCopter V2.2 b2 Hexa Plus
#define FRAME_CONFIG HEXA_FRAME
#define FRAME_ORIENTATION X_FRAME
@@ -115,7 +127,19 @@
http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex
http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex
http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex
- ArduCopter V2.2 b2 Octa
+ ArduCopter V2.2 b2 Octa X
+
+#define FRAME_CONFIG OCTA_FRAME
+#define FRAME_ORIENTATION X_FRAME
+
+
+ 113
+
+
+ http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex
+ http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex
+ http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex
+ ArduCopter V2.2 b2 Octa Plus
#define FRAME_CONFIG OCTA_FRAME
#define FRAME_ORIENTATION X_FRAME
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
index 388acb3c2c..7f61c9d4d0 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
@@ -410,7 +410,8 @@ namespace ArdupilotMega.GCSViews
void findfirmware(string findwhat)
{
List items = new List();
-
+
+ // build list
foreach (software temp in softwares)
{
if (temp.url.ToLower().Contains(findwhat.ToLower()))
@@ -419,12 +420,13 @@ namespace ArdupilotMega.GCSViews
}
}
+ // none found
if (items.Count == 0)
{
MessageBox.Show("The requested firmware was not found.");
return;
}
- else if (items.Count == 1)
+ else if (items.Count == 1) // 1 found so accept it
{
DialogResult dr = MessageBox.Show("Are you sure you want to upload " + items[0].name + "?", "Continue", MessageBoxButtons.YesNo);
if (dr == System.Windows.Forms.DialogResult.Yes)
@@ -433,18 +435,47 @@ namespace ArdupilotMega.GCSViews
}
return;
}
- else if (items.Count >= 2)
+ else if (items.Count == 2)
{
+ XorPlus select = new XorPlus();
+ MainV2.fixtheme(select);
+ select.ShowDialog();
+ int a = 0;
+
+ if (select.frame == "")
+ {
+ return;
+ }
+
foreach (software temp in items)
{
- DialogResult dr = MessageBox.Show("Are you sure you want to upload " + items[0].name + "?", "Continue", MessageBoxButtons.YesNo);
- if (dr == System.Windows.Forms.DialogResult.Yes)
+ if (select.frame == "+" && temp.name.Contains("Plus"))
{
- update(items[0]);
- return;
+ DialogResult dr = MessageBox.Show("Are you sure you want to upload " + items[a].name + "?", "Continue", MessageBoxButtons.YesNo);
+ if (dr == System.Windows.Forms.DialogResult.Yes)
+ {
+ update(items[a]);
+ return;
+ }
}
+ else if (select.frame == "X" && temp.name.Contains("X"))
+ {
+ DialogResult dr = MessageBox.Show("Are you sure you want to upload " + items[a].name + "?", "Continue", MessageBoxButtons.YesNo);
+ if (dr == System.Windows.Forms.DialogResult.Yes)
+ {
+ update(items[a]);
+ return;
+ }
+ }
+
+ a++;
}
}
+ else
+ {
+ MessageBox.Show("Something has gone wrong, to many firmware choices");
+ return;
+ }
}
private void pictureBoxAPM_Click(object sender, EventArgs e)
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
index e5881f7a69..82526a1e9c 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
@@ -298,7 +298,14 @@ namespace ArdupilotMega.GCSViews
// online verify height
if (isonline && CHK_geheight.Checked)
{
- cell.Value = ((int)getGEAlt(lat, lng) + int.Parse(TXT_DefaultAlt.Text)).ToString();
+ if (CHK_altmode.Checked)
+ {
+ cell.Value = ((int)getGEAlt(lat, lng) + int.Parse(TXT_DefaultAlt.Text)).ToString();
+ }
+ else
+ {
+ cell.Value = ((int)getGEAlt(lat, lng) + int.Parse(TXT_DefaultAlt.Text) - float.Parse(TXT_homealt.Text)).ToString();
+ }
}
else
{
@@ -475,7 +482,7 @@ namespace ArdupilotMega.GCSViews
// map center
center = new GMapMarkerCross(MainMap.Position);
- //top.Markers.Add(center);
+ top.Markers.Add(center);
MainMap.Zoom = 3;
@@ -939,9 +946,11 @@ namespace ArdupilotMega.GCSViews
///
private void writeKML()
{
+ // quickadd is for when loading wps from eeprom or file, to prevent slow, loading times
if (quickadd)
return;
+ // this is to share the current mission with the data tab
pointlist = new List();
System.Diagnostics.Debug.WriteLine(DateTime.Now);
@@ -952,6 +961,7 @@ namespace ArdupilotMega.GCSViews
objects.Markers.Clear();
}
+ // process and add home to the list
string home;
if (TXT_homealt.Text != "" && TXT_homelat.Text != "" && TXT_homelng.Text != "")
{
@@ -967,6 +977,7 @@ namespace ArdupilotMega.GCSViews
home = "";
}
+ // setup for centerpoint calc etc.
double avglat = 0;
double avglong = 0;
double maxlat = -180;
@@ -986,6 +997,7 @@ namespace ArdupilotMega.GCSViews
int usable = 0;
+ // number rows
System.Threading.Thread t1 = new System.Threading.Thread(delegate()
{
// thread for updateing row numbers
@@ -2965,7 +2977,7 @@ namespace ArdupilotMega.GCSViews
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
- routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing));
+ routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing) { ToolTipText = MainV2.cs.alt.ToString("0"), ToolTipMode = MarkerTooltipMode.Always });
}
else
{
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
index f6bded10da..12701c737d 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
@@ -1328,7 +1328,7 @@ namespace ArdupilotMega.GCSViews
roll_out = (float)MainV2.cs.hilch1 / rollgain;
pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
- throttle_out = ((float)MainV2.cs.hilch3 + 5000) / throttlegain;
+ throttle_out = ((float)MainV2.cs.hilch3 / 2 + 5000) / throttlegain;
rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
}
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index d0371afd9f..644567d505 100644
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
@@ -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("1.1.23")]
+[assembly: AssemblyFileVersion("1.1.24")]
[assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/Setup/Setup.resx b/Tools/ArdupilotMegaPlanner/Setup/Setup.resx
index 4e49f35f37..dc88bef1bc 100644
--- a/Tools/ArdupilotMegaPlanner/Setup/Setup.resx
+++ b/Tools/ArdupilotMegaPlanner/Setup/Setup.resx
@@ -256,7 +256,7 @@
3
- 21, 340
+ 21, 349
409, 42
@@ -286,7 +286,7 @@
NoControl
- 287, 158
+ 287, 154
66, 17
@@ -316,7 +316,7 @@
NoControl
- 315, 310
+ 315, 306
66, 17
@@ -346,7 +346,7 @@
NoControl
- 71, 158
+ 71, 154
66, 17
@@ -514,7 +514,7 @@
9
- 143, 61
+ 143, 57
47, 211
@@ -535,7 +535,7 @@
10
- 359, 61
+ 359, 57
47, 211
@@ -556,7 +556,7 @@
11
- 21, 304
+ 21, 300
288, 23
@@ -1563,33 +1563,6 @@
2
-
- Zoom
-
-
- NoControl
-
-
- 78, 271
-
-
- 75, 75
-
-
- 29
-
-
- pictureBox2
-
-
- System.Windows.Forms.PictureBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
-
-
- tabHardware
-
-
- 3
-
True
@@ -1618,7 +1591,7 @@
tabHardware
- 4
+ 3
NoControl
@@ -1645,7 +1618,7 @@
tabHardware
- 5
+ 4
383, 57
@@ -1669,7 +1642,7 @@
tabHardware
- 6
+ 5
NoControl
@@ -1696,7 +1669,7 @@
tabHardware
- 7
+ 6
NoControl
@@ -1723,7 +1696,7 @@
tabHardware
- 8
+ 7
NoControl
@@ -1750,6 +1723,33 @@
tabHardware
+ 8
+
+
+ Zoom
+
+
+ NoControl
+
+
+ 78, 271
+
+
+ 75, 75
+
+
+ 29
+
+
+ pictureBox2
+
+
+ System.Windows.Forms.PictureBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089
+
+
+ tabHardware
+
+
9
diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 72577a7444..37f90e0cdc 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -248,10 +248,12 @@ RC_Channel::norm_input()
float
RC_Channel::norm_output()
{
+ uint16_t mid = (radio_max + radio_min) / 2;
+
if(radio_out < radio_trim)
- return (float)(radio_out - radio_trim) / (float)(radio_trim - radio_min);
+ return (float)(radio_out - mid) / (float)(mid - radio_min);
else
- return (float)(radio_out - radio_trim) / (float)(radio_max - radio_trim);
+ return (float)(radio_out - mid) / (float)(radio_max - mid);
}
void RC_Channel::set_apm_rc( APM_RC_Class * apm_rc )