mirror of https://github.com/ArduPilot/ardupilot
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
This commit is contained in:
Chris Anderson
commit
b37ca7cccd
|
|
@ -69,6 +69,7 @@ http://code.google.com/p/ardupilot-mega/downloads/list
|
|||
#include <AP_TimerProcess.h> // TimerProcess is the scheduler for MPU6000 reads.
|
||||
#include <AP_DCM.h> // ArduPilot Mega DCM Library
|
||||
#include <APM_PI.h> // PI library
|
||||
#include <PID.h> // PID library
|
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#include <RC_Channel.h> // RC Channel Library
|
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#include <AP_RangeFinder.h> // Range finder library
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#include <AP_OpticalFlow.h> // Optical Flow library
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|
|
@ -291,7 +292,8 @@ static const char* flight_mode_strings[] = {
|
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"RTL",
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"CIRCLE",
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"POSITION",
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"LAND"};
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"LAND",
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"OF_LOITER"};
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/* Radio values
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Channel assignments
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@ -1439,15 +1441,9 @@ void update_roll_pitch_mode(void)
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if(do_simple && new_radio_frame){
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update_simple_mode();
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}
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// in this mode, nav_roll and nav_pitch = the iterm
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#if WIND_COMP_STAB == 1
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g.rc_1.servo_out = get_stabilize_roll(get_of_roll(g.rc_1.control_in + nav_roll));
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g.rc_2.servo_out = get_stabilize_pitch(get_of_pitch(g.rc_2.control_in + nav_pitch));
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#else
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// mix in user control with optical flow
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g.rc_1.servo_out = get_stabilize_roll(get_of_roll(g.rc_1.control_in));
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g.rc_2.servo_out = get_stabilize_pitch(get_of_pitch(g.rc_2.control_in));
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#endif
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break;
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}
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|
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@ -1989,17 +1985,22 @@ static void tuning(){
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break;
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case CH6_OPTFLOW_KP:
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g.rc_6.set_range(0,10000); // 0 to 10
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g.rc_6.set_range(0,5000); // 0 to 5
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g.pi_optflow_roll.kP(tuning_value);
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g.pi_optflow_pitch.kP(tuning_value);
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break;
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case CH6_OPTFLOW_KI:
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g.rc_6.set_range(0,100); // 0 to 0.1
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g.rc_6.set_range(0,10000); // 0 to 10
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g.pi_optflow_roll.kI(tuning_value);
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g.pi_optflow_pitch.kI(tuning_value);
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break;
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case CH6_OPTFLOW_KD:
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g.rc_6.set_range(0,200); // 0 to 0.2
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g.pi_optflow_roll.kD(tuning_value);
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g.pi_optflow_pitch.kD(tuning_value);
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break;
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}
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}
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|
|
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@ -258,6 +258,8 @@ static void reset_optflow_I(void)
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{
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g.pi_optflow_roll.reset_I();
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g.pi_optflow_pitch.reset_I();
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of_roll = 0;
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of_pitch = 0;
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}
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static void reset_wind_I(void)
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@ -462,34 +464,35 @@ static void init_z_damper()
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}
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#endif
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// calculate modified roll/pitch depending upon optical flow values
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// calculate modified roll/pitch depending upon optical flow calculated position
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static int32_t
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get_of_roll(int32_t control_roll)
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{
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#ifdef OPTFLOW_ENABLED
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//static int32_t of_roll = 0; // we use global variable to make logging easier
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static float tot_x_cm = 0; // total distance from target
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static unsigned long last_of_roll_update = 0;
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static float prev_value = 0;
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float x_cm;
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int32_t new_roll = 0;
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// check if new optflow data available
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if( optflow.last_update != last_of_roll_update) {
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last_of_roll_update = optflow.last_update;
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// filter movement
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x_cm = (optflow.x_cm + prev_value) / 2.0 * 50.0;
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// add new distance moved
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tot_x_cm += optflow.x_cm;
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// only stop roll if caller isn't modifying roll
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if( control_roll == 0 && current_loc.alt < 1500) {
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of_roll = g.pi_optflow_roll.get_pi(-x_cm, 1.0); // we could use the last update time to calculate the time change
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new_roll = g.pi_optflow_roll.get_pid(-tot_x_cm, 1.0, 1.0); // we could use the last update time to calculate the time change
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}else{
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g.pi_optflow_roll.reset_I();
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prev_value = 0;
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tot_x_cm = 0;
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}
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// limit amount of change and maximum angle
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of_roll = constrain(new_roll, (of_roll-20), (of_roll+20));
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}
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// limit maximum angle
|
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of_roll = constrain(of_roll, -1000, 1000);
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// limit max angle
|
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of_roll = constrain(of_roll, -1000, 1000);
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return control_roll+of_roll;
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#else
|
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return control_roll;
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@ -500,27 +503,30 @@ static int32_t
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get_of_pitch(int32_t control_pitch)
|
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{
|
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#ifdef OPTFLOW_ENABLED
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//static int32_t of_pitch = 0; // we use global variable to make logging easier
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static float tot_y_cm = 0; // total distance from target
|
||||
static unsigned long last_of_pitch_update = 0;
|
||||
static float prev_value = 0;
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float y_cm;
|
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int32_t new_pitch = 0;
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|
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// check if new optflow data available
|
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if( optflow.last_update != last_of_pitch_update ) {
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last_of_pitch_update = optflow.last_update;
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|
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// filter movement
|
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y_cm = (optflow.y_cm + prev_value) / 2.0 * 50.0;
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// add new distance moved
|
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tot_y_cm += optflow.y_cm;
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|
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// only stop roll if caller isn't modifying roll
|
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// only stop roll if caller isn't modifying pitch
|
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if( control_pitch == 0 && current_loc.alt < 1500 ) {
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of_pitch = g.pi_optflow_pitch.get_pi(y_cm, 1.0); // we could use the last update time to calculate the time change
|
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new_pitch = g.pi_optflow_pitch.get_pid(tot_y_cm, 1.0, 1.0); // we could use the last update time to calculate the time change
|
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}else{
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tot_y_cm = 0;
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g.pi_optflow_pitch.reset_I();
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prev_value = 0;
|
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}
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// limit amount of change
|
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of_pitch = constrain(new_pitch, (of_pitch-20), (of_pitch+20));
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}
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// limit maximum angle
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// limit max angle
|
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of_pitch = constrain(of_pitch, -1000, 1000);
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return control_pitch+of_pitch;
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#else
|
||||
|
|
|
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|
|
@ -309,8 +309,8 @@ public:
|
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APM_PI pi_acro_roll;
|
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APM_PI pi_acro_pitch;
|
||||
|
||||
APM_PI pi_optflow_roll;
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||||
APM_PI pi_optflow_pitch;
|
||||
PID pi_optflow_roll;
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PID pi_optflow_pitch;
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||||
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uint8_t junk;
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|
@ -435,8 +435,8 @@ public:
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pi_acro_roll (k_param_pi_acro_roll, PSTR("ACRO_RLL_"), ACRO_ROLL_P, ACRO_ROLL_I, ACRO_ROLL_IMAX * 100),
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pi_acro_pitch (k_param_pi_acro_pitch, PSTR("ACRO_PIT_"), ACRO_PITCH_P, ACRO_PITCH_I, ACRO_PITCH_IMAX * 100),
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pi_optflow_roll (k_param_pi_optflow_roll, PSTR("OF_RLL_"), OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_IMAX * 100),
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pi_optflow_pitch (k_param_pi_optflow_pitch, PSTR("OF_PIT_"), OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_IMAX * 100),
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pi_optflow_roll (k_param_pi_optflow_roll, PSTR("OF_RLL_"), OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),
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pi_optflow_pitch (k_param_pi_optflow_pitch, PSTR("OF_PIT_"), OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100),
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junk(0) // XXX just so that we can add things without worrying about the trailing comma
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{
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|
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@ -176,7 +176,7 @@
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# endif
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#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
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# ifndef CONFIG_SONAR_SOURCE_ANALOG_PIN
|
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# define CONFIG_SONAR_SOURCE_ANALOG_PIN A1
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# define CONFIG_SONAR_SOURCE_ANALOG_PIN A0
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# endif
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#else
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# warning Invalid value for CONFIG_SONAR_SOURCE, disabling sonar
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@ -313,21 +313,30 @@
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#ifndef OPTFLOW_ORIENTATION
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# define OPTFLOW_ORIENTATION AP_OPTICALFLOW_ADNS3080_PINS_FORWARD
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#endif
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#ifndef OPTFLOW_RESOLUTION
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# define OPTFLOW_RESOLUTION ADNS3080_RESOLUTION_1600
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#endif
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#ifndef OPTFLOW_FOV
|
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# define OPTFLOW_FOV AP_OPTICALFLOW_ADNS3080_08_FOV
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#endif
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// optical flow based loiter PI values
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#ifndef OPTFLOW_ROLL_P
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#define OPTFLOW_ROLL_P 6.4
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#define OPTFLOW_ROLL_P 2.5
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#endif
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#ifndef OPTFLOW_ROLL_I
|
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#define OPTFLOW_ROLL_I 0.068
|
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#define OPTFLOW_ROLL_I 6.2
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#endif
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#ifndef OPTFLOW_ROLL_D
|
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#define OPTFLOW_ROLL_D 0.12
|
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#endif
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#ifndef OPTFLOW_PITCH_P
|
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#define OPTFLOW_PITCH_P 6.4
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#define OPTFLOW_PITCH_P 2.5
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#endif
|
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#ifndef OPTFLOW_PITCH_I
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#define OPTFLOW_PITCH_I 0.068
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#define OPTFLOW_PITCH_I 6.2
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#endif
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#ifndef OPTFLOW_PITCH_D
|
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#define OPTFLOW_PITCH_D 0.12
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#endif
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#ifndef OPTFLOW_IMAX
|
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#define OPTFLOW_IMAX 4
|
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|
|
@ -494,6 +503,18 @@
|
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# define SUPER_SIMPLE DISABLED
|
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#endif
|
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|
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// LOITER Mode
|
||||
#ifndef OF_LOITER_YAW
|
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# define OF_LOITER_YAW YAW_HOLD
|
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#endif
|
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|
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#ifndef OF_LOITER_RP
|
||||
# define OF_LOITER_RP ROLL_PITCH_STABLE_OF
|
||||
#endif
|
||||
|
||||
#ifndef OF_LOITER_THR
|
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# define OF_LOITER_THR THROTTLE_HOLD
|
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#endif
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////
|
||||
// Attitude Control
|
||||
|
|
|
|||
|
|
@ -49,8 +49,7 @@
|
|||
//
|
||||
//
|
||||
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
|
||||
/* TODO find out correct channel for APM2 TRI_YAW */
|
||||
# define CH_TRI_YAW (-1)
|
||||
# define CH_TRI_YAW CH_7
|
||||
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
|
||||
# define CH_TRI_YAW CH_7
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -122,7 +122,8 @@
|
|||
#define CIRCLE 7 // AUTO control
|
||||
#define POSITION 8 // AUTO control
|
||||
#define LAND 9 // AUTO control
|
||||
#define NUM_MODES 10
|
||||
#define OF_LOITER 10 // Hold a single location using optical flow sensor
|
||||
#define NUM_MODES 11
|
||||
|
||||
#define INITIALISING 9 // in startup routines
|
||||
|
||||
|
|
@ -163,6 +164,7 @@
|
|||
// optical flow controller
|
||||
#define CH6_OPTFLOW_KP 17
|
||||
#define CH6_OPTFLOW_KI 18
|
||||
#define CH6_OPTFLOW_KD 19
|
||||
|
||||
|
||||
// nav byte mask
|
||||
|
|
|
|||
|
|
@ -238,6 +238,18 @@ static void init_motors_out()
|
|||
#endif
|
||||
}
|
||||
|
||||
static void motors_output_enable()
|
||||
{
|
||||
APM_RC.enable_out(CH_1);
|
||||
APM_RC.enable_out(CH_2);
|
||||
APM_RC.enable_out(CH_3);
|
||||
APM_RC.enable_out(CH_4);
|
||||
APM_RC.enable_out(CH_5);
|
||||
APM_RC.enable_out(CH_6);
|
||||
APM_RC.enable_out(CH_7);
|
||||
APM_RC.enable_out(CH_8);
|
||||
}
|
||||
|
||||
// these are not really motors, they're servos but we don't rename the function because it fits with the rest of the code better
|
||||
static void output_motors_armed()
|
||||
{
|
||||
|
|
|
|||
|
|
@ -13,6 +13,7 @@ static void motors_output_enable()
|
|||
APM_RC.enable_out(MOT_1);
|
||||
APM_RC.enable_out(MOT_2);
|
||||
APM_RC.enable_out(MOT_4);
|
||||
APM_RC.enable_out(CH_TRI_YAW);
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -100,8 +100,8 @@ static void init_rc_out()
|
|||
|
||||
void output_min()
|
||||
{
|
||||
motors_output_enable();
|
||||
#if FRAME_CONFIG == HELI_FRAME
|
||||
motors_output_enable();
|
||||
#if FRAME_CONFIG == HELI_FRAME
|
||||
heli_move_servos_to_mid();
|
||||
#else
|
||||
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); // Initialization of servo outputs
|
||||
|
|
@ -111,11 +111,15 @@ void output_min()
|
|||
#endif
|
||||
|
||||
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
|
||||
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
|
||||
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
|
||||
|
||||
#if FRAME_CONFIG == TRI_FRAME
|
||||
APM_RC.OutputCh(CH_TRI_YAW, g.rc_4.radio_trim); // Yaw servo middle position
|
||||
#endif
|
||||
|
||||
#if FRAME_CONFIG == OCTA_FRAME
|
||||
APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
|
||||
APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
|
||||
APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -92,6 +92,8 @@ static void init_optflow()
|
|||
SendDebug("\nFailed to Init OptFlow ");
|
||||
}
|
||||
optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft
|
||||
optflow.set_frame_rate(2000); // set minimum update rate (which should lead to maximum low light performance
|
||||
optflow.set_resolution(OPTFLOW_RESOLUTION); // set optical flow sensor's resolution
|
||||
optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view
|
||||
// setup timed read of sensor
|
||||
//timer_scheduler.register_process(&AP_OpticalFlow::read);
|
||||
|
|
|
|||
|
|
@ -408,13 +408,13 @@ static void set_mode(byte mode)
|
|||
// if we don't have GPS lock
|
||||
if(home_is_set == false){
|
||||
// our max mode should be
|
||||
if (mode > ALT_HOLD)
|
||||
if (mode > ALT_HOLD && mode != OF_LOITER)
|
||||
mode = STABILIZE;
|
||||
}
|
||||
|
||||
// nothing but Loiter for OptFlow only
|
||||
// nothing but OF_LOITER for OptFlow only
|
||||
if (g.optflow_enabled && GPS_enabled == false){
|
||||
if (mode > ALT_HOLD && mode != LOITER)
|
||||
if (mode > ALT_HOLD && mode != OF_LOITER)
|
||||
mode = STABILIZE;
|
||||
}
|
||||
|
||||
|
|
@ -520,6 +520,13 @@ static void set_mode(byte mode)
|
|||
do_RTL();
|
||||
break;
|
||||
|
||||
case OF_LOITER:
|
||||
yaw_mode = OF_LOITER_YAW;
|
||||
roll_pitch_mode = OF_LOITER_RP;
|
||||
throttle_mode = OF_LOITER_THR;
|
||||
set_next_WP(¤t_loc);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -253,6 +253,9 @@
|
|||
<Compile Include="Controls\XorPlus.Designer.cs">
|
||||
<DependentUpon>XorPlus.cs</DependentUpon>
|
||||
</Compile>
|
||||
<Compile Include="GCSViews\Firmware.Designer.cs">
|
||||
<DependentUpon>Firmware.cs</DependentUpon>
|
||||
</Compile>
|
||||
<Compile Include="HIL\Utils.cs" />
|
||||
<Compile Include="ResEdit.cs">
|
||||
<SubType>Form</SubType>
|
||||
|
|
@ -652,9 +655,6 @@
|
|||
<EmbeddedResource Include="GCSViews\Terminal.zh-Hans.resx">
|
||||
<DependentUpon>Terminal.cs</DependentUpon>
|
||||
</EmbeddedResource>
|
||||
<EmbeddedResource Include="HUD.resx">
|
||||
<DependentUpon>HUD.cs</DependentUpon>
|
||||
</EmbeddedResource>
|
||||
<EmbeddedResource Include="JoystickSetup.resx">
|
||||
<DependentUpon>JoystickSetup.cs</DependentUpon>
|
||||
<SubType>Designer</SubType>
|
||||
|
|
@ -733,9 +733,6 @@
|
|||
<None Include="arducopter-xplane.zip">
|
||||
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
|
||||
</None>
|
||||
<None Include="defines.h">
|
||||
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
|
||||
</None>
|
||||
<None Include="m3u\networklink.kml">
|
||||
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
|
||||
</None>
|
||||
|
|
|
|||
|
|
@ -39,6 +39,9 @@
|
|||
| System.Windows.Forms.AnchorStyles.Left)
|
||||
| System.Windows.Forms.AnchorStyles.Right)));
|
||||
this.pictureBox1.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBox1.ErrorImage = global::ArdupilotMega.Properties.Resources.bg;
|
||||
this.pictureBox1.Image = global::ArdupilotMega.Properties.Resources.bg;
|
||||
this.pictureBox1.InitialImage = global::ArdupilotMega.Properties.Resources.bg;
|
||||
this.pictureBox1.Location = new System.Drawing.Point(0, 0);
|
||||
this.pictureBox1.Name = "pictureBox1";
|
||||
this.pictureBox1.Size = new System.Drawing.Size(170, 155);
|
||||
|
|
@ -55,6 +58,7 @@
|
|||
this.label1.Name = "label1";
|
||||
this.label1.Size = new System.Drawing.Size(170, 13);
|
||||
this.label1.TabIndex = 1;
|
||||
this.label1.Text = "None";
|
||||
this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
|
||||
//
|
||||
// ImageLabel
|
||||
|
|
|
|||
|
|
@ -9,7 +9,7 @@ using System.Windows.Forms;
|
|||
|
||||
namespace ArdupilotMega
|
||||
{
|
||||
public partial class ImageLabel : UserControl
|
||||
public partial class ImageLabel : UserControl
|
||||
{
|
||||
public new event EventHandler Click;
|
||||
|
||||
|
|
|
|||
|
|
@ -99,7 +99,14 @@ namespace ArdupilotMega
|
|||
get {
|
||||
try
|
||||
{
|
||||
return (int)((ch3out - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) / (float.Parse(MainV2.comPort.param["RC3_MAX"].ToString()) - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) * 100);
|
||||
if (MainV2.comPort.param.ContainsKey("RC3_MIN"))
|
||||
{
|
||||
return (int)((ch3out - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) / (float.Parse(MainV2.comPort.param["RC3_MAX"].ToString()) - float.Parse(MainV2.comPort.param["RC3_MIN"].ToString())) * 100);
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
catch {
|
||||
return 0;
|
||||
|
|
@ -141,6 +148,24 @@ namespace ArdupilotMega
|
|||
public float battery_remaining { get { return _battery_remaining; } set { _battery_remaining = value / 1000; if (_battery_remaining < 0 || _battery_remaining > 100) _battery_remaining = 0; } }
|
||||
private float _battery_remaining;
|
||||
|
||||
// pressure
|
||||
public float press_abs { get; set; }
|
||||
public int press_temp { get; set; }
|
||||
|
||||
// sensor offsets
|
||||
public int mag_ofs_x { get; set; }
|
||||
public int mag_ofs_y { get; set; }
|
||||
public int mag_ofs_z { get; set; }
|
||||
public float mag_declination { get; set; }
|
||||
public int raw_press { get; set; }
|
||||
public int raw_temp { get; set; }
|
||||
public float gyro_cal_x { get; set; }
|
||||
public float gyro_cal_y { get; set; }
|
||||
public float gyro_cal_z { get; set; }
|
||||
public float accel_cal_x { get; set; }
|
||||
public float accel_cal_y { get; set; }
|
||||
public float accel_cal_z { get; set; }
|
||||
|
||||
// HIL
|
||||
public int hilch1 { get; set; }
|
||||
public int hilch2 { get; set; }
|
||||
|
|
@ -190,6 +215,7 @@ namespace ArdupilotMega
|
|||
ratestatus = 1;
|
||||
ratesensors = 3;
|
||||
raterc = 3;
|
||||
datetime = DateTime.MinValue;
|
||||
}
|
||||
|
||||
const float rad2deg = (float)(180 / Math.PI);
|
||||
|
|
@ -229,6 +255,7 @@ namespace ArdupilotMega
|
|||
int ind = logdata.IndexOf('\0');
|
||||
if (ind != -1)
|
||||
logdata = logdata.Substring(0, ind);
|
||||
|
||||
if (messages.Count > 5)
|
||||
{
|
||||
messages.RemoveAt(0);
|
||||
|
|
@ -519,6 +546,51 @@ namespace ArdupilotMega
|
|||
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
|
||||
}
|
||||
#endif
|
||||
|
||||
if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE] != null)
|
||||
{
|
||||
var pres = new ArdupilotMega.MAVLink.__mavlink_scaled_pressure_t();
|
||||
|
||||
object temp = pres;
|
||||
|
||||
MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SCALED_PRESSURE], ref temp, 6);
|
||||
|
||||
pres = (MAVLink.__mavlink_scaled_pressure_t)(temp);
|
||||
|
||||
press_abs = pres.press_abs;
|
||||
|
||||
press_temp = pres.temperature;
|
||||
|
||||
}
|
||||
|
||||
if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS] != null)
|
||||
{
|
||||
var sensofs = new ArdupilotMega.MAVLink.__mavlink_sensor_offsets_t();
|
||||
|
||||
object temp = sensofs;
|
||||
|
||||
MAVLink.ByteArrayToStructure(mavinterface.packets[MAVLink.MAVLINK_MSG_ID_SENSOR_OFFSETS], ref temp, 6);
|
||||
|
||||
sensofs = (MAVLink.__mavlink_sensor_offsets_t)(temp);
|
||||
|
||||
mag_ofs_x = sensofs.mag_ofs_x;
|
||||
mag_ofs_y = sensofs.mag_ofs_y;
|
||||
mag_ofs_z = sensofs.mag_ofs_z;
|
||||
mag_declination = sensofs.mag_declination;
|
||||
|
||||
raw_press = sensofs.raw_press;
|
||||
raw_temp = sensofs.raw_temp;
|
||||
|
||||
gyro_cal_x = sensofs.gyro_cal_x;
|
||||
gyro_cal_y = sensofs.gyro_cal_y;
|
||||
gyro_cal_z = sensofs.gyro_cal_z;
|
||||
|
||||
accel_cal_x = sensofs.accel_cal_x;
|
||||
accel_cal_y = sensofs.accel_cal_y;
|
||||
accel_cal_z = sensofs.accel_cal_z;
|
||||
|
||||
}
|
||||
|
||||
if (mavinterface.packets[MAVLink.MAVLINK_MSG_ID_ATTITUDE] != null)
|
||||
{
|
||||
var att = new ArdupilotMega.MAVLink.__mavlink_attitude_t();
|
||||
|
|
@ -819,6 +891,7 @@ namespace ArdupilotMega
|
|||
{
|
||||
if (bs != null)
|
||||
{
|
||||
//System.Diagnostics.Debug.WriteLine(DateTime.Now.Millisecond);
|
||||
//Console.WriteLine(DateTime.Now.Millisecond);
|
||||
bs.DataSource = this;
|
||||
//Console.WriteLine(DateTime.Now.Millisecond + " 1 " + updatenow);
|
||||
|
|
|
|||
|
|
@ -0,0 +1,249 @@
|
|||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.ComponentModel;
|
||||
using System.Data;
|
||||
using System.Drawing;
|
||||
using System.Text;
|
||||
using System.Windows.Forms;
|
||||
using System.Text.RegularExpressions;
|
||||
using System.IO.Ports;
|
||||
using System.IO;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Xml;
|
||||
using System.Net;
|
||||
|
||||
namespace ArdupilotMega.GCSViews
|
||||
{
|
||||
partial class Firmware : MyUserControl
|
||||
{
|
||||
|
||||
/// <summary>
|
||||
/// Required designer variable.
|
||||
/// </summary>
|
||||
private System.ComponentModel.IContainer components = null;
|
||||
|
||||
/// <summary>
|
||||
/// Clean up any resources being used.
|
||||
/// </summary>
|
||||
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
|
||||
protected override void Dispose(bool disposing)
|
||||
{
|
||||
if (disposing && (components != null))
|
||||
{
|
||||
components.Dispose();
|
||||
}
|
||||
base.Dispose(disposing);
|
||||
}
|
||||
|
||||
|
||||
private ImageLabel pictureBoxAPM;
|
||||
private ImageLabel pictureBoxQuad;
|
||||
private ImageLabel pictureBoxHexa;
|
||||
private ImageLabel pictureBoxTri;
|
||||
private ImageLabel pictureBoxY6;
|
||||
private System.Windows.Forms.Label lbl_status;
|
||||
private System.Windows.Forms.ProgressBar progress;
|
||||
private System.Windows.Forms.Label label2;
|
||||
private ImageLabel pictureBoxHeli;
|
||||
private MyButton BUT_setup;
|
||||
private PictureBox pictureBoxHilimage;
|
||||
private PictureBox pictureBoxAPHil;
|
||||
private PictureBox pictureBoxACHil;
|
||||
private PictureBox pictureBoxACHHil;
|
||||
private ImageLabel pictureBoxOcta;
|
||||
private Label label1;
|
||||
private ImageLabel pictureBoxOctav;
|
||||
|
||||
private void InitializeComponent()
|
||||
{
|
||||
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Firmware));
|
||||
this.pictureBoxAPM = new ArdupilotMega.ImageLabel();
|
||||
this.pictureBoxQuad = new ArdupilotMega.ImageLabel();
|
||||
this.pictureBoxHexa = new ArdupilotMega.ImageLabel();
|
||||
this.pictureBoxTri = new ArdupilotMega.ImageLabel();
|
||||
this.pictureBoxY6 = new ArdupilotMega.ImageLabel();
|
||||
this.lbl_status = new System.Windows.Forms.Label();
|
||||
this.progress = new System.Windows.Forms.ProgressBar();
|
||||
this.label2 = new System.Windows.Forms.Label();
|
||||
this.pictureBoxHeli = new ArdupilotMega.ImageLabel();
|
||||
this.BUT_setup = new ArdupilotMega.MyButton();
|
||||
this.pictureBoxHilimage = new System.Windows.Forms.PictureBox();
|
||||
this.pictureBoxAPHil = new System.Windows.Forms.PictureBox();
|
||||
this.pictureBoxACHil = new System.Windows.Forms.PictureBox();
|
||||
this.pictureBoxACHHil = new System.Windows.Forms.PictureBox();
|
||||
this.pictureBoxOcta = new ArdupilotMega.ImageLabel();
|
||||
this.pictureBoxOctav = new ArdupilotMega.ImageLabel();
|
||||
this.label1 = new System.Windows.Forms.Label();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).BeginInit();
|
||||
this.SuspendLayout();
|
||||
//
|
||||
// pictureBoxAPM
|
||||
//
|
||||
this.pictureBoxAPM.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxAPM.Image = null;
|
||||
resources.ApplyResources(this.pictureBoxAPM, "pictureBoxAPM");
|
||||
this.pictureBoxAPM.Name = "pictureBoxAPM";
|
||||
this.pictureBoxAPM.TabStop = false;
|
||||
this.pictureBoxAPM.Click += new System.EventHandler(this.pictureBoxAPM_Click);
|
||||
//
|
||||
// pictureBoxQuad
|
||||
//
|
||||
this.pictureBoxQuad.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxQuad.Image = null;
|
||||
resources.ApplyResources(this.pictureBoxQuad, "pictureBoxQuad");
|
||||
this.pictureBoxQuad.Name = "pictureBoxQuad";
|
||||
this.pictureBoxQuad.TabStop = false;
|
||||
this.pictureBoxQuad.Click += new System.EventHandler(this.pictureBoxQuad_Click);
|
||||
//
|
||||
// pictureBoxHexa
|
||||
//
|
||||
this.pictureBoxHexa.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxHexa.Image = null;
|
||||
resources.ApplyResources(this.pictureBoxHexa, "pictureBoxHexa");
|
||||
this.pictureBoxHexa.Name = "pictureBoxHexa";
|
||||
this.pictureBoxHexa.TabStop = false;
|
||||
this.pictureBoxHexa.Click += new System.EventHandler(this.pictureBoxHexa_Click);
|
||||
//
|
||||
// pictureBoxTri
|
||||
//
|
||||
this.pictureBoxTri.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxTri.Image = null;
|
||||
resources.ApplyResources(this.pictureBoxTri, "pictureBoxTri");
|
||||
this.pictureBoxTri.Name = "pictureBoxTri";
|
||||
this.pictureBoxTri.TabStop = false;
|
||||
this.pictureBoxTri.Click += new System.EventHandler(this.pictureBoxTri_Click);
|
||||
//
|
||||
// pictureBoxY6
|
||||
//
|
||||
this.pictureBoxY6.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxY6.Image = null;
|
||||
resources.ApplyResources(this.pictureBoxY6, "pictureBoxY6");
|
||||
this.pictureBoxY6.Name = "pictureBoxY6";
|
||||
this.pictureBoxY6.TabStop = false;
|
||||
this.pictureBoxY6.Click += new System.EventHandler(this.pictureBoxY6_Click);
|
||||
//
|
||||
// lbl_status
|
||||
//
|
||||
resources.ApplyResources(this.lbl_status, "lbl_status");
|
||||
this.lbl_status.Name = "lbl_status";
|
||||
//
|
||||
// progress
|
||||
//
|
||||
resources.ApplyResources(this.progress, "progress");
|
||||
this.progress.Name = "progress";
|
||||
this.progress.Step = 1;
|
||||
//
|
||||
// label2
|
||||
//
|
||||
resources.ApplyResources(this.label2, "label2");
|
||||
this.label2.Name = "label2";
|
||||
//
|
||||
// pictureBoxHeli
|
||||
//
|
||||
this.pictureBoxHeli.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxHeli.Image = null;
|
||||
resources.ApplyResources(this.pictureBoxHeli, "pictureBoxHeli");
|
||||
this.pictureBoxHeli.Name = "pictureBoxHeli";
|
||||
this.pictureBoxHeli.TabStop = false;
|
||||
this.pictureBoxHeli.Click += new System.EventHandler(this.pictureBoxHeli_Click);
|
||||
//
|
||||
// BUT_setup
|
||||
//
|
||||
resources.ApplyResources(this.BUT_setup, "BUT_setup");
|
||||
this.BUT_setup.Name = "BUT_setup";
|
||||
this.BUT_setup.UseVisualStyleBackColor = true;
|
||||
this.BUT_setup.Click += new System.EventHandler(this.BUT_setup_Click);
|
||||
//
|
||||
// pictureBoxHilimage
|
||||
//
|
||||
this.pictureBoxHilimage.Image = global::ArdupilotMega.Properties.Resources.hil;
|
||||
resources.ApplyResources(this.pictureBoxHilimage, "pictureBoxHilimage");
|
||||
this.pictureBoxHilimage.Name = "pictureBoxHilimage";
|
||||
this.pictureBoxHilimage.TabStop = false;
|
||||
//
|
||||
// pictureBoxAPHil
|
||||
//
|
||||
this.pictureBoxAPHil.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxAPHil.Image = global::ArdupilotMega.Properties.Resources.hilplane;
|
||||
resources.ApplyResources(this.pictureBoxAPHil, "pictureBoxAPHil");
|
||||
this.pictureBoxAPHil.Name = "pictureBoxAPHil";
|
||||
this.pictureBoxAPHil.TabStop = false;
|
||||
this.pictureBoxAPHil.Click += new System.EventHandler(this.pictureBoxAPHil_Click);
|
||||
//
|
||||
// pictureBoxACHil
|
||||
//
|
||||
this.pictureBoxACHil.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxACHil.Image = global::ArdupilotMega.Properties.Resources.hilquad;
|
||||
resources.ApplyResources(this.pictureBoxACHil, "pictureBoxACHil");
|
||||
this.pictureBoxACHil.Name = "pictureBoxACHil";
|
||||
this.pictureBoxACHil.TabStop = false;
|
||||
this.pictureBoxACHil.Click += new System.EventHandler(this.pictureBoxACHil_Click);
|
||||
//
|
||||
// pictureBoxACHHil
|
||||
//
|
||||
this.pictureBoxACHHil.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxACHHil.Image = global::ArdupilotMega.Properties.Resources.hilheli;
|
||||
resources.ApplyResources(this.pictureBoxACHHil, "pictureBoxACHHil");
|
||||
this.pictureBoxACHHil.Name = "pictureBoxACHHil";
|
||||
this.pictureBoxACHHil.TabStop = false;
|
||||
this.pictureBoxACHHil.Click += new System.EventHandler(this.pictureBoxACHHil_Click);
|
||||
//
|
||||
// pictureBoxOcta
|
||||
//
|
||||
this.pictureBoxOcta.Image = null;
|
||||
resources.ApplyResources(this.pictureBoxOcta, "pictureBoxOcta");
|
||||
this.pictureBoxOcta.Name = "pictureBoxOcta";
|
||||
this.pictureBoxOcta.TabStop = false;
|
||||
this.pictureBoxOcta.Click += new System.EventHandler(this.pictureBoxOcta_Click);
|
||||
//
|
||||
// pictureBoxOctav
|
||||
//
|
||||
this.pictureBoxOctav.Image = null;
|
||||
resources.ApplyResources(this.pictureBoxOctav, "pictureBoxOctav");
|
||||
this.pictureBoxOctav.Name = "pictureBoxOctav";
|
||||
this.pictureBoxOctav.TabStop = false;
|
||||
this.pictureBoxOctav.Click += new System.EventHandler(this.pictureBoxOctav_Click);
|
||||
//
|
||||
// label1
|
||||
//
|
||||
resources.ApplyResources(this.label1, "label1");
|
||||
this.label1.Name = "label1";
|
||||
//
|
||||
// Firmware
|
||||
//
|
||||
resources.ApplyResources(this, "$this");
|
||||
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
|
||||
this.Controls.Add(this.label1);
|
||||
this.Controls.Add(this.BUT_setup);
|
||||
this.Controls.Add(this.label2);
|
||||
this.Controls.Add(this.lbl_status);
|
||||
this.Controls.Add(this.progress);
|
||||
this.Controls.Add(this.pictureBoxACHHil);
|
||||
this.Controls.Add(this.pictureBoxACHil);
|
||||
this.Controls.Add(this.pictureBoxAPHil);
|
||||
this.Controls.Add(this.pictureBoxHilimage);
|
||||
this.Controls.Add(this.pictureBoxOctav);
|
||||
this.Controls.Add(this.pictureBoxOcta);
|
||||
this.Controls.Add(this.pictureBoxHeli);
|
||||
this.Controls.Add(this.pictureBoxY6);
|
||||
this.Controls.Add(this.pictureBoxTri);
|
||||
this.Controls.Add(this.pictureBoxHexa);
|
||||
this.Controls.Add(this.pictureBoxQuad);
|
||||
this.Controls.Add(this.pictureBoxAPM);
|
||||
this.MinimumSize = new System.Drawing.Size(1008, 461);
|
||||
this.Name = "Firmware";
|
||||
this.Load += new System.EventHandler(this.Firmware_Load);
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).EndInit();
|
||||
this.ResumeLayout(false);
|
||||
this.PerformLayout();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -14,230 +14,11 @@ using System.Net;
|
|||
|
||||
namespace ArdupilotMega.GCSViews
|
||||
{
|
||||
class Firmware : MyUserControl
|
||||
partial class Firmware : MyUserControl
|
||||
{
|
||||
private ImageLabel pictureBoxAPM;
|
||||
private ImageLabel pictureBoxQuad;
|
||||
private ImageLabel pictureBoxHexa;
|
||||
private ImageLabel pictureBoxTri;
|
||||
private ImageLabel pictureBoxY6;
|
||||
private System.Windows.Forms.Label lbl_status;
|
||||
private System.Windows.Forms.ProgressBar progress;
|
||||
private System.Windows.Forms.Label label2;
|
||||
private ImageLabel pictureBoxHeli;
|
||||
private MyButton BUT_setup;
|
||||
private PictureBox pictureBoxHilimage;
|
||||
private PictureBox pictureBoxAPHil;
|
||||
private PictureBox pictureBoxACHil;
|
||||
private PictureBox pictureBoxACHHil;
|
||||
private ImageLabel pictureBoxOcta;
|
||||
private Label label1;
|
||||
private ImageLabel pictureBoxOctav;
|
||||
|
||||
private void InitializeComponent()
|
||||
{
|
||||
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Firmware));
|
||||
this.pictureBoxAPM = new ArdupilotMega.ImageLabel();
|
||||
this.pictureBoxQuad = new ArdupilotMega.ImageLabel();
|
||||
this.pictureBoxHexa = new ArdupilotMega.ImageLabel();
|
||||
this.pictureBoxTri = new ArdupilotMega.ImageLabel();
|
||||
this.pictureBoxY6 = new ArdupilotMega.ImageLabel();
|
||||
this.lbl_status = new System.Windows.Forms.Label();
|
||||
this.progress = new System.Windows.Forms.ProgressBar();
|
||||
this.label2 = new System.Windows.Forms.Label();
|
||||
this.pictureBoxHeli = new ArdupilotMega.ImageLabel();
|
||||
this.BUT_setup = new ArdupilotMega.MyButton();
|
||||
this.pictureBoxHilimage = new System.Windows.Forms.PictureBox();
|
||||
this.pictureBoxAPHil = new System.Windows.Forms.PictureBox();
|
||||
this.pictureBoxACHil = new System.Windows.Forms.PictureBox();
|
||||
this.pictureBoxACHHil = new System.Windows.Forms.PictureBox();
|
||||
this.pictureBoxOcta = new ArdupilotMega.ImageLabel();
|
||||
this.pictureBoxOctav = new ArdupilotMega.ImageLabel();
|
||||
this.label1 = new System.Windows.Forms.Label();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).BeginInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).BeginInit();
|
||||
this.SuspendLayout();
|
||||
//
|
||||
// pictureBoxAPM
|
||||
//
|
||||
this.pictureBoxAPM.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxAPM.Image = global::ArdupilotMega.Properties.Resources.APM_airframes_001;
|
||||
resources.ApplyResources(this.pictureBoxAPM, "pictureBoxAPM");
|
||||
this.pictureBoxAPM.Name = "pictureBoxAPM";
|
||||
this.pictureBoxAPM.TabStop = false;
|
||||
this.pictureBoxAPM.Click += new System.EventHandler(this.pictureBoxAPM_Click);
|
||||
//
|
||||
// pictureBoxQuad
|
||||
//
|
||||
this.pictureBoxQuad.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxQuad.Image = ((System.Drawing.Image)(resources.GetObject("pictureBoxQuad.Image")));
|
||||
resources.ApplyResources(this.pictureBoxQuad, "pictureBoxQuad");
|
||||
this.pictureBoxQuad.Name = "pictureBoxQuad";
|
||||
this.pictureBoxQuad.TabStop = false;
|
||||
this.pictureBoxQuad.Click += new System.EventHandler(this.pictureBoxQuad_Click);
|
||||
//
|
||||
// pictureBoxHexa
|
||||
//
|
||||
this.pictureBoxHexa.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxHexa.Image = global::ArdupilotMega.Properties.Resources.hexa;
|
||||
resources.ApplyResources(this.pictureBoxHexa, "pictureBoxHexa");
|
||||
this.pictureBoxHexa.Name = "pictureBoxHexa";
|
||||
this.pictureBoxHexa.TabStop = false;
|
||||
this.pictureBoxHexa.Click += new System.EventHandler(this.pictureBoxHexa_Click);
|
||||
//
|
||||
// pictureBoxTri
|
||||
//
|
||||
this.pictureBoxTri.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxTri.Image = global::ArdupilotMega.Properties.Resources.tri;
|
||||
resources.ApplyResources(this.pictureBoxTri, "pictureBoxTri");
|
||||
this.pictureBoxTri.Name = "pictureBoxTri";
|
||||
this.pictureBoxTri.TabStop = false;
|
||||
this.pictureBoxTri.Click += new System.EventHandler(this.pictureBoxTri_Click);
|
||||
//
|
||||
// pictureBoxY6
|
||||
//
|
||||
this.pictureBoxY6.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxY6.Image = global::ArdupilotMega.Properties.Resources.y6;
|
||||
resources.ApplyResources(this.pictureBoxY6, "pictureBoxY6");
|
||||
this.pictureBoxY6.Name = "pictureBoxY6";
|
||||
this.pictureBoxY6.TabStop = false;
|
||||
this.pictureBoxY6.Click += new System.EventHandler(this.pictureBoxY6_Click);
|
||||
//
|
||||
// lbl_status
|
||||
//
|
||||
resources.ApplyResources(this.lbl_status, "lbl_status");
|
||||
this.lbl_status.Name = "lbl_status";
|
||||
//
|
||||
// progress
|
||||
//
|
||||
resources.ApplyResources(this.progress, "progress");
|
||||
this.progress.Name = "progress";
|
||||
this.progress.Step = 1;
|
||||
//
|
||||
// label2
|
||||
//
|
||||
resources.ApplyResources(this.label2, "label2");
|
||||
this.label2.Name = "label2";
|
||||
//
|
||||
// pictureBoxHeli
|
||||
//
|
||||
this.pictureBoxHeli.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxHeli.Image = global::ArdupilotMega.Properties.Resources.APM_airframes_08;
|
||||
resources.ApplyResources(this.pictureBoxHeli, "pictureBoxHeli");
|
||||
this.pictureBoxHeli.Name = "pictureBoxHeli";
|
||||
this.pictureBoxHeli.TabStop = false;
|
||||
this.pictureBoxHeli.Click += new System.EventHandler(this.pictureBoxHeli_Click);
|
||||
//
|
||||
// BUT_setup
|
||||
//
|
||||
resources.ApplyResources(this.BUT_setup, "BUT_setup");
|
||||
this.BUT_setup.Name = "BUT_setup";
|
||||
this.BUT_setup.UseVisualStyleBackColor = true;
|
||||
this.BUT_setup.Click += new System.EventHandler(this.BUT_setup_Click);
|
||||
//
|
||||
// pictureBoxHilimage
|
||||
//
|
||||
this.pictureBoxHilimage.Image = global::ArdupilotMega.Properties.Resources.hil;
|
||||
resources.ApplyResources(this.pictureBoxHilimage, "pictureBoxHilimage");
|
||||
this.pictureBoxHilimage.Name = "pictureBoxHilimage";
|
||||
this.pictureBoxHilimage.TabStop = false;
|
||||
//
|
||||
// pictureBoxAPHil
|
||||
//
|
||||
this.pictureBoxAPHil.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxAPHil.Image = global::ArdupilotMega.Properties.Resources.hilplane;
|
||||
resources.ApplyResources(this.pictureBoxAPHil, "pictureBoxAPHil");
|
||||
this.pictureBoxAPHil.Name = "pictureBoxAPHil";
|
||||
this.pictureBoxAPHil.TabStop = false;
|
||||
this.pictureBoxAPHil.Click += new System.EventHandler(this.pictureBoxAPHil_Click);
|
||||
//
|
||||
// pictureBoxACHil
|
||||
//
|
||||
this.pictureBoxACHil.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxACHil.Image = global::ArdupilotMega.Properties.Resources.hilquad;
|
||||
resources.ApplyResources(this.pictureBoxACHil, "pictureBoxACHil");
|
||||
this.pictureBoxACHil.Name = "pictureBoxACHil";
|
||||
this.pictureBoxACHil.TabStop = false;
|
||||
this.pictureBoxACHil.Click += new System.EventHandler(this.pictureBoxACHil_Click);
|
||||
//
|
||||
// pictureBoxACHHil
|
||||
//
|
||||
this.pictureBoxACHHil.Cursor = System.Windows.Forms.Cursors.Hand;
|
||||
this.pictureBoxACHHil.Image = global::ArdupilotMega.Properties.Resources.hilheli;
|
||||
resources.ApplyResources(this.pictureBoxACHHil, "pictureBoxACHHil");
|
||||
this.pictureBoxACHHil.Name = "pictureBoxACHHil";
|
||||
this.pictureBoxACHHil.TabStop = false;
|
||||
this.pictureBoxACHHil.Click += new System.EventHandler(this.pictureBoxACHHil_Click);
|
||||
//
|
||||
// pictureBoxOcta
|
||||
//
|
||||
this.pictureBoxOcta.Image = global::ArdupilotMega.Properties.Resources.octo;
|
||||
resources.ApplyResources(this.pictureBoxOcta, "pictureBoxOcta");
|
||||
this.pictureBoxOcta.Name = "pictureBoxOcta";
|
||||
this.pictureBoxOcta.TabStop = false;
|
||||
this.pictureBoxOcta.Click += new System.EventHandler(this.pictureBoxOcta_Click);
|
||||
//
|
||||
// pictureBoxOctav
|
||||
//
|
||||
this.pictureBoxOctav.Image = global::ArdupilotMega.Properties.Resources.octov;
|
||||
resources.ApplyResources(this.pictureBoxOctav, "pictureBoxOctav");
|
||||
this.pictureBoxOctav.Name = "pictureBoxOctav";
|
||||
this.pictureBoxOctav.TabStop = false;
|
||||
this.pictureBoxOctav.Click += new System.EventHandler(this.pictureBoxOctav_Click);
|
||||
//
|
||||
// label1
|
||||
//
|
||||
resources.ApplyResources(this.label1, "label1");
|
||||
this.label1.Name = "label1";
|
||||
//
|
||||
// Firmware
|
||||
//
|
||||
resources.ApplyResources(this, "$this");
|
||||
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
|
||||
this.Controls.Add(this.label1);
|
||||
this.Controls.Add(this.pictureBoxOctav);
|
||||
this.Controls.Add(this.pictureBoxOcta);
|
||||
this.Controls.Add(this.pictureBoxACHHil);
|
||||
this.Controls.Add(this.pictureBoxACHil);
|
||||
this.Controls.Add(this.pictureBoxAPHil);
|
||||
this.Controls.Add(this.pictureBoxHilimage);
|
||||
this.Controls.Add(this.BUT_setup);
|
||||
this.Controls.Add(this.pictureBoxHeli);
|
||||
this.Controls.Add(this.label2);
|
||||
this.Controls.Add(this.lbl_status);
|
||||
this.Controls.Add(this.progress);
|
||||
this.Controls.Add(this.pictureBoxY6);
|
||||
this.Controls.Add(this.pictureBoxTri);
|
||||
this.Controls.Add(this.pictureBoxHexa);
|
||||
this.Controls.Add(this.pictureBoxQuad);
|
||||
this.Controls.Add(this.pictureBoxAPM);
|
||||
this.MinimumSize = new System.Drawing.Size(1008, 461);
|
||||
this.Name = "Firmware";
|
||||
this.Load += new System.EventHandler(this.FirmwareVisual_Load);
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).EndInit();
|
||||
((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).EndInit();
|
||||
this.ResumeLayout(false);
|
||||
this.PerformLayout();
|
||||
|
||||
}
|
||||
|
||||
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
|
||||
{
|
||||
if (keyData == (Keys.Control | Keys.B))
|
||||
{
|
||||
findfirmware("AP-trunk");
|
||||
return true;
|
||||
}
|
||||
if (keyData == (Keys.Control | Keys.A))
|
||||
{
|
||||
findfirmware("AC2-QUADHIL");
|
||||
return true;
|
||||
}
|
||||
|
||||
if (keyData == (Keys.Control | Keys.C))
|
||||
{
|
||||
OpenFileDialog fd = new OpenFileDialog();
|
||||
|
|
@ -265,26 +46,31 @@ namespace ArdupilotMega.GCSViews
|
|||
public int k_format_version;
|
||||
}
|
||||
|
||||
public enum FRAMETYPES
|
||||
{
|
||||
NONE,
|
||||
TRI,
|
||||
QUAD,
|
||||
HEXA,
|
||||
Y6,
|
||||
APM,
|
||||
APMHIL,
|
||||
HELI
|
||||
}
|
||||
|
||||
public Firmware()
|
||||
{
|
||||
InitializeComponent();
|
||||
|
||||
WebRequest.DefaultWebProxy.Credentials = System.Net.CredentialCache.DefaultCredentials;
|
||||
|
||||
this.pictureBoxAPM.Image = ArdupilotMega.Properties.Resources.APM_airframes_001;
|
||||
this.pictureBoxQuad.Image = ArdupilotMega.Properties.Resources.quad;
|
||||
this.pictureBoxHexa.Image = ArdupilotMega.Properties.Resources.hexa;
|
||||
this.pictureBoxTri.Image = ArdupilotMega.Properties.Resources.tri;
|
||||
this.pictureBoxY6.Image = ArdupilotMega.Properties.Resources.y6;
|
||||
this.pictureBoxHeli.Image = ArdupilotMega.Properties.Resources.APM_airframes_08;
|
||||
this.pictureBoxHilimage.Image = ArdupilotMega.Properties.Resources.hil;
|
||||
this.pictureBoxAPHil.Image = ArdupilotMega.Properties.Resources.hilplane;
|
||||
this.pictureBoxACHil.Image = ArdupilotMega.Properties.Resources.hilquad;
|
||||
this.pictureBoxACHHil.Image = ArdupilotMega.Properties.Resources.hilheli;
|
||||
this.pictureBoxOcta.Image = ArdupilotMega.Properties.Resources.octo;
|
||||
this.pictureBoxOctav.Image = ArdupilotMega.Properties.Resources.octov;
|
||||
|
||||
}
|
||||
|
||||
private void FirmwareVisual_Load(object sender, EventArgs e)
|
||||
internal void Firmware_Load(object sender, EventArgs e)
|
||||
{
|
||||
Console.WriteLine("FW load");
|
||||
|
||||
string url = "";
|
||||
string url2560 = "";
|
||||
string url2560_2 = "";
|
||||
|
|
@ -292,6 +78,8 @@ namespace ArdupilotMega.GCSViews
|
|||
string desc = "";
|
||||
int k_format_version = 0;
|
||||
|
||||
softwares.Clear();
|
||||
|
||||
software temp = new software();
|
||||
|
||||
try
|
||||
|
|
@ -357,6 +145,7 @@ namespace ArdupilotMega.GCSViews
|
|||
|
||||
}
|
||||
catch (Exception ex) { MessageBox.Show("Failed to get Firmware List : " + ex.Message); }
|
||||
Console.WriteLine("FW load done");
|
||||
}
|
||||
|
||||
void updateDisplayName(software temp)
|
||||
|
|
@ -435,7 +224,7 @@ namespace ArdupilotMega.GCSViews
|
|||
}
|
||||
return;
|
||||
}
|
||||
else if (items.Count == 2)
|
||||
else if (items.Count == 2 && false)
|
||||
{
|
||||
XorPlus select = new XorPlus();
|
||||
MainV2.fixtheme(select);
|
||||
|
|
|
|||
|
|
@ -144,634 +144,6 @@
|
|||
<data name=">>pictureBoxAPM.ZOrder" xml:space="preserve">
|
||||
<value>16</value>
|
||||
</data>
|
||||
<data name="pictureBoxQuad.Image" type="System.Drawing.Bitmap, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||
<value>
|
||||
iVBORw0KGgoAAAANSUhEUgAAAnEAAAJxCAYAAAAtjeQ4AAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8
|
||||
YQUAAAAJcEhZcwAAFxEAABcRAcom8z8AAAAZdEVYdFNvZnR3YXJlAEFkb2JlIEltYWdlUmVhZHlxyWU8
|
||||
AACRnUlEQVR4Xu29TY9lx3WuyZ+Q/0D5B3yRc8NATg30IGc24ElOPPGkE/DIgAel2e2RcmAYFxDUSBu4
|
||||
hC+ghuhGU22ojb6lFnVNSRRuyVKXRZlg8wolumxSMsmqrGLlxzm936iIo6hd5+TZETv23vHxbOC4ZOb+
|
||||
jPWutd5Ya8WKN9br9Rv8GAMwAAbAABgAA2AADJSFAQgcJBYMgAEwAAbAABgAAwViAKEVKDRmSmXNlJAX
|
||||
8gIDYAAMgIEpMACJg8SBATAABsAAGAADYKBADCC0AoU2BZvnnswSwQAYAANgAAyUhQFIHCQODIABMAAG
|
||||
wAAYAAMFYgChFSg0ZkplzZSQF/ICA2AADICBKTAAiYPEgQEwAAbAABgAA2CgQAwgtAKFNgWb557MEsEA
|
||||
GAADYAAMlIUBSBwkDgyAATAABsAAGAADBWIAoRUoNGZKZc2UkBfyAgNgAAyAgSkwAImDxIEBMAAGwAAY
|
||||
AANgoEAMILQChTYFm+eezBLBABgAA2AADJSFAUgcJA4MgAEwAAbAABgAAwViAKEVKDRmSmXNlJAX8gID
|
||||
YAAMgIEpMACJg8SBATAABsAAGAADYKBADCC0AoU2BZvnnswSwQAYAANgAAyUhQFIHCQODIABMAAGwAAY
|
||||
AAMFYgChFSg0ZkplzZSQF/ICA2AADICBKTAAiYPEgQEwAAbAABgAA2CgQAwgtAKFNgWb557MEsEAGAAD
|
||||
YAAMlIUBSBwkDgyAATAABsAAGAADBWIAoRUoNGZKZc2UkBfyAgNgAAyAgSkwAImDxIEBMAAGwAAYAANg
|
||||
oEAMILQChTYFm+eezBLBABgAA2AADJSFAUgcJA4MgAEwAAbAABgAAwViAKEVKDRmSmXNlJAX8gIDYAAM
|
||||
gIEpMACJg8SBATAABsAAGAADYKBADCC0AoU2BZvnnswSwQAYAANgAAyUhQFIHCQODIABMAAGwAAYAAMF
|
||||
YgChFSg0ZkplzZSQF/ICA2AADICBKTAAiYPEgQEwAAbAABgAA2CgQAwgtAKFNgWb557MEsEAGAADYAAM
|
||||
lIUBSBwkDgyAATAABsAAGAADBWIAoRUoNGZKZc2UkBfyAgNgAAyAgSkwAImDxIEBMAAGwAAYAANgoEAM
|
||||
ILQChTYFm+eezBLBABgAA2AADJSFAUgcJA4MgAEwAAbAABgAAwViAKEVKDRmSmXNlJBXcnkddGN6bH/3
|
||||
un/d7373v++/uP7ivedXv36w7Xe7un5H53S/C++6E3uvQ2SVXFb4GHwMGJgQAwzuhIOLQ8AhgIHRGBBZ
|
||||
OxPpEjnr/t15fPL04fpXn7076Nfda+d9Xtw8+aD741uW5IngQe6wk/hKMJAlBrJ8KRzfaMeHXDE4JWJA
|
||||
ZOlUhO3q5vL9PssSQfunx99c//Cjr62//bM/Xn/rJ3+w/vr3f2f9F9/9yqif7qPf9z74qrm3nvPF80ev
|
||||
PP769vljS+xEKI+wUdgoMAAGcsBAiYaed4aggIF6MCBCdN4nbSJSjqz91Q9+dxRJiyV5Iogid3qPDz/9
|
||||
ztqP3nVp2ac2JSvSqfQumGQMwAAYmB0Dsz8QY4exBwPNY0ApyouOCF26cJdSoSJLIk2xpGuO6/7mx79v
|
||||
InYidf5xc/vibRtFhNDhyPGrYGA2DMz2IBx3844brLVt2JQqPe/IzseO/IgI/f3P/3S9VKQtBelTWlcp
|
||||
Xj9K16Ve3+y+UUQVzDMGYAAMTIqBSW+OEcOIg4HmMXBqV4Qa7qaIm4hbilq2FCQs5T0coXMk1RLWe6Rb
|
||||
m9cB/CxEbjIMTHZjnDeGCww0iwGlFM/sYgATpXrw6BtFR9xCyJ4IqoiqCKt3XHT/W9FIbC5jAAbAQDIM
|
||||
JLsRxgnjDAaax4DI2z1b9G9WeIrMhBCg2s5VjZ/Sre6wqVbIHE4c3wsGkmAgyU1w3s07b3DUtkF6hbxp
|
||||
ZWnuCxTmJouq+4PMYSfxlWAgNQZwvm07X+SP/MdiQDVvardh+qtB3u7uWdcnc92wKc0qEjxWDlzPGIKB
|
||||
BjGA0BsUOg4Dh5kAA8cdeTMdcZU2hbyFNRz2yZxttaIFENhjxgAMgIEgDASdjJHByIKB5jFwYHuimQUL
|
||||
6pk2d2qypueJ/CqCqcOS4mN0rHkdwy9D5AZjYPCJGBYMCxhoHgNnLnWq1aY5tglxuyy4rbT6/6pZb44k
|
||||
UAtAvF5z56RYm9c1fDNEbhAGBp2E88aggIGmMXDger0tnToVCVM/NrcV1rZ9Tr22Hnf+T5EmXe+2+FJU
|
||||
MdV+rDFEUQTU7QRhe8wRlcOR46PBwJ0YACAABAyAgbswcOKibyJOMeQk9hrVjSlCpaifSzn6rEzv1RGx
|
||||
97r/9pZam3g/kZ9dv1PvPG399c6Lmycf9NmeyKpWk4rYzR29E0ntReXQUXQUDICBrRgAGAADDICBXRhQ
|
||||
Wm/WhQuKhIm09Rrlrq9vn6lwTO8jEjZVhOqou/eJSJ7Inb+3q0iVSN1cu030onLqGnxINLzpaDh2GjsN
|
||||
icMIYgTBwCAMHHbpPLPdgNJ7U9e+bdt/1D5f0bWpCNtQpyhid6bFHD6pc/u+Tj02igTqsM8WwRz63pzH
|
||||
WIGBBjCAkBsQMoYfxxeAAbUOMX3fplx5qlSp0rNKW7rDrnpVpO0g4H3ntmEiUkrDXrr3VoRuyhYrSud6
|
||||
46Ro5NzfzPMYczCQKQYQTKaCwVDjqBbAgAiUqceaqg5MZMcV7+tZNuKWO3HbZSdP7DZahs+5bcamiM7p
|
||||
nq4u0JLdnIkufgW/AgZmwgADPdNAL+CQkS2yDcHAhYiIatGmICGqJduQkNXVM0Wzup9SlSHvmOu5IlRK
|
||||
uX7sSLCijFOMo+oFPfILkasDP7nimvcqAF8IqQAhVeLowFqmWHPRJKUFUxMPRd5cKtCmae9lni4di9NT
|
||||
uwjDRDSnIHMixJbIiTTWQoTHjjvXZ2pf8F/TTlQBPsAHA+1iQP3ffipCIAIX2wpk23W9nQhUY1c7eevr
|
||||
0bFP5kS8Uo6vaUNy82S1Wt08gchN6yQhIYxvzhjAgbfrwJF927LfELiU/d8UyRMhNJGil2nT1shbX6/U
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</value>
|
||||
</data>
|
||||
<data name="pictureBoxQuad.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
|
||||
<value>NoControl</value>
|
||||
</data>
|
||||
|
|
@ -896,7 +268,7 @@
|
|||
<value>$this</value>
|
||||
</data>
|
||||
<data name=">>lbl_status.ZOrder" xml:space="preserve">
|
||||
<value>10</value>
|
||||
<value>3</value>
|
||||
</data>
|
||||
<data name="progress.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
|
||||
<value>NoControl</value>
|
||||
|
|
@ -920,7 +292,7 @@
|
|||
<value>$this</value>
|
||||
</data>
|
||||
<data name=">>progress.ZOrder" xml:space="preserve">
|
||||
<value>11</value>
|
||||
<value>4</value>
|
||||
</data>
|
||||
<data name="label2.AutoSize" type="System.Boolean, mscorlib">
|
||||
<value>True</value>
|
||||
|
|
@ -950,7 +322,7 @@
|
|||
<value>$this</value>
|
||||
</data>
|
||||
<data name=">>label2.ZOrder" xml:space="preserve">
|
||||
<value>9</value>
|
||||
<value>2</value>
|
||||
</data>
|
||||
<data name="pictureBoxHeli.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
|
||||
<value>NoControl</value>
|
||||
|
|
@ -974,7 +346,7 @@
|
|||
<value>$this</value>
|
||||
</data>
|
||||
<data name=">>pictureBoxHeli.ZOrder" xml:space="preserve">
|
||||
<value>8</value>
|
||||
<value>11</value>
|
||||
</data>
|
||||
<data name="BUT_setup.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
|
||||
<value>NoControl</value>
|
||||
|
|
@ -1001,7 +373,10 @@
|
|||
<value>$this</value>
|
||||
</data>
|
||||
<data name=">>BUT_setup.ZOrder" xml:space="preserve">
|
||||
<value>7</value>
|
||||
<value>1</value>
|
||||
</data>
|
||||
<data name="pictureBoxHilimage.ImageLocation" xml:space="preserve">
|
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<value />
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||||
</data>
|
||||
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|
||||
<value>10, 362</value>
|
||||
|
|
@ -1025,7 +400,7 @@
|
|||
<value>$this</value>
|
||||
</data>
|
||||
<data name=">>pictureBoxHilimage.ZOrder" xml:space="preserve">
|
||||
<value>6</value>
|
||||
<value>8</value>
|
||||
</data>
|
||||
<data name="pictureBoxAPHil.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
|
||||
<value>NoControl</value>
|
||||
|
|
@ -1052,7 +427,7 @@
|
|||
<value>$this</value>
|
||||
</data>
|
||||
<data name=">>pictureBoxAPHil.ZOrder" xml:space="preserve">
|
||||
<value>5</value>
|
||||
<value>7</value>
|
||||
</data>
|
||||
<data name="pictureBoxACHil.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
|
||||
<value>NoControl</value>
|
||||
|
|
@ -1079,7 +454,7 @@
|
|||
<value>$this</value>
|
||||
</data>
|
||||
<data name=">>pictureBoxACHil.ZOrder" xml:space="preserve">
|
||||
<value>4</value>
|
||||
<value>6</value>
|
||||
</data>
|
||||
<data name="pictureBoxACHHil.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
|
||||
<value>NoControl</value>
|
||||
|
|
@ -1106,7 +481,7 @@
|
|||
<value>$this</value>
|
||||
</data>
|
||||
<data name=">>pictureBoxACHHil.ZOrder" xml:space="preserve">
|
||||
<value>3</value>
|
||||
<value>5</value>
|
||||
</data>
|
||||
<data name="pictureBoxOcta.Location" type="System.Drawing.Point, System.Drawing">
|
||||
<value>696, 176</value>
|
||||
|
|
@ -1127,7 +502,7 @@
|
|||
<value>$this</value>
|
||||
</data>
|
||||
<data name=">>pictureBoxOcta.ZOrder" xml:space="preserve">
|
||||
<value>2</value>
|
||||
<value>10</value>
|
||||
</data>
|
||||
<data name="pictureBoxOctav.Location" type="System.Drawing.Point, System.Drawing">
|
||||
<value>696, 0</value>
|
||||
|
|
@ -1148,7 +523,7 @@
|
|||
<value>$this</value>
|
||||
</data>
|
||||
<data name=">>pictureBoxOctav.ZOrder" xml:space="preserve">
|
||||
<value>1</value>
|
||||
<value>9</value>
|
||||
</data>
|
||||
<data name="label1.AutoSize" type="System.Boolean, mscorlib">
|
||||
<value>True</value>
|
||||
|
|
|
|||
|
|
@ -81,7 +81,9 @@ namespace ArdupilotMega.GCSViews
|
|||
protected override void Dispose(bool disposing)
|
||||
{
|
||||
threadrun = 0;
|
||||
MainV2.comPort.logreadmode = false;
|
||||
MainV2.config["FlightSplitter"] = MainH.SplitterDistance.ToString();
|
||||
System.Threading.Thread.Sleep(100);
|
||||
base.Dispose(disposing);
|
||||
}
|
||||
|
||||
|
|
@ -295,7 +297,9 @@ namespace ArdupilotMega.GCSViews
|
|||
|
||||
if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
|
||||
{
|
||||
this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
|
||||
if (threadrun == 0) { return; }
|
||||
|
||||
this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
|
||||
{
|
||||
try
|
||||
{
|
||||
|
|
@ -319,7 +323,7 @@ namespace ArdupilotMega.GCSViews
|
|||
int act = (int)(MainV2.comPort.lastlogread - logplayback).TotalMilliseconds;
|
||||
|
||||
if (act > 9999 || act < 0)
|
||||
act = 1;
|
||||
act = 0;
|
||||
|
||||
int ts = 0;
|
||||
try
|
||||
|
|
@ -330,6 +334,8 @@ namespace ArdupilotMega.GCSViews
|
|||
if (ts > 0)
|
||||
System.Threading.Thread.Sleep(ts);
|
||||
|
||||
if (threadrun == 0) { return; }
|
||||
|
||||
tracklast = tracklast.AddMilliseconds(ts - act);
|
||||
tunning = tunning.AddMilliseconds(ts - act);
|
||||
|
||||
|
|
@ -1320,7 +1326,7 @@ namespace ArdupilotMega.GCSViews
|
|||
Form selectform = new Form()
|
||||
{
|
||||
Name = "select",
|
||||
Width = 750,
|
||||
Width = 50,
|
||||
Height = 250,
|
||||
Text = "Graph This"
|
||||
};
|
||||
|
|
@ -1400,6 +1406,8 @@ namespace ArdupilotMega.GCSViews
|
|||
{
|
||||
x += 100;
|
||||
y = 10;
|
||||
|
||||
selectform.Width = x + 100;
|
||||
}
|
||||
}
|
||||
MainV2.fixtheme(selectform);
|
||||
|
|
@ -1596,6 +1604,16 @@ namespace ArdupilotMega.GCSViews
|
|||
void ScriptStart()
|
||||
{
|
||||
string myscript = @"
|
||||
# cs.???? = currentstate, any variable on the status tab in the planner can be used.
|
||||
# Script = options are
|
||||
# Script.Sleep(ms)
|
||||
# Script.ChangeParam(name,value)
|
||||
# Script.GetParam(name)
|
||||
# Script.ChangeMode(mode) - same as displayed in mode setup screen 'AUTO'
|
||||
# Script.WaitFor(string,timeout)
|
||||
# Script.SendRC(channel,pwm,sendnow)
|
||||
#
|
||||
|
||||
print 'Start Script'
|
||||
for chan in range(1,9):
|
||||
Script.SendRC(chan,1500,False)
|
||||
|
|
|
|||
|
|
@ -33,7 +33,7 @@ namespace ArdupilotMega.GCSViews
|
|||
bool sethome = false;
|
||||
bool polygongridmode = false;
|
||||
Hashtable param = new Hashtable();
|
||||
public static Hashtable hashdefines = new Hashtable();
|
||||
|
||||
public static List<PointLatLngAlt> pointlist = new List<PointLatLngAlt>(); // used to calc distance
|
||||
static public Object thisLock = new Object();
|
||||
private TextBox textBox1;
|
||||
|
|
@ -85,7 +85,7 @@ namespace ArdupilotMega.GCSViews
|
|||
System.Diagnostics.Debug.WriteLine(matchs[i].Groups[1].Value.ToString() + " = " + matchs[i].Groups[2].Value.ToString() + " = " + num.ToString());
|
||||
try
|
||||
{
|
||||
hashdefines.Add(matchs[i].Groups[1].Value.ToString(), num);
|
||||
// hashdefines.Add(matchs[i].Groups[1].Value.ToString(), num);
|
||||
}
|
||||
catch (Exception) { }
|
||||
}
|
||||
|
|
@ -95,10 +95,10 @@ namespace ArdupilotMega.GCSViews
|
|||
sr.Close();
|
||||
|
||||
|
||||
if (!hashdefines.ContainsKey("WP_START_BYTE"))
|
||||
// if (!hashdefines.ContainsKey("WP_START_BYTE"))
|
||||
{
|
||||
MessageBox.Show("Your Ardupilot Mega project defines.h is Invalid");
|
||||
return false;
|
||||
//return false;
|
||||
}
|
||||
}
|
||||
catch (Exception)
|
||||
|
|
@ -514,12 +514,6 @@ namespace ArdupilotMega.GCSViews
|
|||
|
||||
Up.Image = global::ArdupilotMega.Properties.Resources.up;
|
||||
Down.Image = global::ArdupilotMega.Properties.Resources.down;
|
||||
|
||||
hashdefines.Clear();
|
||||
if (File.Exists(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "defines.h"))
|
||||
{
|
||||
readdefines(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "defines.h");
|
||||
}
|
||||
}
|
||||
|
||||
void updateCMDParams()
|
||||
|
|
@ -868,24 +862,6 @@ namespace ArdupilotMega.GCSViews
|
|||
}
|
||||
}
|
||||
}
|
||||
|
||||
DataGridViewTextBoxCell cell1;
|
||||
cell1 = Commands.Rows[selectedrow].Cells[1] as DataGridViewTextBoxCell;
|
||||
|
||||
byte res;
|
||||
if (byte.TryParse(cell1.Value.ToString(), out res))
|
||||
{
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
try
|
||||
{
|
||||
cell1.Value = (byte)(int)hashdefines[cell1.Value.ToString().ToUpper().Trim()];
|
||||
}
|
||||
catch { }
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
|
|
@ -1499,21 +1475,21 @@ namespace ArdupilotMega.GCSViews
|
|||
}
|
||||
}
|
||||
|
||||
string hold_alt = ((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist).ToString("0");
|
||||
string hold_alt = ((int)((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist)).ToString();
|
||||
|
||||
if (hold_alt != "-1")
|
||||
if (!hold_alt.Equals("-1"))
|
||||
{
|
||||
TXT_DefaultAlt.Text = hold_alt;
|
||||
}
|
||||
|
||||
TXT_WPRad.Text = ((float)param["WP_RADIUS"] * MainV2.cs.multiplierdist).ToString("0");
|
||||
TXT_WPRad.Text = ((int)((float)param["WP_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
|
||||
try
|
||||
{
|
||||
TXT_loiterrad.Text = ((float)param["LOITER_RADIUS"] * MainV2.cs.multiplierdist).ToString("0");
|
||||
TXT_loiterrad.Text = ((int)((float)param["LOITER_RADIUS"] * MainV2.cs.multiplierdist)).ToString();
|
||||
}
|
||||
catch
|
||||
{
|
||||
TXT_loiterrad.Text = ((float)param["WP_LOITER_RAD"] * MainV2.cs.multiplierdist).ToString("0");
|
||||
TXT_loiterrad.Text = ((int)((float)param["WP_LOITER_RAD"] * MainV2.cs.multiplierdist)).ToString();
|
||||
}
|
||||
CHK_holdalt.Checked = Convert.ToBoolean((float)param["ALT_HOLD_RTL"] > 0);
|
||||
|
||||
|
|
|
|||
|
|
@ -190,8 +190,23 @@ namespace ArdupilotMega.GCSViews
|
|||
// Fuel (gas & jet models)
|
||||
public float Model_fFuelConsumed; // l
|
||||
public float Model_fFuelTankCapacity; // l
|
||||
|
||||
// Ver > 3.81
|
||||
// Screen size
|
||||
public short Win_nScreenSizeDX; public short Win_nScreenSizeDY; // Screen Size, used to resize and reposition simulator window
|
||||
|
||||
// Model Orientation Matrix
|
||||
public float Model_fAxisRight_x; public float Model_fAxisRight_y; public float Model_fAxisRight_z;
|
||||
public float Model_fAxisFront_x; public float Model_fAxisFront_y; public float Model_fAxisFront_z;
|
||||
public float Model_fAxisUp_x; public float Model_fAxisUp_y; public float Model_fAxisUp_z;
|
||||
|
||||
// Model data in body frame coordinates (X=Right, Y=Front, Z=Up)
|
||||
public float Model_fVel_Body_X; public float Model_fVel_Body_Y; public float Model_fVel_Body_Z; // m/s Model velocity in body coordinates
|
||||
public float Model_fAngVel_Body_X; public float Model_fAngVel_Body_Y; public float Model_fAngVel_Body_Z; // rad/s Model angular velocity in body coordinates
|
||||
public float Model_fAccel_Body_X; public float Model_fAccel_Body_Y; public float Model_fAccel_Body_Z; // m/s/s Model acceleration in body coordinates
|
||||
};
|
||||
|
||||
|
||||
~Simulation()
|
||||
{
|
||||
if (threadrun == 1)
|
||||
|
|
@ -558,7 +573,7 @@ namespace ArdupilotMega.GCSViews
|
|||
RECVprocess(udpdata, recv, comPort);
|
||||
}
|
||||
}
|
||||
catch (Exception ex) { //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
|
||||
catch { //OutputLog.AppendText("Xplanes Data Problem - You need DATA IN/OUT 3, 4, 17, 18, 19, 20\n" + ex.Message + "\n");
|
||||
}
|
||||
}
|
||||
if (MavLink != null && MavLink.Client != null && MavLink.Client.Connected && MavLink.Available > 0)
|
||||
|
|
@ -885,7 +900,7 @@ namespace ArdupilotMega.GCSViews
|
|||
//stream.Write(data, 0, receviedbytes);
|
||||
//stream.Close();
|
||||
}
|
||||
else if (receviedbytes == 582)
|
||||
else if (receviedbytes == 658)
|
||||
{
|
||||
aeroin = new TDataFromAeroSimRC();
|
||||
|
||||
|
|
@ -902,19 +917,16 @@ namespace ArdupilotMega.GCSViews
|
|||
//Console.WriteLine("degs r {0:0.000} p {1:0.000} y {2:0.000} rates {3:0.000} {4:0.000} {5:0.000}", att.roll * -rad2deg, att.pitch * rad2deg, att.yaw * rad2deg, aeroin.Model_fAngVelX * rad2deg, aeroin.Model_fAngVelY * rad2deg, aeroin.Model_fAngVelZ * rad2deg);
|
||||
|
||||
//Console.WriteLine("mine2 {0} {1} {2} ", answer.Item1 , answer.Item2 , answer.Item3 );
|
||||
|
||||
|
||||
//StreamWriter SW = new StreamWriter("aerosim.txt",true);
|
||||
|
||||
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);
|
||||
//SW.WriteLine(aeroin.Model_fRoll + "," + aeroin.Model_fPitch + "," + aeroin.Model_fHeading + "," + aeroin.Model_fAngVelX + "," + aeroin.Model_fAngVelY + "," + aeroin.Model_fAngVelZ);
|
||||
|
||||
// att.pitchspeed = (float)answer.Item1 * -deg2rad;
|
||||
// att.rollspeed = (float)answer.Item2 * -deg2rad;
|
||||
// att.yawspeed = (float)answer.Item3 * -deg2rad;
|
||||
//SW.Close();
|
||||
|
||||
//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;
|
||||
att.pitchspeed = (float)aeroin.Model_fAngVel_Body_X;
|
||||
att.rollspeed = (float)aeroin.Model_fAngVel_Body_Y;
|
||||
att.yawspeed = (float)-aeroin.Model_fAngVel_Body_Z;
|
||||
|
||||
|
||||
#if MAVLINK10
|
||||
|
|
@ -922,18 +934,18 @@ namespace ArdupilotMega.GCSViews
|
|||
#else
|
||||
imu.usec = ((ulong)DateTime.Now.ToBinary());
|
||||
#endif
|
||||
imu.xgyro = (short)(aeroin.Model_fAngVelX * 1000); // roll - yes
|
||||
imu.xgyro = (short)(aeroin.Model_fAngVel_Body_X * 1000); // roll - yes
|
||||
//imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
|
||||
imu.ygyro = (short)(aeroin.Model_fAngVelY * 1000); // pitch - yes
|
||||
imu.ygyro = (short)(aeroin.Model_fAngVel_Body_Y * 1000); // pitch - yes
|
||||
//imu.ymag = (short)(Math.Cos(head * deg2rad) * 1000);
|
||||
imu.zgyro = (short)(aeroin.Model_fAngVelZ * 1000);
|
||||
imu.zgyro = (short)(aeroin.Model_fAngVel_Body_Z * 1000);
|
||||
//imu.zmag = 0;
|
||||
|
||||
YLScsDrawing.Drawing3d.Vector3d accel3D = HIL.QuadCopter.RPY_to_XYZ(att.roll, att.pitch, 0, -9.8); //DATA[18][2]
|
||||
|
||||
imu.xacc = (Int16)((accel3D.X + aeroin.Model_fAccelX) * 1000); // pitch
|
||||
imu.yacc = (Int16)((accel3D.Y + aeroin.Model_fAccelY) * 1000); // roll
|
||||
imu.zacc = (Int16)((accel3D.Z + aeroin.Model_fAccelZ) * 1000);
|
||||
imu.xacc = (Int16)((accel3D.X + aeroin.Model_fAccel_Body_X) * 1000); // pitch
|
||||
imu.yacc = (Int16)((accel3D.Y + aeroin.Model_fAccel_Body_Y) * 1000); // roll
|
||||
imu.zacc = (Int16)((accel3D.Z + aeroin.Model_fAccel_Body_Z) * 1000);
|
||||
|
||||
// Console.WriteLine("x {0} y {1} z {2}", imu.xacc, imu.yacc, imu.zacc);
|
||||
|
||||
|
|
@ -1443,7 +1455,7 @@ namespace ArdupilotMega.GCSViews
|
|||
Array.Copy(BitConverter.GetBytes((double)(collective_out)), 0, AeroSimRC, 24, 8);
|
||||
}
|
||||
|
||||
if (CHK_quad.Checked && false)
|
||||
if (CHK_quad.Checked)
|
||||
{
|
||||
//MainV2.cs.ch1out = 1100;
|
||||
//MainV2.cs.ch2out = 1100;
|
||||
|
|
@ -1461,6 +1473,10 @@ namespace ArdupilotMega.GCSViews
|
|||
Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch4out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 16, 8);// motor 3 = back
|
||||
Array.Copy(BitConverter.GetBytes((double)((MainV2.cs.ch2out - 1100) / 800 * 2 - 1)), 0, AeroSimRC, 24, 8);// motor 4 = left
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
try
|
||||
|
|
@ -1596,20 +1612,12 @@ namespace ArdupilotMega.GCSViews
|
|||
|
||||
private void RAD_softXplanes_CheckedChanged(object sender, EventArgs e)
|
||||
{
|
||||
if (RAD_softXplanes.Checked && RAD_softFlightGear.Checked)
|
||||
{
|
||||
RAD_softFlightGear.Checked = false;
|
||||
RAD_aerosimrc.Checked = false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
private void RAD_softFlightGear_CheckedChanged(object sender, EventArgs e)
|
||||
{
|
||||
if (RAD_softFlightGear.Checked && RAD_softXplanes.Checked)
|
||||
{
|
||||
RAD_softXplanes.Checked = false;
|
||||
RAD_aerosimrc.Checked = false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
private void CHKREV_roll_CheckedChanged(object sender, EventArgs e)
|
||||
|
|
@ -2067,11 +2075,7 @@ namespace ArdupilotMega.GCSViews
|
|||
|
||||
private void RAD_aerosimrc_CheckedChanged(object sender, EventArgs e)
|
||||
{
|
||||
if (RAD_aerosimrc.Checked && RAD_softXplanes.Checked)
|
||||
{
|
||||
RAD_softXplanes.Checked = false;
|
||||
RAD_softFlightGear.Checked = false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
private void RAD_JSBSim_CheckedChanged(object sender, EventArgs e)
|
||||
|
|
|
|||
|
|
@ -79,16 +79,16 @@ namespace ArdupilotMega.HIL
|
|||
}
|
||||
|
||||
public static Tuple<double, double, double> EarthRatesToBodyRatesRyan(double roll, double pitch, double yaw,
|
||||
double rollRate, double pitchRate, double yawRate)
|
||||
double x, double y, double z)
|
||||
{
|
||||
// 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 psi = radians((360 - yaw) * 1.0);
|
||||
var Po = radians(x);
|
||||
var Qo = radians(y);
|
||||
var Ro = radians(-z);
|
||||
|
||||
var P = Po * cos(psi) * cos(theta) - Ro * sin(theta) + Qo * cos(theta) * sin(psi);
|
||||
|
||||
|
|
@ -96,6 +96,12 @@ namespace ArdupilotMega.HIL
|
|||
|
||||
var R = Po * (sin(phi) * sin(psi) + cos(phi) * cos(psi) * sin(theta)) - Qo * (cos(psi) * sin(phi) - cos(phi) * sin(psi) * sin(theta)) + Ro * cos(phi) * cos(theta);
|
||||
|
||||
|
||||
// P = 0;
|
||||
//Q = 0;
|
||||
//R = 0;
|
||||
|
||||
|
||||
return new Tuple<double, double, double>(degrees(P), degrees(Q), degrees(R));
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -42,6 +42,8 @@ namespace hud
|
|||
|
||||
public bool opengl { get { return base.UseOpenGL; } set { base.UseOpenGL = value; } }
|
||||
|
||||
bool started = false;
|
||||
|
||||
public HUD()
|
||||
{
|
||||
if (this.DesignMode)
|
||||
|
|
@ -50,12 +52,12 @@ namespace hud
|
|||
//return;
|
||||
}
|
||||
|
||||
InitializeComponent();
|
||||
//InitializeComponent();
|
||||
|
||||
graphicsObject = this;
|
||||
graphicsObjectGDIP = Graphics.FromImage(objBitmap);
|
||||
}
|
||||
|
||||
/*
|
||||
private void InitializeComponent()
|
||||
{
|
||||
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(HUD));
|
||||
|
|
@ -68,33 +70,33 @@ namespace hud
|
|||
resources.ApplyResources(this, "$this");
|
||||
this.ResumeLayout(false);
|
||||
|
||||
}
|
||||
}*/
|
||||
|
||||
float _roll;
|
||||
float _navroll;
|
||||
float _pitch;
|
||||
float _navpitch;
|
||||
float _heading;
|
||||
float _targetheading;
|
||||
float _alt;
|
||||
float _targetalt;
|
||||
float _groundspeed;
|
||||
float _airspeed;
|
||||
float _targetspeed;
|
||||
float _batterylevel;
|
||||
float _batteryremaining;
|
||||
float _gpsfix;
|
||||
float _gpshdop;
|
||||
float _disttowp;
|
||||
float _groundcourse;
|
||||
float _xtrack_error;
|
||||
float _turnrate;
|
||||
float _verticalspeed;
|
||||
float _linkqualitygcs;
|
||||
float _roll = 0;
|
||||
float _navroll = 0;
|
||||
float _pitch = 0;
|
||||
float _navpitch = 0;
|
||||
float _heading = 0;
|
||||
float _targetheading = 0;
|
||||
float _alt = 0;
|
||||
float _targetalt = 0;
|
||||
float _groundspeed = 0;
|
||||
float _airspeed = 0;
|
||||
float _targetspeed = 0;
|
||||
float _batterylevel = 0;
|
||||
float _batteryremaining = 0;
|
||||
float _gpsfix = 0;
|
||||
float _gpshdop = 0;
|
||||
float _disttowp = 0;
|
||||
float _groundcourse = 0;
|
||||
float _xtrack_error = 0;
|
||||
float _turnrate = 0;
|
||||
float _verticalspeed = 0;
|
||||
float _linkqualitygcs = 0;
|
||||
DateTime _datetime;
|
||||
string _mode = "Manual";
|
||||
int _wpno;
|
||||
|
||||
int _wpno = 0;
|
||||
|
||||
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
|
||||
public float roll { get { return _roll; } set { if (_roll != value) { _roll = value; this.Invalidate(); } } }
|
||||
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
|
||||
|
|
@ -146,6 +148,7 @@ namespace hud
|
|||
|
||||
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
|
||||
public int status { get; set; }
|
||||
|
||||
int statuslast = 0;
|
||||
DateTime armedtimer = DateTime.MinValue;
|
||||
|
||||
|
|
@ -180,9 +183,6 @@ namespace hud
|
|||
|
||||
protected override void OnLoad(EventArgs e)
|
||||
{
|
||||
if (this.DesignMode)
|
||||
return;
|
||||
|
||||
if (opengl)
|
||||
{
|
||||
try
|
||||
|
|
@ -236,12 +236,17 @@ namespace hud
|
|||
}
|
||||
catch { }
|
||||
}
|
||||
|
||||
started = true;
|
||||
}
|
||||
|
||||
protected override void OnPaint(PaintEventArgs e)
|
||||
{
|
||||
//GL.Enable(EnableCap.AlphaTest)
|
||||
|
||||
if (!started)
|
||||
return;
|
||||
|
||||
if (this.DesignMode)
|
||||
{
|
||||
e.Graphics.Clear(this.BackColor);
|
||||
|
|
@ -691,14 +696,14 @@ namespace hud
|
|||
|
||||
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
|
||||
|
||||
graphicsObject.RotateTransform(-roll);
|
||||
graphicsObject.RotateTransform(-_roll);
|
||||
|
||||
int fontsize = this.Height / 30; // = 10
|
||||
int fontoffset = fontsize - 10;
|
||||
|
||||
float every5deg = -this.Height / 60;
|
||||
|
||||
float pitchoffset = -pitch * every5deg;
|
||||
float pitchoffset = -_pitch * every5deg;
|
||||
|
||||
int halfwidth = this.Width / 2;
|
||||
int halfheight = this.Height / 2;
|
||||
|
|
@ -742,7 +747,7 @@ namespace hud
|
|||
graphicsObject.SetClip(new Rectangle(0, this.Height / 14, this.Width, this.Height - this.Height / 14));
|
||||
|
||||
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
|
||||
graphicsObject.RotateTransform(-roll);
|
||||
graphicsObject.RotateTransform(-_roll);
|
||||
|
||||
// draw armed
|
||||
|
||||
|
|
@ -776,7 +781,7 @@ namespace hud
|
|||
for (int a = -90; a <= 90; a += 5)
|
||||
{
|
||||
// limit to 40 degrees
|
||||
if (a >= pitch - 34 && a <= pitch + 25)
|
||||
if (a >= _pitch - 34 && a <= _pitch + 25)
|
||||
{
|
||||
if (a % 10 == 0)
|
||||
{
|
||||
|
|
@ -804,7 +809,7 @@ namespace hud
|
|||
|
||||
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2 + this.Height / 14);
|
||||
|
||||
graphicsObject.RotateTransform(-roll);
|
||||
graphicsObject.RotateTransform(-_roll);
|
||||
|
||||
Point[] pointlist = new Point[3];
|
||||
|
||||
|
|
@ -816,7 +821,7 @@ namespace hud
|
|||
pointlist[1] = new Point(-lengthlong, -lengthlong - extra);
|
||||
pointlist[2] = new Point(lengthlong, -lengthlong - extra);
|
||||
|
||||
if (Math.Abs(roll) > 45)
|
||||
if (Math.Abs(_roll) > 45)
|
||||
{
|
||||
redPen.Width = 10;
|
||||
}
|
||||
|
|
@ -870,30 +875,30 @@ namespace hud
|
|||
graphicsObject.DrawLine(whitePen, headbg.Left + 5, headbg.Bottom - 5, headbg.Width - 5, headbg.Bottom - 5);
|
||||
|
||||
float space = (headbg.Width - 10) / 60.0f;
|
||||
int start = (int)Math.Round((heading - 30),1);
|
||||
int start = (int)Math.Round((_heading - 30),1);
|
||||
|
||||
// draw for outside the 60 deg
|
||||
if (targetheading < start)
|
||||
if (_targetheading < start)
|
||||
{
|
||||
greenPen.Width = 6;
|
||||
graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * 0, headbg.Bottom, headbg.Left + 5 + space * (0), headbg.Top);
|
||||
}
|
||||
if (targetheading > heading + 30)
|
||||
if (_targetheading > _heading + 30)
|
||||
{
|
||||
greenPen.Width = 6;
|
||||
graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * 60, headbg.Bottom, headbg.Left + 5 + space * (60), headbg.Top);
|
||||
}
|
||||
|
||||
for (int a = start; a <= heading + 30; a += 1)
|
||||
for (int a = start; a <= _heading + 30; a += 1)
|
||||
{
|
||||
// target heading
|
||||
if (((int)(a + 360) % 360) == (int)targetheading)
|
||||
if (((int)(a + 360) % 360) == (int)_targetheading)
|
||||
{
|
||||
greenPen.Width = 6;
|
||||
graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * (a - start), headbg.Bottom, headbg.Left + 5 + space * (a - start), headbg.Top);
|
||||
}
|
||||
|
||||
if (((int)(a + 360) % 360) == (int)groundcourse)
|
||||
if (((int)(a + 360) % 360) == (int)_groundcourse)
|
||||
{
|
||||
blackPen.Width = 6;
|
||||
graphicsObject.DrawLine(blackPen, headbg.Left + 5 + space * (a - start), headbg.Bottom, headbg.Left + 5 + space * (a - start), headbg.Top);
|
||||
|
|
@ -940,7 +945,7 @@ namespace hud
|
|||
float xtspace = this.Width / 10.0f / 3.0f;
|
||||
int pad = 10;
|
||||
|
||||
float myxtrack_error = xtrack_error;
|
||||
float myxtrack_error = _xtrack_error;
|
||||
|
||||
myxtrack_error = Math.Min(myxtrack_error, 40);
|
||||
myxtrack_error = Math.Max(myxtrack_error, -40);
|
||||
|
|
@ -977,7 +982,7 @@ namespace hud
|
|||
|
||||
graphicsObject.DrawLine(whitePen, this.Width / 10 + xtspace * 2 - xtspace / 2, headbg.Bottom + this.Height / 10 + 10, this.Width / 10 + xtspace * 2 - xtspace / 2 + xtspace, headbg.Bottom + this.Height / 10 + 10);
|
||||
|
||||
float myturnrate = turnrate;
|
||||
float myturnrate = _turnrate;
|
||||
float trwidth = (this.Width / 10 + xtspace * 2 - xtspace / 2) - (this.Width / 10 - xtspace * 2 - xtspace / 2);
|
||||
|
||||
float range = 12;
|
||||
|
|
@ -1023,21 +1028,21 @@ namespace hud
|
|||
|
||||
int viewrange = 26;
|
||||
|
||||
float speed = airspeed;
|
||||
float speed = _airspeed;
|
||||
if (speed == 0)
|
||||
speed = groundspeed;
|
||||
speed = _groundspeed;
|
||||
|
||||
space = (scrollbg.Height) / (float)viewrange;
|
||||
start = ((int)speed - viewrange / 2);
|
||||
|
||||
if (start > targetspeed)
|
||||
if (start > _targetspeed)
|
||||
{
|
||||
greenPen.Color = Color.FromArgb(128, greenPen.Color);
|
||||
greenPen.Width = 6;
|
||||
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top, scrollbg.Left + scrollbg.Width, scrollbg.Top);
|
||||
greenPen.Color = Color.FromArgb(255, greenPen.Color);
|
||||
}
|
||||
if ((speed + viewrange / 2) < targetspeed)
|
||||
if ((speed + viewrange / 2) < _targetspeed)
|
||||
{
|
||||
greenPen.Color = Color.FromArgb(128, greenPen.Color);
|
||||
greenPen.Width = 6;
|
||||
|
|
@ -1047,7 +1052,7 @@ namespace hud
|
|||
|
||||
for (int a = (int)start; a <= (speed + viewrange / 2); a += 1)
|
||||
{
|
||||
if (a == (int)targetspeed && targetspeed != 0)
|
||||
if (a == (int)_targetspeed && _targetspeed != 0)
|
||||
{
|
||||
greenPen.Width = 6;
|
||||
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * (a - start), scrollbg.Left + scrollbg.Width, scrollbg.Top - space * (a - start));
|
||||
|
|
@ -1068,8 +1073,8 @@ namespace hud
|
|||
|
||||
// extra text data
|
||||
|
||||
drawstring(graphicsObject, "AS " + airspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + 5);
|
||||
drawstring(graphicsObject, "GS " + groundspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);
|
||||
drawstring(graphicsObject, "AS " + _airspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + 5);
|
||||
drawstring(graphicsObject, "GS " + _groundspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);
|
||||
|
||||
//drawstring(e,, new Font("Arial", fontsize + 2), whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);
|
||||
|
||||
|
|
@ -1099,16 +1104,16 @@ namespace hud
|
|||
viewrange = 26;
|
||||
|
||||
space = (scrollbg.Height) / (float)viewrange;
|
||||
start = ((int)alt - viewrange / 2);
|
||||
start = ((int)_alt - viewrange / 2);
|
||||
|
||||
if (start > targetalt)
|
||||
if (start > _targetalt)
|
||||
{
|
||||
greenPen.Color = Color.FromArgb(128, greenPen.Color);
|
||||
greenPen.Width = 6;
|
||||
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top, scrollbg.Left + scrollbg.Width, scrollbg.Top);
|
||||
greenPen.Color = Color.FromArgb(255, greenPen.Color);
|
||||
}
|
||||
if ((alt + viewrange / 2) < targetalt)
|
||||
if ((_alt + viewrange / 2) < _targetalt)
|
||||
{
|
||||
greenPen.Color = Color.FromArgb(128, greenPen.Color);
|
||||
greenPen.Width = 6;
|
||||
|
|
@ -1116,9 +1121,9 @@ namespace hud
|
|||
greenPen.Color = Color.FromArgb(255, greenPen.Color);
|
||||
}
|
||||
|
||||
for (int a = (int)start; a <= (alt + viewrange / 2); a += 1)
|
||||
for (int a = (int)start; a <= (_alt + viewrange / 2); a += 1)
|
||||
{
|
||||
if (a == Math.Round(targetalt) && targetalt != 0)
|
||||
if (a == Math.Round(_targetalt) && _targetalt != 0)
|
||||
{
|
||||
greenPen.Width = 6;
|
||||
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * (a - start), scrollbg.Left + scrollbg.Width, scrollbg.Top - space * (a - start));
|
||||
|
|
@ -1148,10 +1153,10 @@ namespace hud
|
|||
|
||||
viewrange = 12;
|
||||
|
||||
verticalspeed = Math.Min(viewrange / 2, verticalspeed);
|
||||
verticalspeed = Math.Max(viewrange / -2, verticalspeed);
|
||||
_verticalspeed = Math.Min(viewrange / 2, _verticalspeed);
|
||||
_verticalspeed = Math.Max(viewrange / -2, _verticalspeed);
|
||||
|
||||
float scaledvalue = verticalspeed / -viewrange * (scrollbg.Bottom - scrollbg.Top);
|
||||
float scaledvalue = _verticalspeed / -viewrange * (scrollbg.Bottom - scrollbg.Top);
|
||||
|
||||
float linespace = (float)1 / -viewrange * (scrollbg.Bottom - scrollbg.Top);
|
||||
|
||||
|
|
@ -1199,53 +1204,53 @@ namespace hud
|
|||
graphicsObject.ResetTransform();
|
||||
graphicsObject.TranslateTransform(0, this.Height / 2);
|
||||
|
||||
drawstring(graphicsObject, ((int)alt).ToString("0"), font, 10, Brushes.AliceBlue, scrollbg.Left + 10, -9);
|
||||
drawstring(graphicsObject, ((int)_alt).ToString("0"), font, 10, Brushes.AliceBlue, scrollbg.Left + 10, -9);
|
||||
graphicsObject.ResetTransform();
|
||||
|
||||
// mode and wp dist and wp
|
||||
|
||||
drawstring(graphicsObject, mode, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + 5);
|
||||
drawstring(graphicsObject, (int)disttowp + ">" + wpno, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + fontsize + 2 + 10);
|
||||
drawstring(graphicsObject, _mode, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + 5);
|
||||
drawstring(graphicsObject, (int)_disttowp + ">" + _wpno, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + fontsize + 2 + 10);
|
||||
|
||||
graphicsObject.DrawLine(greenPen, scrollbg.Left - 5, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20, scrollbg.Left - 5, scrollbg.Top - (int)(fontsize) - 2 - 20);
|
||||
graphicsObject.DrawLine(greenPen, scrollbg.Left - 10, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 15, scrollbg.Left - 10, scrollbg.Top - (int)(fontsize) - 2 - 20);
|
||||
graphicsObject.DrawLine(greenPen, scrollbg.Left - 15, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 10, scrollbg.Left - 15, scrollbg.Top - (int)(fontsize ) - 2 - 20);
|
||||
|
||||
drawstring(graphicsObject, linkqualitygcs.ToString("0") + "%", font, fontsize, whiteBrush, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20);
|
||||
if (linkqualitygcs == 0)
|
||||
drawstring(graphicsObject, _linkqualitygcs.ToString("0") + "%", font, fontsize, whiteBrush, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20);
|
||||
if (_linkqualitygcs == 0)
|
||||
{
|
||||
graphicsObject.DrawLine(redPen, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20, scrollbg.Left + 50, scrollbg.Top - (int)(fontsize * 2.2) - 2);
|
||||
|
||||
graphicsObject.DrawLine(redPen, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2, scrollbg.Left + 50, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20);
|
||||
}
|
||||
drawstring(graphicsObject, datetime.ToString("HH:mm:ss"), font, fontsize, whiteBrush, scrollbg.Left - 20, scrollbg.Top - fontsize - 2 - 20);
|
||||
drawstring(graphicsObject, _datetime.ToString("HH:mm:ss"), font, fontsize, whiteBrush, scrollbg.Left - 20, scrollbg.Top - fontsize - 2 - 20);
|
||||
|
||||
|
||||
// battery
|
||||
|
||||
graphicsObject.ResetTransform();
|
||||
|
||||
drawstring(graphicsObject, resources.GetString("Bat"), font, fontsize + 2, whiteBrush, fontsize, this.Height - 30 - fontoffset);
|
||||
drawstring(graphicsObject, batterylevel.ToString("0.00v"), font, fontsize + 2, whiteBrush, fontsize * 4, this.Height - 30 - fontoffset);
|
||||
drawstring(graphicsObject, batteryremaining.ToString("0%"), font, fontsize + 2, whiteBrush, fontsize * 9, this.Height - 30 - fontoffset);
|
||||
drawstring(graphicsObject, "Bat", font, fontsize + 2, whiteBrush, fontsize, this.Height - 30 - fontoffset);
|
||||
drawstring(graphicsObject, _batterylevel.ToString("0.00v"), font, fontsize + 2, whiteBrush, fontsize * 4, this.Height - 30 - fontoffset);
|
||||
drawstring(graphicsObject, _batteryremaining.ToString("0%"), font, fontsize + 2, whiteBrush, fontsize * 9, this.Height - 30 - fontoffset);
|
||||
|
||||
// gps
|
||||
|
||||
string gps = "";
|
||||
|
||||
if (gpsfix == 0)
|
||||
if (_gpsfix == 0)
|
||||
{
|
||||
gps = ("GPS: No GPS");
|
||||
}
|
||||
else if (gpsfix == 1)
|
||||
else if (_gpsfix == 1)
|
||||
{
|
||||
gps = ("GPS: No Fix");
|
||||
}
|
||||
else if (gpsfix == 2)
|
||||
else if (_gpsfix == 2)
|
||||
{
|
||||
gps = ("GPS: 3D Fix");
|
||||
}
|
||||
else if (gpsfix == 3)
|
||||
else if (_gpsfix == 3)
|
||||
{
|
||||
gps = ("GPS: 3D Fix");
|
||||
}
|
||||
|
|
@ -1462,8 +1467,7 @@ namespace hud
|
|||
return;
|
||||
|
||||
pth.Reset();
|
||||
|
||||
|
||||
|
||||
if (text != null)
|
||||
pth.AddString(text, font.FontFamily, 0, fontsize + 5, new Point((int)x, (int)y), StringFormat.GenericTypographic);
|
||||
|
||||
|
|
@ -1471,8 +1475,12 @@ namespace hud
|
|||
// this uses lots of cpu time
|
||||
|
||||
//e.SmoothingMode = SmoothingMode.HighSpeed;
|
||||
|
||||
if (e == null || P == null || pth == null || pth.PointCount == 0)
|
||||
return;
|
||||
|
||||
e.DrawPath(P, pth);
|
||||
if (!ArdupilotMega.MainV2.MONO)
|
||||
e.DrawPath(P, pth);
|
||||
|
||||
//Draw the face
|
||||
|
||||
|
|
@ -1507,7 +1515,7 @@ namespace hud
|
|||
|
||||
protected override void OnResize(EventArgs e)
|
||||
{
|
||||
if (DesignMode)
|
||||
if (DesignMode || !started)
|
||||
return;
|
||||
this.Height = (int)(this.Width / 1.333f);
|
||||
base.OnResize(e);
|
||||
|
|
|
|||
|
|
@ -591,11 +591,11 @@ namespace ArdupilotMega
|
|||
|
||||
temp.Dock = DockStyle.Fill;
|
||||
|
||||
MyView.Controls.Add(temp);
|
||||
|
||||
temp.ForeColor = Color.White;
|
||||
|
||||
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
|
||||
|
||||
MyView.Controls.Add(temp);
|
||||
}
|
||||
|
||||
private void MenuTerminal_Click(object sender, EventArgs e)
|
||||
|
|
@ -1109,6 +1109,8 @@ namespace ArdupilotMega
|
|||
|
||||
GCSViews.FlightData.myhud.Invalidate();
|
||||
}
|
||||
|
||||
GC.Collect();
|
||||
}
|
||||
|
||||
if (speechenable && talk != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
|
||||
|
|
@ -1127,7 +1129,10 @@ namespace ArdupilotMega
|
|||
}
|
||||
|
||||
if (!comPort.BaseStream.IsOpen || givecomport == true)
|
||||
{
|
||||
System.Threading.Thread.Sleep(100);
|
||||
continue;
|
||||
}
|
||||
|
||||
if (heatbeatsend.Second != DateTime.Now.Second)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -29,22 +29,6 @@ namespace ArdupilotMega
|
|||
|
||||
//Common.linearRegression();
|
||||
|
||||
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.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.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);
|
||||
|
||||
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;
|
||||
|
||||
Application.EnableVisualStyles();
|
||||
Application.SetCompatibleTextRenderingDefault(false);
|
||||
try
|
||||
|
|
|
|||
|
|
@ -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("1.1.28")]
|
||||
[assembly: AssemblyFileVersion("1.1.29")]
|
||||
[assembly: NeutralResourcesLanguageAttribute("")]
|
||||
|
|
|
|||
|
|
@ -284,6 +284,9 @@ namespace ArdupilotMega.Setup
|
|||
|
||||
private void tabControl1_SelectedIndexChanged(object sender, EventArgs e)
|
||||
{
|
||||
int monosux = 0;
|
||||
monosux *= 5;
|
||||
|
||||
if (tabControl1.SelectedTab == tabRadioIn)
|
||||
{
|
||||
startup = true;
|
||||
|
|
|
|||
|
|
@ -1,346 +0,0 @@
|
|||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
// Internal defines, don't edit and expect things to work
|
||||
// -------------------------------------------------------
|
||||
|
||||
#define DEBUG 0
|
||||
#define LOITER_RANGE 30 // for calculating power outside of loiter radius
|
||||
|
||||
// GPS baud rates
|
||||
// --------------
|
||||
#define NO_GPS 38400
|
||||
#define NMEA_GPS 38400
|
||||
#define EM406_GPS 57600
|
||||
#define UBLOX_GPS 38400
|
||||
#define ARDU_IMU 38400
|
||||
#define MTK_GPS 38400
|
||||
#define SIM_GPS 38400
|
||||
|
||||
// GPS type codes - use the names, not the numbers
|
||||
#define GPS_PROTOCOL_NONE -1
|
||||
#define GPS_PROTOCOL_NMEA 0
|
||||
#define GPS_PROTOCOL_SIRF 1
|
||||
#define GPS_PROTOCOL_UBLOX 2
|
||||
#define GPS_PROTOCOL_IMU 3
|
||||
#define GPS_PROTOCOL_MTK 4
|
||||
|
||||
// Radio channels
|
||||
// Note channels are from 0!
|
||||
//
|
||||
// XXX these should be CH_n defines from RC.h at some point.
|
||||
#define CH_ROLL 0
|
||||
#define CH_PITCH 1
|
||||
#define CH_THROTTLE 2
|
||||
#define CH_RUDDER 3
|
||||
#define CH_1 0
|
||||
#define CH_2 1
|
||||
#define CH_3 2
|
||||
#define CH_4 3
|
||||
#define CH_5 4
|
||||
#define CH_6 5
|
||||
#define CH_7 6
|
||||
#define CH_8 7
|
||||
|
||||
#define WP_START_BYTE 0x130 // where in memory home WP is stored + all other WP
|
||||
#define WP_SIZE 14
|
||||
|
||||
// GCS enumeration
|
||||
#define GCS_PROTOCOL_STANDARD 0 // standard APM protocol
|
||||
#define GCS_PROTOCOL_SPECIAL 1 // special test protocol (?)
|
||||
#define GCS_PROTOCOL_LEGACY 2 // legacy ArduPilot protocol
|
||||
#define GCS_PROTOCOL_XPLANE 3 // X-Plane HIL simulation
|
||||
#define GCS_PROTOCOL_IMU 4 // ArdiPilot IMU output
|
||||
#define GCS_PROTOCOL_JASON 5 // Jason's special secret GCS protocol
|
||||
#define GCS_PROTOCOL_DEBUGTERMINAL 6 // Text-based interactive GCS
|
||||
#define GCS_PROTOCOL_NONE -1 // No GCS output
|
||||
|
||||
// PID enumeration
|
||||
// ---------------
|
||||
#define CASE_SERVO_ROLL 0
|
||||
#define CASE_SERVO_PITCH 1
|
||||
#define CASE_SERVO_RUDDER 2
|
||||
#define CASE_NAV_ROLL 3
|
||||
#define CASE_NAV_PITCH_ASP 4
|
||||
#define CASE_NAV_PITCH_ALT 5
|
||||
#define CASE_TE_THROTTLE 6
|
||||
#define CASE_ALT_THROTTLE 7
|
||||
|
||||
// Feedforward cases
|
||||
// ----------------
|
||||
#define CASE_PITCH_COMP 0
|
||||
#define CASE_RUDDER_MIX 1
|
||||
#define CASE_P_TO_T 2
|
||||
#define CASE_T_TO_P 3
|
||||
|
||||
// Auto Pilot modes
|
||||
// ----------------
|
||||
#define MANUAL 0
|
||||
#define CIRCLE 1 // When flying sans GPS, and we loose the radio, just circle
|
||||
#define STABILIZE 2
|
||||
|
||||
#define FLY_BY_WIRE_A 5 // Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle
|
||||
#define FLY_BY_WIRE_B 6 // Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed
|
||||
// Fly By Wire B = Fly By Wire A if you have AIRSPEED_SENSOR 0
|
||||
#define AUTO 10
|
||||
#define RTL 11
|
||||
#define LOITER 12
|
||||
#define TAKEOFF 13
|
||||
#define LAND 14
|
||||
|
||||
|
||||
// Command IDs - Must
|
||||
#define CMD_BLANK 0x00 // there is no command stored in the mem location requested
|
||||
#define CMD_WAYPOINT 0x10
|
||||
#define CMD_LOITER 0x11
|
||||
#define CMD_LOITER_N_TURNS 0x12
|
||||
#define CMD_LOITER_TIME 0x13
|
||||
#define CMD_RTL 0x14
|
||||
#define CMD_LAND 0x15
|
||||
#define CMD_TAKEOFF 0x16
|
||||
|
||||
// Command IDs - May
|
||||
#define CMD_DELAY 0x20
|
||||
#define CMD_CLIMB 0x21 // NOT IMPLEMENTED
|
||||
#define CMD_LAND_OPTIONS 0x22 // pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
|
||||
|
||||
// Command IDs - Now
|
||||
//#define CMD_AP_MODE 0x30
|
||||
#define CMD_RESET_INDEX 0x31
|
||||
#define CMD_GOTO_INDEX 0x32 // NOT IMPLEMENTED
|
||||
#define CMD_GETVAR_INDEX 0x33
|
||||
#define CMD_SENDVAR_INDEX 0x34
|
||||
#define CMD_TELEMETRY 0x35
|
||||
|
||||
#define CMD_THROTTLE_CRUISE 0x40
|
||||
#define CMD_AIRSPEED_CRUISE 0x41
|
||||
#define CMD_RESET_HOME 0x44
|
||||
|
||||
#define CMD_KP_GAIN 0x60
|
||||
#define CMD_KI_GAIN 0x61
|
||||
#define CMD_KD_GAIN 0x62
|
||||
#define CMD_KI_MAX 0x63
|
||||
#define CMD_KFF_GAIN 0x64
|
||||
|
||||
#define CMD_RADIO_TRIM 0x70
|
||||
#define CMD_RADIO_MAX 0x71
|
||||
#define CMD_RADIO_MIN 0x72
|
||||
#define CMD_RADIO_MIN 0x72
|
||||
#define CMD_ELEVON_TRIM 0x73
|
||||
|
||||
#define CMD_INDEX 0x75 // sets the current Must index
|
||||
#define CMD_REPEAT 0x80
|
||||
#define CMD_RELAY 0x81
|
||||
#define CMD_SERVO 0x82 // move servo N to PWM value
|
||||
|
||||
//repeating events
|
||||
#define NO_REPEAT 0
|
||||
#define CH_4_TOGGLE 1
|
||||
#define CH_5_TOGGLE 2
|
||||
#define CH_6_TOGGLE 3
|
||||
#define CH_7_TOGGLE 4
|
||||
#define RELAY_TOGGLE 5
|
||||
#define STOP_REPEAT 10
|
||||
|
||||
// GCS Message ID's
|
||||
#define MSG_ACKNOWLEDGE 0x00
|
||||
#define MSG_HEARTBEAT 0x01
|
||||
#define MSG_ATTITUDE 0x02
|
||||
#define MSG_LOCATION 0x03
|
||||
#define MSG_PRESSURE 0x04
|
||||
#define MSG_STATUS_TEXT 0x05
|
||||
#define MSG_PERF_REPORT 0x06
|
||||
#define MSG_COMMAND 0x22
|
||||
#define MSG_VALUE 0x32
|
||||
#define MSG_PID 0x42
|
||||
#define MSG_TRIMS 0x50
|
||||
#define MSG_MINS 0x51
|
||||
#define MSG_MAXS 0x52
|
||||
#define MSG_IMU_OUT 0x53
|
||||
|
||||
#define SEVERITY_LOW 1
|
||||
#define SEVERITY_MEDIUM 2
|
||||
#define SEVERITY_HIGH 3
|
||||
#define SEVERITY_CRITICAL 4
|
||||
|
||||
// Logging parameters
|
||||
#define LOG_ATTITUDE_MSG 0x01
|
||||
#define LOG_GPS_MSG 0x02
|
||||
#define LOG_MODE_MSG 0X03
|
||||
#define LOG_CONTROL_TUNING_MSG 0X04
|
||||
#define LOG_NAV_TUNING_MSG 0X05
|
||||
#define LOG_PERFORMANCE_MSG 0X06
|
||||
#define LOG_RAW_MSG 0x07
|
||||
#define LOG_CMD_MSG 0x08
|
||||
#define LOG_STARTUP_MSG 0x09
|
||||
#define TYPE_AIRSTART_MSG 0x00
|
||||
#define TYPE_GROUNDSTART_MSG 0x01
|
||||
|
||||
#define MASK_LOG_ATTITUDE_FAST 0
|
||||
#define MASK_LOG_ATTITUDE_MED 2
|
||||
#define MASK_LOG_GPS 4
|
||||
#define MASK_LOG_PM 8
|
||||
#define MASK_LOG_CTUN 16
|
||||
#define MASK_LOG_NTUN 32
|
||||
#define MASK_LOG_MODE 64
|
||||
#define MASK_LOG_RAW 128
|
||||
#define MASK_LOG_CMD 256
|
||||
|
||||
// Yaw modes
|
||||
#define YAW_MODE_COORDINATE_TURNS 0
|
||||
#define YAW_MODE_HOLD_HEADING 1
|
||||
#define YAW_MODE_SLIP 2
|
||||
|
||||
// Waypoint Modes
|
||||
// ----------------
|
||||
#define ABS_WP 0
|
||||
#define REL_WP 1
|
||||
|
||||
// Command Queues
|
||||
// ---------------
|
||||
#define COMMAND_MUST 0
|
||||
#define COMMAND_MAY 1
|
||||
#define COMMAND_NOW 2
|
||||
|
||||
// Events
|
||||
// ------
|
||||
#define EVENT_WILL_REACH_WAYPOINT 1
|
||||
#define EVENT_SET_NEW_WAYPOINT_INDEX 2
|
||||
#define EVENT_LOADED_WAYPOINT 3
|
||||
#define EVENT_LOOP 4
|
||||
|
||||
//GPS_fix
|
||||
#define VALID_GPS 0x00
|
||||
#define BAD_GPS 0x01
|
||||
#define FAILED_GPS 0x03
|
||||
|
||||
|
||||
|
||||
#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO
|
||||
|
||||
#define AIRSPEED_CH 7 // The external ADC channel for the airspeed sensor
|
||||
#define BATTERY_PIN1 0 // These are the pins for the voltage dividers
|
||||
#define BATTERY_PIN2 1
|
||||
#define BATTERY_PIN3 2
|
||||
#define BATTERY_PIN4 3
|
||||
#define RELAY_PIN 47
|
||||
|
||||
// Hardware Parameters
|
||||
#define SLIDE_SWITCH_PIN 40
|
||||
#define PUSHBUTTON_PIN 41
|
||||
|
||||
#define A_LED_PIN 37 //36 = B, 37 = A, 35 = C
|
||||
#define B_LED_PIN 36
|
||||
#define C_LED_PIN 35
|
||||
|
||||
#define HOLD_ALT_ABOVE_HOME 8 // bitmask value
|
||||
|
||||
// IMU Parameters
|
||||
|
||||
#define ADC_CONSTRAINT 900
|
||||
#define TRUE 1
|
||||
#define FALSE 0
|
||||
#define ADC_WARM_CYCLES 200
|
||||
#define SPEEDFILT 400 // centimeters/second
|
||||
|
||||
#define GYRO_TEMP_CH 3 // The ADC channel reading the gyro temperature
|
||||
|
||||
// ADC : Voltage reference 3.3v / 12bits(4096 steps) => 0.8mV/ADC step
|
||||
// ADXL335 Sensitivity(from datasheet) => 330mV/g, 0.8mV/ADC step => 330/0.8 = 412
|
||||
// Tested value : 418
|
||||
#define GRAVITY 418 //this equivalent to 1G in the raw data coming from the accelerometer
|
||||
#define Accel_Scale(x) x*(GRAVITY/9.81)//Scaling the raw data of the accel to actual acceleration in meters for seconds square
|
||||
|
||||
#define ToRad(x) (x*0.01745329252) // *pi/180
|
||||
#define ToDeg(x) (x*57.2957795131) // *180/pi
|
||||
|
||||
// IDG500 Sensitivity (from datasheet) => 2.0mV/º/s, 0.8mV/ADC step => 0.8/3.33 = 0.4
|
||||
// Tested values : 0.4026, ?, 0.4192
|
||||
#define Gyro_Gain_X 0.4 //X axis Gyro gain
|
||||
#define Gyro_Gain_Y 0.41 //Y axis Gyro gain
|
||||
#define Gyro_Gain_Z 0.41 //Z axis Gyro gain
|
||||
#define Gyro_Scaled_X(x) x*ToRad(Gyro_Gain_X) //Return the scaled ADC raw data of the gyro in radians for second
|
||||
#define Gyro_Scaled_Y(x) x*ToRad(Gyro_Gain_Y) //Return the scaled ADC raw data of the gyro in radians for second
|
||||
#define Gyro_Scaled_Z(x) x*ToRad(Gyro_Gain_Z) //Return the scaled ADC raw data of the gyro in radians for second
|
||||
|
||||
#define Kp_ROLLPITCH 0.0014 // Pitch&Roll Drift Correction Proportional Gain
|
||||
#define Ki_ROLLPITCH 0.0000003 // Pitch&Roll Drift Correction Integrator Gain
|
||||
#define Kp_YAW 0.8 // Yaw Drift Correction Porportional Gain
|
||||
#define Ki_YAW 0.00004 // Yaw Drift CorrectionIntegrator Gain
|
||||
|
||||
/*For debugging purposes*/
|
||||
#define OUTPUTMODE 1 //If value = 1 will print the corrected data, 0 will print uncorrected data of the gyros (with drift), 2 Accel only data
|
||||
|
||||
|
||||
#define EEPROM_MAX_ADDR 4096
|
||||
|
||||
// Radio setup
|
||||
#define EE_TRIM 0x00
|
||||
#define EE_MIN 0x10
|
||||
#define EE_MAX 0x20
|
||||
#define EE_ELEVON1_TRIM 0x30
|
||||
#define EE_ELEVON2_TRIM 0x32
|
||||
|
||||
// user gains
|
||||
#define EE_XTRACK_GAIN 0x34
|
||||
#define EE_XTRACK_ANGLE 0x36
|
||||
#define EE_ALT_MIX 0x3B
|
||||
#define EE_HEAD_MAX 0x38
|
||||
#define EE_PITCH_MAX 0x39
|
||||
#define EE_PITCH_MIN 0x3A
|
||||
#define EE_KP 0x40
|
||||
#define EE_KI 0x60
|
||||
#define EE_KD 0x80
|
||||
#define EE_IMAX 0xA0
|
||||
#define EE_KFF 0xC0
|
||||
#define EE_AN_OFFSET 0xE0
|
||||
#define EE_PITCH_TARGET 0x127
|
||||
|
||||
//mission specific
|
||||
#define EE_CONFIG 0X0F8
|
||||
#define EE_WP_MODE 0x0F9
|
||||
#define EE_YAW_MODE 0x0FA // not used
|
||||
#define EE_WP_TOTAL 0x0FB
|
||||
#define EE_WP_INDEX 0x0FC
|
||||
#define EE_WP_RADIUS 0x0FD
|
||||
#define EE_LOITER_RADIUS 0x0FE
|
||||
#define EE_ALT_HOLD_HOME 0x0FF
|
||||
|
||||
// user configs
|
||||
#define EE_AIRSPEED_CRUISE 0x103
|
||||
#define EE_AIRSPEED_RATIO 0x104
|
||||
#define EE_AIRSPEED_FBW_MIN 0x108
|
||||
#define EE_AIRSPEED_FBW_MAX 0x109
|
||||
#define EE_THROTTLE_MIN 0x10A
|
||||
#define EE_THROTTLE_CRUISE 0x10B
|
||||
#define EE_THROTTLE_MAX 0x10C
|
||||
#define EE_THROTTLE_FAILSAFE 0x10D
|
||||
#define EE_THROTTLE_FS_VALUE 0x10E
|
||||
#define EE_THROTTLE_FAILSAFE_ACTION 0x110
|
||||
#define EE_FLIGHT_MODE_CHANNEL 0x112
|
||||
#define EE_AUTO_TRIM 0x113
|
||||
#define EE_LOG_BITMASK 0x114
|
||||
#define EE_REVERSE_SWITCH 0x120
|
||||
#define EE_FLIGHT_MODES 0x121
|
||||
|
||||
// sensors
|
||||
#define EE_ABS_PRESS_GND 0x116
|
||||
#define EE_GND_TEMP 0x11A
|
||||
#define EE_GND_ALT 0x11C
|
||||
#define EE_AP_OFFSET 0x11E
|
||||
|
||||
// log
|
||||
#define EE_LAST_LOG_PAGE 0xE00
|
||||
#define EE_LAST_LOG_NUM 0xE02
|
||||
#define EE_LOG_1_START 0xE04
|
||||
|
||||
// bits in log_bitmask
|
||||
#define LOGBIT_ATTITUDE_FAST (1<<0)
|
||||
#define LOGBIT_ATTITUDE_MED (1<<1)
|
||||
#define LOGBIT_GPS (1<<2)
|
||||
#define LOGBIT_PM (1<<3)
|
||||
#define LOGBIT_CTUN (1<<4)
|
||||
#define LOGBIT_NTUN (1<<5)
|
||||
#define LOGBIT_MODE (1<<6)
|
||||
#define LOGBIT_RAW (1<<7)
|
||||
#define LOGBIT_CMD (1<<8)
|
||||
|
||||
|
|
@ -21,7 +21,11 @@
|
|||
#include "APM_RC_APM1.h"
|
||||
|
||||
#include <avr/interrupt.h>
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
#if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__)
|
||||
# error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
|
||||
|
|
|
|||
|
|
@ -20,7 +20,11 @@
|
|||
*/
|
||||
#include "APM_RC_APM2.h"
|
||||
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
#if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__)
|
||||
# error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
|
||||
|
|
|
|||
|
|
@ -16,6 +16,14 @@ void setup()
|
|||
{
|
||||
isr_registry.init();
|
||||
APM_RC.Init(&isr_registry); // APM Radio initialization
|
||||
APM_RC.enable_out(CH_1);
|
||||
APM_RC.enable_out(CH_2);
|
||||
APM_RC.enable_out(CH_3);
|
||||
APM_RC.enable_out(CH_4);
|
||||
APM_RC.enable_out(CH_5);
|
||||
APM_RC.enable_out(CH_6);
|
||||
APM_RC.enable_out(CH_7);
|
||||
APM_RC.enable_out(CH_8);
|
||||
|
||||
Serial.begin(115200);
|
||||
Serial.println("ArduPilot Mega RC library test");
|
||||
|
|
|
|||
|
|
@ -17,6 +17,15 @@ void setup()
|
|||
isr_registry.init();
|
||||
APM_RC.Init(&isr_registry); // APM Radio initialization
|
||||
|
||||
APM_RC.enable_out(CH_1);
|
||||
APM_RC.enable_out(CH_2);
|
||||
APM_RC.enable_out(CH_3);
|
||||
APM_RC.enable_out(CH_4);
|
||||
APM_RC.enable_out(CH_5);
|
||||
APM_RC.enable_out(CH_6);
|
||||
APM_RC.enable_out(CH_7);
|
||||
APM_RC.enable_out(CH_8);
|
||||
|
||||
Serial.begin(115200);
|
||||
Serial.println("ArduPilot Mega RC library test");
|
||||
delay(1000);
|
||||
|
|
|
|||
|
|
@ -44,15 +44,19 @@
|
|||
Channel 7 : Differential pressure sensor port
|
||||
|
||||
*/
|
||||
#include "AP_ADC_ADS7844.h"
|
||||
|
||||
extern "C" {
|
||||
// AVR LibC Includes
|
||||
#include <inttypes.h>
|
||||
#include <stdint.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include "WConstants.h"
|
||||
}
|
||||
|
||||
#include "AP_ADC_ADS7844.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WConstants.h"
|
||||
#endif
|
||||
|
||||
// Commands for reading ADC channels on ADS7844
|
||||
static const unsigned char adc_cmd[9] = { 0x87, 0xC7, 0x97, 0xD7, 0xA7, 0xE7, 0xB7, 0xF7, 0x00 };
|
||||
|
|
|
|||
|
|
@ -1,5 +1,9 @@
|
|||
#include "AP_ADC_HIL.h"
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
/*
|
||||
AP_ADC_HIL.cpp
|
||||
|
|
|
|||
|
|
@ -1,6 +1,10 @@
|
|||
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
#include "wiring.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "wiring.h"
|
||||
#endif
|
||||
#include "AP_AnalogSource_Arduino.h"
|
||||
|
||||
float AP_AnalogSource_Arduino::read(void)
|
||||
|
|
|
|||
|
|
@ -39,8 +39,12 @@ extern "C" {
|
|||
// AVR LibC Includes
|
||||
#include <inttypes.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include "WConstants.h"
|
||||
}
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WConstants.h"
|
||||
#endif
|
||||
|
||||
#include <AP_Common.h>
|
||||
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
||||
|
|
|
|||
|
|
@ -4,8 +4,12 @@ extern "C" {
|
|||
// AVR LibC Includes
|
||||
#include <inttypes.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include "WConstants.h"
|
||||
}
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WConstants.h"
|
||||
#endif
|
||||
|
||||
#include "AP_Baro_BMP085_hil.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -16,7 +16,11 @@
|
|||
#define _AP_COMMON_H
|
||||
|
||||
// Get the common arduino functions
|
||||
#include "wiring.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "wiring.h"
|
||||
#endif
|
||||
// ... and remove some of their stupid macros
|
||||
#undef round
|
||||
#undef abs
|
||||
|
|
|
|||
|
|
@ -22,7 +22,11 @@
|
|||
#include "../FastSerial/BetterStream.h"
|
||||
#include <stdlib.h>
|
||||
#include <inttypes.h>
|
||||
#include <WProgram.h>
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include <WProgram.h>
|
||||
#endif
|
||||
|
||||
#ifdef ASSERT
|
||||
const static char vectorSource[] ="Vector.hpp";
|
||||
|
|
|
|||
|
|
@ -9,7 +9,11 @@
|
|||
|
||||
#include <stdlib.h>
|
||||
#include "c++.h"
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
void * operator new(size_t size)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -15,8 +15,12 @@
|
|||
|
||||
// AVR LibC Includes
|
||||
#include <math.h>
|
||||
#include "WConstants.h"
|
||||
#include <FastSerial.h>
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WConstants.h"
|
||||
#endif
|
||||
|
||||
#include <I2C.h>
|
||||
#include "AP_Compass_HMC5843.h"
|
||||
|
|
|
|||
|
|
@ -10,12 +10,15 @@
|
|||
#include "../FastSerial/FastSerial.h"
|
||||
#include "../AP_Math/AP_Math.h"
|
||||
#include <inttypes.h>
|
||||
#include "WProgram.h"
|
||||
#include "../AP_Compass/AP_Compass.h"
|
||||
#include "../AP_ADC/AP_ADC.h"
|
||||
#include "../AP_GPS/AP_GPS.h"
|
||||
#include "../AP_IMU/AP_IMU.h"
|
||||
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
class AP_DCM
|
||||
{
|
||||
|
|
|
|||
|
|
@ -4,11 +4,15 @@
|
|||
#include "../FastSerial/FastSerial.h"
|
||||
#include "../AP_Math/AP_Math.h"
|
||||
#include <inttypes.h>
|
||||
#include "WProgram.h"
|
||||
#include "../AP_Compass/AP_Compass.h"
|
||||
#include "../AP_ADC/AP_ADC.h"
|
||||
#include "../AP_GPS/AP_GPS.h"
|
||||
#include "../AP_IMU/AP_IMU.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
|
||||
class AP_DCM_HIL
|
||||
|
|
|
|||
|
|
@ -6,8 +6,11 @@
|
|||
#ifndef AP_EEPROMB_h
|
||||
#define AP_EEPROMB_h
|
||||
|
||||
//#include <stdint.h>
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
/// @class AP_EEPROMB
|
||||
/// @brief Object for reading and writing to the EEPROM
|
||||
|
|
|
|||
|
|
@ -11,7 +11,11 @@
|
|||
|
||||
#include "../FastSerial/FastSerial.h" // because we need to change baud rates... ugh.
|
||||
#include "AP_GPS_406.h"
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
static const char init_str[] = "$PSRF100,0,57600,8,1,0*37";
|
||||
|
||||
|
|
|
|||
|
|
@ -12,7 +12,11 @@
|
|||
//
|
||||
|
||||
#include "AP_GPS_HIL.h"
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
// Constructors ////////////////////////////////////////////////////////////////
|
||||
AP_GPS_HIL::AP_GPS_HIL(Stream *s) : GPS(s)
|
||||
|
|
|
|||
|
|
@ -28,7 +28,11 @@
|
|||
|
||||
*/
|
||||
#include "AP_GPS_IMU.h"
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
|
||||
// Constructors ////////////////////////////////////////////////////////////////
|
||||
|
|
|
|||
|
|
@ -13,7 +13,11 @@
|
|||
|
||||
#include "AP_GPS_MTK16.h"
|
||||
#include <stdint.h>
|
||||
#include <wiring.h>
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include <wiring.h>
|
||||
#endif
|
||||
|
||||
// Constructors ////////////////////////////////////////////////////////////////
|
||||
AP_GPS_MTK16::AP_GPS_MTK16(Stream *s) : GPS(s)
|
||||
|
|
|
|||
|
|
@ -1,7 +1,11 @@
|
|||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
#include "GPS.h"
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
void
|
||||
GPS::update(void)
|
||||
|
|
|
|||
|
|
@ -3,8 +3,12 @@
|
|||
|
||||
#include "AP_InertialSensor_MPU6000.h"
|
||||
|
||||
#include <wiring.h>
|
||||
#include <SPI.h>
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include <wiring.h>
|
||||
#endif
|
||||
|
||||
// MPU 6000 registers
|
||||
#define MPUREG_WHOAMI 0x75 //
|
||||
|
|
|
|||
|
|
@ -6,7 +6,11 @@
|
|||
#define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100
|
||||
#include <GPS.h> // ArduPilot GPS Library
|
||||
#include "Waypoints.h" // ArduPilot Waypoints Library
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
#define T7 10000000
|
||||
|
||||
|
|
|
|||
|
|
@ -24,8 +24,12 @@
|
|||
*/
|
||||
|
||||
#include "AP_OpticalFlow_ADNS3080.h"
|
||||
#include "WProgram.h"
|
||||
#include "SPI.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
#define AP_SPI_TIMEOUT 1000
|
||||
|
||||
|
|
@ -190,11 +194,14 @@ AP_OpticalFlow_ADNS3080::reset()
|
|||
bool
|
||||
AP_OpticalFlow_ADNS3080::update()
|
||||
{
|
||||
byte motion_reg;
|
||||
surface_quality = (unsigned int)read_register(ADNS3080_SQUAL);
|
||||
delayMicroseconds(50); // small delay
|
||||
|
||||
// check for movement, update x,y values
|
||||
if( (read_register(ADNS3080_MOTION) & 0x80) != 0 ) {
|
||||
motion_reg = read_register(ADNS3080_MOTION);
|
||||
_overflow = ((motion_reg & 0x10) != 0); // check if we've had an overflow
|
||||
if( (motion_reg & 0x80) != 0 ) {
|
||||
raw_dx = ((char)read_register(ADNS3080_DELTA_X));
|
||||
delayMicroseconds(50); // small delay
|
||||
raw_dy = ((char)read_register(ADNS3080_DELTA_Y));
|
||||
|
|
|
|||
|
|
@ -100,7 +100,8 @@ class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
|
|||
public:
|
||||
int _cs_pin; // pin used for chip select
|
||||
int _reset_pin; // pin used for chip reset
|
||||
bool _motion; // true if there has been motion
|
||||
bool _motion; // true if there has been motion
|
||||
bool _overflow; // true if the x or y data buffers overflowed
|
||||
|
||||
public:
|
||||
AP_OpticalFlow_ADNS3080(int cs_pin = ADNS3080_CHIP_SELECT, int reset_pin = ADNS3080_RESET);
|
||||
|
|
|
|||
|
|
@ -21,7 +21,7 @@
|
|||
FastSerialPort0(Serial); // FTDI/console
|
||||
|
||||
AP_OpticalFlow_ADNS3080 flowSensor;
|
||||
//AP_OpticalFlow_ADNS3080 flowSensor(A6); // override chip select pin to use A6 if using APM2
|
||||
//AP_OpticalFlow_ADNS3080 flowSensor(A3); // override chip select pin to use A3 if using APM2
|
||||
|
||||
void setup()
|
||||
{
|
||||
|
|
@ -110,7 +110,6 @@ void display_config()
|
|||
void set_frame_rate()
|
||||
{
|
||||
int value;
|
||||
byte extConfig;
|
||||
|
||||
// frame rate
|
||||
Serial.print("frame rate: ");
|
||||
|
|
@ -196,7 +195,6 @@ void display_image_continuously()
|
|||
void set_resolution()
|
||||
{
|
||||
int value;
|
||||
byte reg;
|
||||
int resolution = flowSensor.get_resolution();
|
||||
Serial.print("resolution: ");
|
||||
Serial.println(resolution);
|
||||
|
|
@ -231,7 +229,6 @@ void set_resolution()
|
|||
void set_shutter_speed()
|
||||
{
|
||||
int value;
|
||||
byte extConfig;
|
||||
|
||||
// shutter speed
|
||||
Serial.print("shutter speed: ");
|
||||
|
|
@ -300,7 +297,6 @@ void set_shutter_speed()
|
|||
//
|
||||
void display_motion()
|
||||
{
|
||||
int value;
|
||||
boolean first_time = true;
|
||||
Serial.flush();
|
||||
|
||||
|
|
@ -312,21 +308,23 @@ void display_motion()
|
|||
flowSensor.update();
|
||||
flowSensor.update_position(0,0,0,1,100);
|
||||
|
||||
// check for errors
|
||||
if( flowSensor._overflow )
|
||||
Serial.println("overflow!!");
|
||||
|
||||
// x,y,squal
|
||||
//if( flowSensor.motion() || first_time ) {
|
||||
Serial.print("x/dx: ");
|
||||
Serial.print(flowSensor.x,DEC);
|
||||
Serial.print("/");
|
||||
Serial.print(flowSensor.dx,DEC);
|
||||
Serial.print("\ty/dy: ");
|
||||
Serial.print(flowSensor.y,DEC);
|
||||
Serial.print("/");
|
||||
Serial.print(flowSensor.dy,DEC);
|
||||
Serial.print("\tsqual:");
|
||||
Serial.print(flowSensor.surface_quality,DEC);
|
||||
Serial.println();
|
||||
first_time = false;
|
||||
//}
|
||||
Serial.print("x/dx: ");
|
||||
Serial.print(flowSensor.x,DEC);
|
||||
Serial.print("/");
|
||||
Serial.print(flowSensor.dx,DEC);
|
||||
Serial.print("\ty/dy: ");
|
||||
Serial.print(flowSensor.y,DEC);
|
||||
Serial.print("/");
|
||||
Serial.print(flowSensor.dy,DEC);
|
||||
Serial.print("\tsqual:");
|
||||
Serial.print(flowSensor.surface_quality,DEC);
|
||||
Serial.println();
|
||||
first_time = false;
|
||||
|
||||
// short delay
|
||||
delay(100);
|
||||
|
|
|
|||
|
|
@ -5,9 +5,13 @@
|
|||
extern "C" {
|
||||
#include <inttypes.h>
|
||||
#include <stdint.h>
|
||||
#include "WConstants.h"
|
||||
#include <avr/interrupt.h>
|
||||
}
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WConstants.h"
|
||||
#endif
|
||||
|
||||
uint8_t AP_TimerProcess::_period;
|
||||
ap_procedure AP_TimerProcess::_proc[AP_TIMERPROCESS_MAX_PROCS];
|
||||
|
|
|
|||
|
|
@ -10,8 +10,12 @@
|
|||
*/
|
||||
|
||||
#include "AP_RC.h"
|
||||
#include "WProgram.h"
|
||||
#include <avr/interrupt.h>
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
// Variable definition for interrupt
|
||||
volatile uint16_t timer1count = 0;
|
||||
|
|
|
|||
|
|
@ -11,7 +11,11 @@
|
|||
|
||||
#include <math.h>
|
||||
#include <avr/eeprom.h>
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
#include "AP_RC_Channel.h"
|
||||
|
||||
#define ANGLE 0
|
||||
|
|
|
|||
|
|
@ -26,7 +26,11 @@
|
|||
*/
|
||||
|
||||
// AVR LibC Includes
|
||||
#include "WConstants.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WConstants.h"
|
||||
#endif
|
||||
#include "AP_RangeFinder_MaxsonarXL.h"
|
||||
|
||||
// Constructor //////////////////////////////////////////////////////////////
|
||||
|
|
|
|||
|
|
@ -26,7 +26,11 @@
|
|||
*/
|
||||
|
||||
// AVR LibC Includes
|
||||
#include "WConstants.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WConstants.h"
|
||||
#endif
|
||||
#include "AP_RangeFinder_SharpGP2Y.h"
|
||||
|
||||
// Constructor //////////////////////////////////////////////////////////////
|
||||
|
|
|
|||
|
|
@ -13,7 +13,11 @@
|
|||
*/
|
||||
|
||||
// AVR LibC Includes
|
||||
#include "WConstants.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WConstants.h"
|
||||
#endif
|
||||
#include "RangeFinder.h"
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -30,7 +30,7 @@ ModeFilter mode_filter;
|
|||
AP_ADC_ADS7844 adc;
|
||||
AP_AnalogSource_ADC adc_source(&adc, AP_RANGEFINDER_PITOT_TYPE_ADC_CHANNEL, 0.25); // use Pitot tube
|
||||
#else
|
||||
AP_AnalogSource_Arduino adc_source(A1); // use AN1 analog pin (APM1: on oilpan at back right near the CLI switch. APM2: on left)
|
||||
AP_AnalogSource_Arduino adc_source(A0); // use AN0 analog pin for APM2 on left
|
||||
#endif
|
||||
|
||||
// create the range finder object
|
||||
|
|
|
|||
|
|
@ -8,7 +8,11 @@
|
|||
*/
|
||||
|
||||
#include <avr/io.h>
|
||||
#include "wiring.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "wiring.h"
|
||||
#endif
|
||||
|
||||
#include "AP_Relay.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -36,8 +36,12 @@ extern "C" {
|
|||
// AVR LibC Includes
|
||||
#include <inttypes.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include "WConstants.h"
|
||||
}
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WConstants.h"
|
||||
#endif
|
||||
|
||||
#include "DataFlash_APM2.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -31,7 +31,12 @@
|
|||
|
||||
//#include "../AP_Common/AP_Common.h"
|
||||
#include "FastSerial.h"
|
||||
#include "WProgram.h"
|
||||
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
#if defined(UDR3)
|
||||
# define FS_MAX_PORTS 4
|
||||
|
|
@ -197,6 +202,30 @@ void FastSerial::flush(void)
|
|||
_txBuffer->tail = _txBuffer->head;
|
||||
}
|
||||
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
size_t FastSerial::write(uint8_t c)
|
||||
{
|
||||
uint16_t i;
|
||||
|
||||
if (!_open) // drop bytes if not open
|
||||
return 0;
|
||||
|
||||
// wait for room in the tx buffer
|
||||
i = (_txBuffer->head + 1) & _txBuffer->mask;
|
||||
while (i == _txBuffer->tail)
|
||||
;
|
||||
|
||||
// add byte to the buffer
|
||||
_txBuffer->bytes[_txBuffer->head] = c;
|
||||
_txBuffer->head = i;
|
||||
|
||||
// enable the data-ready interrupt, as it may be off if the buffer is empty
|
||||
*_ucsrb |= _portTxBits;
|
||||
|
||||
// return number of bytes written (always 1)
|
||||
return 1;
|
||||
}
|
||||
#else
|
||||
void FastSerial::write(uint8_t c)
|
||||
{
|
||||
uint16_t i;
|
||||
|
|
@ -216,6 +245,7 @@ void FastSerial::write(uint8_t c)
|
|||
// enable the data-ready interrupt, as it may be off if the buffer is empty
|
||||
*_ucsrb |= _portTxBits;
|
||||
}
|
||||
#endif
|
||||
|
||||
// Buffer management ///////////////////////////////////////////////////////////
|
||||
|
||||
|
|
|
|||
|
|
@ -116,7 +116,11 @@ public:
|
|||
virtual int read(void);
|
||||
virtual int peek(void);
|
||||
virtual void flush(void);
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
virtual size_t write(uint8_t c);
|
||||
#else
|
||||
virtual void write(uint8_t c);
|
||||
#endif
|
||||
using BetterStream::write;
|
||||
//@}
|
||||
|
||||
|
|
|
|||
|
|
@ -31,9 +31,13 @@
|
|||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*/
|
||||
|
||||
#include "WProgram.h"
|
||||
#include <inttypes.h>
|
||||
#include "I2C.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -31,8 +31,12 @@
|
|||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*/
|
||||
|
||||
#include "WProgram.h"
|
||||
#include <inttypes.h>
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
#ifndef I2C_h
|
||||
#define I2C_h
|
||||
|
|
|
|||
|
|
@ -14,7 +14,11 @@
|
|||
#include "ModeFilter.h"
|
||||
|
||||
#include <avr/interrupt.h>
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
|
||||
// Constructors ////////////////////////////////////////////////////////////////
|
||||
|
|
|
|||
|
|
@ -11,7 +11,11 @@
|
|||
|
||||
#include <math.h>
|
||||
#include <avr/eeprom.h>
|
||||
#include "WProgram.h"
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
#include "RC_Channel.h"
|
||||
|
||||
#define RC_CHANNEL_ANGLE 0
|
||||
|
|
|
|||
|
|
@ -2,8 +2,12 @@
|
|||
#define Waypoints_h
|
||||
|
||||
#include <inttypes.h>
|
||||
#include "WProgram.h"
|
||||
#include <avr/eeprom.h>
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
class Waypoints
|
||||
{
|
||||
|
|
|
|||
Loading…
Reference in New Issue