APM Planner 1.0.68

bug fix
test srtm

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -232,7 +232,6 @@
     <Compile Include="MyUserControl.cs">
       <SubType>UserControl</SubType>
     </Compile>
-    <Compile Include="NetSerialServer.cs" />
     <Compile Include="ArduinoSTKv2.cs">
       <SubType>Component</SubType>
     </Compile>
@@ -302,7 +301,6 @@
       <DependentUpon>ElevationProfile.cs</DependentUpon>
     </Compile>
     <Compile Include="MAVLink.cs" />
-    <Compile Include="NetSerial.cs" />
     <Compile Include="ArduinoSTK.cs">
       <SubType>Component</SubType>
     </Compile>
@@ -338,6 +336,7 @@
     <Compile Include="Splash.Designer.cs">
       <DependentUpon>Splash.cs</DependentUpon>
     </Compile>
+    <Compile Include="srtm.cs" />
     <Compile Include="temp.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -374,6 +373,7 @@
     </EmbeddedResource>
     <EmbeddedResource Include="GCSViews\Firmware.zh-Hans.resx">
       <DependentUpon>Firmware.cs</DependentUpon>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="GCSViews\FlightData.zh-Hans.resx">
       <DependentUpon>FlightData.cs</DependentUpon>
@@ -424,6 +424,7 @@
     <EmbeddedResource Include="GCSViews\Firmware.resx">
       <DependentUpon>Firmware.cs</DependentUpon>
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="GCSViews\FlightData.resx">
       <DependentUpon>FlightData.cs</DependentUpon>

Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs

@@ -6,7 +6,6 @@ using System.IO.Ports;
 using System.Threading;
 using System.Net; // dns, ip address
 using System.Net.Sockets; // tcplistner
-using SerialProxy;
 
 namespace System.IO.Ports
 {

Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs

@@ -257,6 +257,8 @@ namespace ArdupilotMega.GCSViews
 
         internal void processToScreen()
         {
+            
+
             Params.Rows.Clear();
 
             // process hashdefines and update display
@@ -541,7 +543,10 @@ namespace ArdupilotMega.GCSViews
 
         private void BUT_writePIDS_Click(object sender, EventArgs e)
         {
-            foreach (string value in changes.Keys)
+
+            Hashtable temp = (Hashtable)changes.Clone();
+
+            foreach (string value in temp.Keys)
             {
                 try
                 {
@@ -566,6 +571,7 @@ namespace ArdupilotMega.GCSViews
                             if (row.Cells[0].Value.ToString() == value)
                             {
                                 row.Cells[1].Style.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
+                                changes.Remove(value);
                                 break;
                             }
                         }
@@ -575,8 +581,6 @@ namespace ArdupilotMega.GCSViews
                 }
                 catch { MessageBox.Show("Set " + value + " Failed"); }
             }
-
-            changes.Clear();
         }
 
         const float rad2deg = (float)(180 / Math.PI);
@@ -600,9 +604,11 @@ namespace ArdupilotMega.GCSViews
 
                     MainV2.fixtheme(temp);
 
-                    TabSetup.Controls.Clear();
+                    temp.ShowDialog();
 
-                    TabSetup.Controls.Add(temp.Controls[0]);
+                    startup = true;
+                    processToScreen();
+                    startup = false;
                 }
             }
         }

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -519,13 +519,18 @@ namespace ArdupilotMega.GCSViews
             }
             catch (Exception ex) { lbl_status.Text = "Failed download"; MessageBox.Show("Failed to download new firmware : " + ex.Message); return; }
 
+            UploadFlash(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", board);
+        }
+
+        void UploadFlash(string filename, string board)
+        {
             byte[] FLASH = new byte[1];
             StreamReader sr = null;
             try
             {
                 lbl_status.Text = "Reading Hex File";
                 this.Refresh();
-                sr = new StreamReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex");
+                sr = new StreamReader(filename);
                 FLASH = readIntelHEXv2(sr);
                 sr.Close();
                 Console.WriteLine("\n\nSize: {0}\n\n", FLASH.Length);

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx

@@ -343,16 +343,16 @@
     <value>NoControl</value>
   </data>
   <data name="label1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>101, 165</value>
+    <value>113, 167</value>
   </data>
   <data name="label1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>79, 13</value>
+    <value>56, 13</value>
   </data>
   <data name="label1.TabIndex" type="System.Int32, mscorlib">
     <value>8</value>
   </data>
   <data name="label1.Text" xml:space="preserve">
-    <value>ArduPilot Mega</value>
+    <value>ArduPlane</value>
   </data>
   <data name="&gt;&gt;label1.Name" xml:space="preserve">
     <value>label1</value>
@@ -403,16 +403,16 @@
     <value>NoControl</value>
   </data>
   <data name="label3.Location" type="System.Drawing.Point, System.Drawing">
-    <value>57, 362</value>
+    <value>74, 361</value>
   </data>
   <data name="label3.Size" type="System.Drawing.Size, System.Drawing">
-    <value>168, 13</value>
+    <value>142, 13</value>
   </data>
   <data name="label3.TabIndex" type="System.Int32, mscorlib">
     <value>10</value>
   </data>
   <data name="label3.Text" xml:space="preserve">
-    <value>ArduPilot Mega  (Xplane simulator)</value>
+    <value>ArduPlane (Xplane simulator)</value>
   </data>
   <data name="&gt;&gt;label3.Name" xml:space="preserve">
     <value>label3</value>

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -347,7 +347,7 @@ namespace ArdupilotMega.GCSViews
         {
             TXT_mouselat.Text = lat.ToString();
             TXT_mouselong.Text = lng.ToString();
-            TXT_mousealt.Text = alt.ToString();
+            TXT_mousealt.Text = srtm.getAltitude(lat, lng).ToString("0");
 
             try
             {

Tools/ArdupilotMegaPlanner/HUD.cs

@@ -236,7 +236,7 @@ System.ComponentModel.Category("Values")]
             {
                 //Console.WriteLine("ms "+(DateTime.Now - starttime).TotalMilliseconds);
                 //e.Graphics.DrawImageUnscaled(objBitmap, 0, 0);          
-                return;              
+                //return;              
             }
 
             starttime = DateTime.Now;
@@ -1365,6 +1365,18 @@ System.ComponentModel.Category("Values")]
 
             charbitmaps = new Bitmap[charbitmaps.Length];
 
+            try
+            {
+
+                foreach (int texid in charbitmaptexid)
+                {
+                    if (texid != 0)
+                        GL.DeleteTexture(texid);
+                }
+
+            }
+            catch { }
+
             GC.Collect();
             
             try

Tools/ArdupilotMegaPlanner/Log.cs

@@ -366,45 +366,6 @@ namespace ArdupilotMega
             }
         }
 
-        private byte[] readline(NetSerial comport)
-        {
-            byte[] temp = new byte[1024];
-            int count = 0;
-            int timeout = 0;
-
-            while (timeout <= 100)
-            {
-                if (!comport.IsOpen) { break; }
-                if (comport.BytesToRead > 0)
-                {
-                    byte letter = (byte)comport.ReadByte();
-
-                    temp[count] = letter;
-
-                    if (letter == '\n') // normal line
-                    {
-                        break;
-                    }
-
-
-                    count++;
-                    if (count == temp.Length)
-                        break;
-                    timeout = 0;
-                } else {
-                    timeout++;
-                    System.Threading.Thread.Sleep(5);
-                }
-            }
-            if (timeout >= 100) {
-                Console.WriteLine("readline timeout");
-            }
-
-            Array.Resize<byte>(ref temp, count + 1);
-
-            return temp;
-        }
-
         List<string> modelist = new List<string>();
         List<Core.Geometry.Point3D>[] position = new List<Core.Geometry.Point3D>[200];
         int positionindex = 0;

Tools/ArdupilotMegaPlanner/MAVLink.cs

@@ -951,6 +951,8 @@ namespace ArdupilotMega
 
             req.seq = index;
 
+            //Console.WriteLine("getwp req "+ DateTime.Now.Millisecond);
+
             // request
             generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST, req);
 
@@ -972,11 +974,14 @@ namespace ArdupilotMega
                     MainV2.givecomport = false;
                     throw new Exception("Timeout on read - getWP");
                 }
+                //Console.WriteLine("getwp read " + DateTime.Now.Millisecond);
                 byte[] buffer = readPacket();
+                //Console.WriteLine("getwp readend " + DateTime.Now.Millisecond);
                 if (buffer.Length > 5)
                 {
                     if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT)
                     {
+                        //Console.WriteLine("getwp ans " + DateTime.Now.Millisecond);
                         __mavlink_waypoint_t wp = new __mavlink_waypoint_t();
 
                         object temp = (object)wp;
@@ -1070,7 +1075,7 @@ namespace ArdupilotMega
                     }
                     else
                     {
-                        //Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]);
+                        Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]);
                     }
                 }
             }
@@ -1455,16 +1460,18 @@ namespace ArdupilotMega
                                 else
                                 {
                                     int to = 0;
-                                    while (BaseStream.BytesToRead < length)
+                                    while (BaseStream.BytesToRead < (length - 4))
                                     {
                                         if (to > 1000)
                                         {
                                             Console.WriteLine("MAVLINK: wait time out btr {0} len {1}", BaseStream.BytesToRead, length);
                                             break;
                                         }
-                                        System.Threading.Thread.Sleep(2);
+                                        System.Threading.Thread.Sleep(1);
-                                        System.Windows.Forms.Application.DoEvents();
+                                        //System.Windows.Forms.Application.DoEvents();
                                         to++;
+
+                                        //Console.WriteLine("data " + 0 + " " + length + " aval " + BaseStream.BytesToRead);
                                     }
                                     int read = BaseStream.Read(temp, 6, length - 4);
                                 }

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -76,6 +76,8 @@ namespace ArdupilotMega
             //System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
             //System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
 
+            srtm.datadirectory = @"C:\srtm";
+
             var t = Type.GetType("Mono.Runtime");
             MAC = (t != null);
 

Tools/ArdupilotMegaPlanner/MyButton.cs

@@ -50,7 +50,7 @@ namespace ArdupilotMega
 
             if (!this.Enabled)
             {
-                SolidBrush brush = new SolidBrush(Color.FromArgb(200, 0x2b, 0x3a, 0x03));
+                SolidBrush brush = new SolidBrush(Color.FromArgb(150, 0x2b, 0x3a, 0x03));
 
                 gr.FillRectangle(brush, 0, 0, this.Width, this.Height);
             }

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.0.67")]
+[assembly: AssemblyFileVersion("1.0.68")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Setup/Setup.cs

@@ -231,7 +231,6 @@ namespace ArdupilotMega.Setup
 
             MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, oldrc);
 
-            MainV2.comPort.param = MainV2.comPort.getParamList();
             if (Configuration != null)
             {
                 Configuration.startup = true;

Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/Firmware.resx

@@ -343,16 +343,16 @@
     <value>NoControl</value>
   </data>
   <data name="label1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>101, 165</value>
+    <value>113, 167</value>
   </data>
   <data name="label1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>79, 13</value>
+    <value>56, 13</value>
   </data>
   <data name="label1.TabIndex" type="System.Int32, mscorlib">
     <value>8</value>
   </data>
   <data name="label1.Text" xml:space="preserve">
-    <value>ArduPilot Mega</value>
+    <value>ArduPlane</value>
   </data>
   <data name="&gt;&gt;label1.Name" xml:space="preserve">
     <value>label1</value>
@@ -403,16 +403,16 @@
     <value>NoControl</value>
   </data>
   <data name="label3.Location" type="System.Drawing.Point, System.Drawing">
-    <value>57, 362</value>
+    <value>74, 361</value>
   </data>
   <data name="label3.Size" type="System.Drawing.Size, System.Drawing">
-    <value>168, 13</value>
+    <value>142, 13</value>
   </data>
   <data name="label3.TabIndex" type="System.Int32, mscorlib">
     <value>10</value>
   </data>
   <data name="label3.Text" xml:space="preserve">
-    <value>ArduPilot Mega  (Xplane simulator)</value>
+    <value>ArduPlane (Xplane simulator)</value>
   </data>
   <data name="&gt;&gt;label3.Name" xml:space="preserve">
     <value>label3</value>

Tools/ArdupilotMegaPlanner/srtm.cs

@@ -0,0 +1,76 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.IO;
+
+namespace ArdupilotMega
+{
+    class srtm
+    {
+        public static string datadirectory;
+
+        public static int getAltitude(double lat, double lng)
+        {
+            short alt = -32768;
+
+            lat += 0.0008;
+            //lng += 0.0008;
+
+            int x = (int)Math.Floor(lng);
+            int y = (int)Math.Floor(lat);
+
+            string ns;
+            if (y > 0)
+                ns = "N";
+            else
+                ns = "S";
+
+            string ew;
+            if (x > 0)
+                ew = "E";
+            else
+                ew = "W";
+
+            string filename = ns+ Math.Abs(y).ToString("00")+ew+ Math.Abs(x).ToString("000")+".hgt";
+
+            if (!File.Exists(datadirectory + Path.DirectorySeparatorChar + filename))
+            {
+                return alt;
+            }
+
+            FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open,FileAccess.Read);
+
+            float posx = 0;
+            float row = 0;
+
+            if (fs.Length <= (1201 * 1201 * 2)) {
+                posx = (int)(((float)(lng - x)) * (1201 * 2));
+                row = (int)(((float)(lat - y)) * 1201) * (1201 * 2);
+                row = (1201 * 1201 * 2) - row;
+            } else {
+                posx = (int)(((float)(lng - x)) * (3601 * 2));
+                row = (int)(((float)(lat - y)) * 3601) * (3601 * 2);
+                row = (3601 * 3601 * 2) - row;
+            }
+
+            if (posx % 2 == 1)
+            {
+                posx--;
+            }
+
+            //Console.WriteLine(filename + " row " + row + " posx" + posx);
+
+            byte[] data = new byte[2];
+
+            fs.Seek((int)(row + posx), SeekOrigin.Begin);
+            fs.Read(data, 0, data.Length);
+
+            Array.Reverse(data);
+
+            alt = BitConverter.ToInt16(data,0);
+
+            return alt;
+        }
+    }
+}