mirror of https://github.com/ArduPilot/ardupilot
Mission Planner Cleanup
This commit is contained in:
Michael Oborne
parent
7715a2b75f
commit
b9fb1750d5
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@ -31,3 +31,7 @@ status.txt
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*.dll
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*.obj
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*.zip
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/Tools/ArdupilotMegaPlanner/3DRRadio/bin
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/Tools/ArdupilotMegaPlanner/3DRRadio/obj
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/Tools/ArdupilotMegaPlanner/bin
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@ -1,364 +0,0 @@
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using Sharp3D.Math.Core;
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namespace ArdupilotMega.HIL
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{
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class FlashQuad
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{
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public ahrsc ahrs = new ahrsc() ;// :AHRS;
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public Vector3D loc = new Vector3D() ;// :Location;
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public param g = new param() ;// :Parameters;
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//public var apm_rc :APM_RC;
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//public var motor_filter_0 :AverageFilter;
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//public var motor_filter_1 :AverageFilter;
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//public var motor_filter_2 :AverageFilter;
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//public var motor_filter_3 :AverageFilter;
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public Vector3D drag = new Vector3D();// :Vector3D; //
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public Vector3D airspeed = new Vector3D();// :Vector3D; //
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//public var thrust :Vector3D; //
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public Vector3D position = new Vector3D();// :Vector3D; //
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public Vector3D velocity = new Vector3D();// :Vector3D;
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//public var velocity_old :Vector3D;
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//public var wind :Point; //
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public Vector3D rot_accel = new Vector3D();// :Vector3D; //
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public Vector3D angle3D = new Vector3D();// :Vector3D; //
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//public var windGenerator :Wind; //
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public double gravity = 980.5;
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public double thrust_scale = 0.4;
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public double throttle = 500;
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public double rotation_bias = 1;
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private double _jump_z = 0;
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private Vector3D v3 = new Vector3D();
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public class ahrsc
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{
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public Matrix3D dcm = new Matrix3D(Matrix3D.Identity);
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public Vector3D gyro = new Vector3D();
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public Vector3D omega = new Vector3D();
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public Vector3D accel = new Vector3D();
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public Vector3D rotation_speed = new Vector3D();
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public double roll_sensor;
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public double pitch_sensor;
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public double yaw_sensor;
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}
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public class param
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{
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// ---------------------------------------------
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// Sim Details controls
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// ---------------------------------------------
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public int sim_iterations = 99999;
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public int sim_speed = 1;
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public double windSpeedMin = 150;
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public double windSpeedMax = 200;
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public double windPeriod = 30000;
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public double windDir = 45;
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public double airDensity = 1.184;
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//public var crossSection :Number = 0.015;
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public double crossSection = 0.012;
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public double dragCE = 0.20;
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public double speed_filter_size = 2;
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public double motor_kv = 1000;
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public double moment = 3;
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public double mass = 500;
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public int esc_delay = 12;
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// -----------------------------------------
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// Inertial control
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// -----------------------------------------
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public double speed_correction_z = 0.0350;
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public double xy_speed_correction = 0.030;
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public double xy_offset_correction = 0.00001;
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public double xy_pos_correction = 0.08;
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public double z_offset_correction = 0.00004;
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public double z_pos_correction = 0.2;
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public double accel_bias_x = .9;
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public double accel_bias_z = .9;
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public double accel_bias_y = .9;
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}
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double scale_rc(int sn, float servo, float min, float max)
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{
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float min_pwm = 1000;
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float max_pwm = 2000;
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//'''scale a PWM value''' # default to servo range of 1000 to 2000
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if (MainV2.comPort.param.Count > 0)
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{
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min_pwm = int.Parse(MainV2.comPort.param["RC3_MIN"].ToString());
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max_pwm = int.Parse(MainV2.comPort.param["RC3_MAX"].ToString());
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}
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float p = (servo - min_pwm) / (max_pwm - min_pwm);
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float v = min + p * (max - min);
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if (v < min)
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v = min;
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if (v > max)
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v = max;
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return v * 1000;
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}
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public void update(ref double[] motor_output, double dt)
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{
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var _thrust = 0.0;
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rot_accel = new Vector3D(0,0,0);
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angle3D.X = angle3D.Y = 0;
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angle3D.Z = 1;
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// wind = windGenerator.read();
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// ESC's moving average filter
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// var motor_output:Array = new Array(4);
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// motor_output[0] = motor_filter_0.apply(apm_rc.get_motor_output(0));
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// motor_output[1] = motor_filter_1.apply(apm_rc.get_motor_output(1));
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// motor_output[2] = motor_filter_2.apply(apm_rc.get_motor_output(2));
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// motor_output[3] = motor_filter_3.apply(apm_rc.get_motor_output(3));
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for (int i = 0; i < motor_output.Length; i++)
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{
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if (motor_output[i] <= 0.0)
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{
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motor_output[i] = 0;
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}
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else
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{
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motor_output[i] = scale_rc(i, (float)motor_output[i], 0.0f, 1.0f);
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//servos[i] = motor_speed[i];
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}
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}
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/*
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2
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1 0
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3
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*/
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// setup motor rotations
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rot_accel.X -= g.motor_kv * motor_output[0]; // roll
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rot_accel.X += g.motor_kv * motor_output[1];
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rot_accel.Y -= g.motor_kv * motor_output[3];
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rot_accel.Y += g.motor_kv * motor_output[2];
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rot_accel.Z += g.motor_kv * motor_output[0] * .08; // YAW
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rot_accel.Z += g.motor_kv * motor_output[1] * .08;
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rot_accel.Z -= g.motor_kv * motor_output[2] * .08;
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rot_accel.Z -= g.motor_kv * motor_output[3] * .08;
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rot_accel.X /= g.moment;
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rot_accel.Y /= g.moment;
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rot_accel.Z /= g.moment;
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//# rotational air resistance
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// Gyro is the rotation speed in deg/s
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// update rotational rates in body frame
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ahrs.gyro.X += rot_accel.X * dt;
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ahrs.gyro.Y += rot_accel.Y * dt;
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ahrs.gyro.Z += rot_accel.Z * dt;
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//ahrs.gyro.z += 200;
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ahrs.gyro.Z *= .995;// some drag
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// ahrs.dcm = Matrix3D.Identity;
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// move earth frame to body frame
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Vector3D tmp = Matrix3D.Transform(ahrs.dcm,ahrs.gyro) ;//ahrs.dcm.transformVector(ahrs.gyro);
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// update attitude:
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ahrs.dcm += new Matrix3D(new Vector3D((tmp.X/100) * dt,0,0),new Vector3D(0,(tmp.Y/100) * dt,0),new Vector3D(0,0,(tmp.Z/100) * dt));
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//ahrs.dcm.appendRotation((tmp.X/100) * dt, Vector3D.X_AXIS); // ROLL
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//ahrs.dcm.appendRotation((tmp.Y/100) * dt, Vector3D.Y_AXIS); // PITCH
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//ahrs.dcm.appendRotation((tmp.Z/100) * dt, Vector3D.Z_AXIS); // YAW
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// ------------------------------------
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// calc thrust
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// ------------------------------------
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//get_motor_output returns 0 : 1000
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_thrust += motor_output[0] * thrust_scale;
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_thrust += motor_output[1] * thrust_scale;
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_thrust += motor_output[2] * thrust_scale;
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_thrust += motor_output[3] * thrust_scale;
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Vector3D accel_body = new Vector3D(0, 0, (_thrust * -.9) / g.mass);
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//var accel_body:Vector3D = new Vector3D(0, 0, 0);
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Vector3D accel_earth = Matrix3D.Transform(ahrs.dcm,(accel_body));
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angle3D = Matrix3D.Transform(ahrs.dcm,(angle3D));
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//trace(ahrs.gyro.y, accel_earth.x);
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//trace(ahrs.gyro.x, ahrs.gyro.y, ahrs.gyro.z);
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// ------------------------------------
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// calc copter velocity
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// ------------------------------------
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// calc Drag
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drag.X = .5 * g.airDensity * airspeed.X * airspeed.X * g.dragCE * g.crossSection;
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drag.Y = .5 * g.airDensity * airspeed.Y * airspeed.Y * g.dragCE * g.crossSection;
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drag.Z = .5 * g.airDensity * airspeed.Z * airspeed.Z * g.dragCE * g.crossSection;
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///*
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// this calulation includes wind
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if(airspeed.X >= 0)
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accel_earth.X -= drag.X;
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else
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accel_earth.X += drag.X;
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// Add in Drag
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if(airspeed.Y >= 0)
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accel_earth.Y -= drag.Y;
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else
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accel_earth.Y += drag.Y;
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if(airspeed.Z <= 0)
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accel_earth.Z -= drag.Z;
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else
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accel_earth.Z += drag.Z;
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//*/
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// hacked vert disturbance
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accel_earth.Z += _jump_z * dt;
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_jump_z *= .999;
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// Add in Gravity
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accel_earth.Z += gravity;
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if(accel_earth.Z < 0)
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accel_earth.Z *=.9;
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if(position.Z <=.11 && accel_earth.Z > 0){
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accel_earth.Z = 0;
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}
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velocity.X += (accel_earth.X * dt); // + : Forward (North)
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velocity.Y += (accel_earth.Y * dt); // + : Right (East)
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velocity.Z -= (accel_earth.Z * dt); // + : Up
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//trace(Math.floor(velocity.x),Math.floor(velocity.y),Math.floor(velocity.z));
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// ------------------------------------
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// calc inertia
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// ------------------------------------
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// work out acceleration as seen by the accelerometers. It sees the kinematic
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// acceleration (ie. real movement), plus gravity
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Matrix3D dcm_t = ahrs.dcm.Clone();
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dcm_t.Transpose();
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double t = accel_earth.Z;
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accel_earth.Z -= gravity;
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ahrs.accel = Matrix3D.Transform(dcm_t,(accel_earth));
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ahrs.accel *= 0.01;
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//ahrs.accel = accel_earth.clone();
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ahrs.accel.X *= g.accel_bias_x;
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ahrs.accel.Y *= g.accel_bias_y;
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ahrs.accel.Z *= g.accel_bias_z;
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// ------------------------------------
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// calc Position
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// ------------------------------------
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position.Y += velocity.X * dt;
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position.X += velocity.Y * dt;
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position.Z += velocity.Z * dt;
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position.Z = Math.Min(position.Z, 4000);
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// XXX Force us to 3m above ground
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//position.z = 300;
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airspeed.X = (velocity.X);// - wind.x);
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airspeed.Y = (velocity.Y);// - wind.y);
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airspeed.Z = velocity.Z;
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// Altitude
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// --------
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if(position.Z <=.1){
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position.Z = .1;
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velocity.X = 0;
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velocity.Y = 0;
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velocity.Z = 0;
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airspeed.X = 0;
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airspeed.Y = 0;
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airspeed.Z = 0;
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//ahrs.init();
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}
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// get omega - the simulated Gyro output
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ahrs.omega.X = radiansx100(ahrs.gyro.X);
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ahrs.omega.Y = radiansx100(ahrs.gyro.Y);
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ahrs.omega.Z = radiansx100(ahrs.gyro.Z);
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// get the Eulers output
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v3 = new Vector3D(Math.Atan2(-ahrs.dcm.M23, ahrs.dcm.M22), Math.Asin(ahrs.dcm.M21), Math.Atan2(-ahrs.dcm.M31, ahrs.dcm.M11));// ahrs.dcm.decompose();
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ahrs.roll_sensor = Math.Floor(degrees(v3.X) * 100);
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ahrs.pitch_sensor = Math.Floor(degrees(v3.Y) * 100);
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ahrs.yaw_sensor = Math.Floor(degrees(v3.Z) * 100);
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// store the position for the GPS object
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loc.X = position.X;
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loc.Y = position.Y;
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loc.Z = position.Z;
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}
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public double constrain(double val, double min, double max)
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{
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val = Math.Max(val, min);
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val = Math.Min(val, max);
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return val;
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}
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public double wrap_180(int error)
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{
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if (error > 18000) error -= 36000;
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if (error < -18000) error += 36000;
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return error;
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}
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public int wrap_360(int error)
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{
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if (error > 36000) error -= 36000;
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if (error < 0) error += 36000;
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return error;
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}
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public double radiansx100(double n)
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{
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return 0.000174532925 * n;
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}
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public double degreesx100(double r)
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{
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return r * 5729.57795;
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}
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public double degrees(double r)
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{
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return r * 57.2957795;
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}
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public double radians(double n)
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{
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return 0.0174532925 * n;
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}
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}
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}
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@ -1,120 +0,0 @@
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using System;
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using System.Collections.Generic;
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using System.Reactive.Subjects;
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using System.Text;
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using System.Runtime.InteropServices;
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using System.Collections; // hashs
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using System.Diagnostics; // stopwatch
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using System.Reflection;
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using System.Reflection.Emit;
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using System.IO;
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using System.Drawing;
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using System.Threading;
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using ArdupilotMega.Controls;
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using System.ComponentModel;
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using log4net;
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using ArdupilotMega.Comms;
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using ArdupilotMega.Utilities;
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namespace ArdupilotMega
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{
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public interface IMAVLink
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{
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// there is too much message intergration in the main code, so i dont think i will pursue this any further
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// if it an't broke dont fix it - mav09 and mav10 are compile time defined
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// i will probly revert this change at some point, unless someone else has a good idea.
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// Fields
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byte[][] packets { get; set; }
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double[] packetspersecond { get; set; }
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Hashtable param { get; set; }
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BinaryWriter rawlogfile { get; set; }
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byte sysid { get; set; }
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Subject<int> WhenPacketLost { get; set; }
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Subject<int> WhenPacketReceived { get; set; }
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PointLatLngAlt[] wps { get; set; }
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ArdupilotMega.MAVLink.MAV_TYPE aptype { get; set; }
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ICommsSerial BaseStream { get; set; }
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int bps { get; set; }
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DateTime bpstime { get; set; }
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byte compid { get; set; }
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bool debugmavlink { get; set; }
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DateTime lastlogread { get; set; }
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DateTime lastvalidpacket { get; set; }
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BinaryWriter logfile { get; set; }
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BinaryReader logplaybackfile { get; set; }
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bool logreadmode { get; set; }
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// Events
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event EventHandler ParamListChanged;
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// Methods
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void Close();
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object DebugPacket(byte[] datin);
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object DebugPacket(byte[] datin, bool PrintToConsole);
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object DebugPacket(byte[] datin, ref string text);
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object DebugPacket(byte[] datin, ref string text, bool PrintToConsole, string delimeter);
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// mav 09
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bool doAction(object actionid);
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// mac 10
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bool doCommand(ArdupilotMega.MAVLink.MAV_CMD actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7);
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void setAPType();
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PointLatLngAlt getFencePoint(int no, ref int total);
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void getParamList();
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Locationwp getWP(ushort index);
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byte getWPCount();
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// static void modifyParamForDisplay(bool fromapm, string paramname, ref float value);
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void Open();
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void Open(bool getparams);
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byte[] readPacket();
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void requestDatastream(byte id, byte hzrate);
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void sendPacket(object indata);
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bool setFencePoint(byte index, PointLatLngAlt plla, byte fencepointcount);
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void setMode(string modein);
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void setMode(ArdupilotMega.MAVLink.mavlink_set_mode_t mode, ArdupilotMega.MAVLink.MAV_MODE_FLAG base_mode = 0);
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void setMountConfigure(ArdupilotMega.MAVLink.MAV_MOUNT_MODE mountmode, bool stabroll, bool stabpitch, bool stabyaw);
|
||||
void setMountControl(double pa, double pb, double pc, bool islatlng);
|
||||
bool setParam(string paramname, float value);
|
||||
void setWP(Locationwp loc, ushort index, ArdupilotMega.MAVLink.MAV_FRAME frame, byte current);
|
||||
void setWPACK();
|
||||
bool setWPCurrent(ushort index);
|
||||
void setWPTotal(ushort wp_total);
|
||||
void stopall(bool forget);
|
||||
bool Write(string line);
|
||||
|
||||
// Properties
|
||||
|
||||
IObservable<int> BytesReceived { get; }
|
||||
IObservable<int> BytesSent { get; }
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -1,134 +0,0 @@
|
|||
namespace ArdupilotMega
|
||||
{
|
||||
partial class SerialInput
|
||||
{
|
||||
/// <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);
|
||||
}
|
||||
|
||||
#region Windows Form Designer generated code
|
||||
|
||||
/// <summary>
|
||||
/// Required method for Designer support - do not modify
|
||||
/// the contents of this method with the code editor.
|
||||
/// </summary>
|
||||
private void InitializeComponent()
|
||||
{
|
||||
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(SerialInput));
|
||||
this.CMB_serialport = new System.Windows.Forms.ComboBox();
|
||||
this.BUT_connect = new ArdupilotMega.Controls.MyButton();
|
||||
this.CMB_baudrate = new System.Windows.Forms.ComboBox();
|
||||
this.label1 = new System.Windows.Forms.Label();
|
||||
this.LBL_location = new System.Windows.Forms.Label();
|
||||
this.textBox1 = new System.Windows.Forms.TextBox();
|
||||
this.SuspendLayout();
|
||||
//
|
||||
// CMB_serialport
|
||||
//
|
||||
this.CMB_serialport.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
|
||||
this.CMB_serialport.FormattingEnabled = true;
|
||||
this.CMB_serialport.Location = new System.Drawing.Point(13, 13);
|
||||
this.CMB_serialport.Name = "CMB_serialport";
|
||||
this.CMB_serialport.Size = new System.Drawing.Size(121, 21);
|
||||
this.CMB_serialport.TabIndex = 0;
|
||||
//
|
||||
// BUT_connect
|
||||
//
|
||||
this.BUT_connect.Location = new System.Drawing.Point(279, 12);
|
||||
this.BUT_connect.Name = "BUT_connect";
|
||||
this.BUT_connect.Size = new System.Drawing.Size(75, 23);
|
||||
this.BUT_connect.TabIndex = 1;
|
||||
this.BUT_connect.Text = "Connect";
|
||||
this.BUT_connect.UseVisualStyleBackColor = true;
|
||||
this.BUT_connect.Click += new System.EventHandler(this.BUT_connect_Click);
|
||||
//
|
||||
// CMB_baudrate
|
||||
//
|
||||
this.CMB_baudrate.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
|
||||
this.CMB_baudrate.FormattingEnabled = true;
|
||||
this.CMB_baudrate.Items.AddRange(new object[] {
|
||||
"4800",
|
||||
"9600",
|
||||
"14400",
|
||||
"19200",
|
||||
"28800",
|
||||
"38400",
|
||||
"57600",
|
||||
"115200"});
|
||||
this.CMB_baudrate.Location = new System.Drawing.Point(140, 12);
|
||||
this.CMB_baudrate.Name = "CMB_baudrate";
|
||||
this.CMB_baudrate.Size = new System.Drawing.Size(121, 21);
|
||||
this.CMB_baudrate.TabIndex = 2;
|
||||
//
|
||||
// label1
|
||||
//
|
||||
this.label1.AutoSize = true;
|
||||
this.label1.Location = new System.Drawing.Point(90, 47);
|
||||
this.label1.Name = "label1";
|
||||
this.label1.Size = new System.Drawing.Size(187, 13);
|
||||
this.label1.TabIndex = 3;
|
||||
this.label1.Text = "Pick the Nmea gps port and baud rate\r\n";
|
||||
//
|
||||
// LBL_location
|
||||
//
|
||||
this.LBL_location.Font = new System.Drawing.Font("Microsoft Sans Serif", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
|
||||
this.LBL_location.Location = new System.Drawing.Point(3, 64);
|
||||
this.LBL_location.Name = "LBL_location";
|
||||
this.LBL_location.Size = new System.Drawing.Size(365, 59);
|
||||
this.LBL_location.TabIndex = 4;
|
||||
this.LBL_location.Text = "0,0,0";
|
||||
//
|
||||
// textBox1
|
||||
//
|
||||
this.textBox1.Enabled = false;
|
||||
this.textBox1.Location = new System.Drawing.Point(19, 126);
|
||||
this.textBox1.Multiline = true;
|
||||
this.textBox1.Name = "textBox1";
|
||||
this.textBox1.Size = new System.Drawing.Size(335, 133);
|
||||
this.textBox1.TabIndex = 5;
|
||||
this.textBox1.Text = resources.GetString("textBox1.Text");
|
||||
//
|
||||
// SerialInput
|
||||
//
|
||||
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
|
||||
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
|
||||
this.ClientSize = new System.Drawing.Size(369, 300);
|
||||
this.Controls.Add(this.textBox1);
|
||||
this.Controls.Add(this.LBL_location);
|
||||
this.Controls.Add(this.label1);
|
||||
this.Controls.Add(this.CMB_baudrate);
|
||||
this.Controls.Add(this.BUT_connect);
|
||||
this.Controls.Add(this.CMB_serialport);
|
||||
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
|
||||
this.Name = "SerialInput";
|
||||
this.Text = "Follow Me";
|
||||
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.SerialOutput_FormClosing);
|
||||
this.ResumeLayout(false);
|
||||
this.PerformLayout();
|
||||
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
private System.Windows.Forms.ComboBox CMB_serialport;
|
||||
private ArdupilotMega.Controls.MyButton BUT_connect;
|
||||
private System.Windows.Forms.ComboBox CMB_baudrate;
|
||||
private System.Windows.Forms.Label label1;
|
||||
private System.Windows.Forms.Label LBL_location;
|
||||
private System.Windows.Forms.TextBox textBox1;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,225 +0,0 @@
|
|||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.ComponentModel;
|
||||
using System.Data;
|
||||
using System.Drawing;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Windows.Forms;
|
||||
using System.IO.Ports;
|
||||
|
||||
namespace ArdupilotMega
|
||||
{
|
||||
public partial class SerialInput : Form
|
||||
{
|
||||
System.Threading.Thread t12;
|
||||
static bool threadrun = false;
|
||||
static internal SerialPort comPort = new SerialPort();
|
||||
static internal PointLatLngAlt lastgotolocation = new PointLatLngAlt(0, 0, 0, "Goto last");
|
||||
static internal PointLatLngAlt gotolocation = new PointLatLngAlt(0, 0, 0, "Goto");
|
||||
static internal int intalt = 100;
|
||||
|
||||
public SerialInput()
|
||||
{
|
||||
InitializeComponent();
|
||||
|
||||
CMB_serialport.DataSource = SerialPort.GetPortNames();
|
||||
|
||||
if (threadrun)
|
||||
{
|
||||
BUT_connect.Text = "Stop";
|
||||
}
|
||||
}
|
||||
|
||||
private void BUT_connect_Click(object sender, EventArgs e)
|
||||
{
|
||||
if (comPort.IsOpen)
|
||||
{
|
||||
threadrun = false;
|
||||
comPort.Close();
|
||||
BUT_connect.Text = "Connect";
|
||||
}
|
||||
else
|
||||
{
|
||||
try
|
||||
{
|
||||
comPort.PortName = CMB_serialport.Text;
|
||||
}
|
||||
catch { CustomMessageBox.Show("Invalid PortName"); return; }
|
||||
try {
|
||||
comPort.BaudRate = int.Parse(CMB_baudrate.Text);
|
||||
} catch {CustomMessageBox.Show("Invalid BaudRate"); return;}
|
||||
try {
|
||||
comPort.Open();
|
||||
} catch {CustomMessageBox.Show("Error Connecting\nif using com0com please rename the ports to COM??"); return;}
|
||||
|
||||
|
||||
string alt = "100";
|
||||
|
||||
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
|
||||
{
|
||||
alt = (10 * MainV2.cs.multiplierdist).ToString("0");
|
||||
}
|
||||
else
|
||||
{
|
||||
alt = (100 * MainV2.cs.multiplierdist).ToString("0");
|
||||
}
|
||||
if (DialogResult.Cancel == Common.InputBox("Enter Alt", "Enter Alt (relative to home alt)", ref alt))
|
||||
return;
|
||||
|
||||
intalt = (int)(100 * MainV2.cs.multiplierdist);
|
||||
if (!int.TryParse(alt, out intalt))
|
||||
{
|
||||
CustomMessageBox.Show("Bad Alt");
|
||||
return;
|
||||
}
|
||||
|
||||
t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
|
||||
{
|
||||
IsBackground = true,
|
||||
Name = "Nmea Input"
|
||||
};
|
||||
t12.Start();
|
||||
|
||||
BUT_connect.Text = "Stop";
|
||||
}
|
||||
}
|
||||
|
||||
void mainloop()
|
||||
{
|
||||
DateTime nextsend = DateTime.Now;
|
||||
|
||||
threadrun = true;
|
||||
while (threadrun)
|
||||
{
|
||||
try
|
||||
{
|
||||
string line = comPort.ReadLine();
|
||||
|
||||
//string line = string.Format("$GP{0},{1:HHmmss},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA", DateTime.Now.ToUniversalTime(), Math.Abs(lat * 100), MainV2.cs.lat < 0 ? "S" : "N", Math.Abs(lng * 100), MainV2.cs.lng < 0 ? "W" : "E", MainV2.cs.gpsstatus, MainV2.cs.satcount, MainV2.cs.gpshdop, MainV2.cs.alt, "M", 0, "M", "");
|
||||
if (line.StartsWith("$GPGGA")) //
|
||||
{
|
||||
string[] items = line.Trim().Split(',','*');
|
||||
|
||||
if (items[15] != GetChecksum(line.Trim()))
|
||||
{
|
||||
Console.WriteLine("Bad Nmea line " + items[15] + " vs " + GetChecksum(line.Trim()));
|
||||
continue;
|
||||
}
|
||||
|
||||
if (items[6] == "0")
|
||||
{
|
||||
Console.WriteLine("No Fix");
|
||||
continue;
|
||||
}
|
||||
|
||||
gotolocation.Lat = double.Parse(items[2]) / 100.0;
|
||||
|
||||
gotolocation.Lat = (int)gotolocation.Lat + ((gotolocation.Lat - (int)gotolocation.Lat) / 0.60);
|
||||
|
||||
if (items[3] == "S")
|
||||
gotolocation.Lat *= -1;
|
||||
|
||||
gotolocation.Lng = double.Parse(items[4]) / 100.0;
|
||||
|
||||
gotolocation.Lng = (int)gotolocation.Lng + ((gotolocation.Lng - (int)gotolocation.Lng) / 0.60);
|
||||
|
||||
if (items[5] == "W")
|
||||
gotolocation.Lng *= -1;
|
||||
|
||||
gotolocation.Alt = intalt; // double.Parse(line.Substring(c9, c10 - c9 - 1)) +
|
||||
|
||||
gotolocation.Tag = "Sats "+ items[7] + " hdop " + items[8] ;
|
||||
|
||||
}
|
||||
|
||||
|
||||
if (DateTime.Now > nextsend && gotolocation.Lat != 0 && gotolocation.Lng != 0 && gotolocation.Alt != 0) // 200 * 10 = 2 sec /// lastgotolocation != gotolocation &&
|
||||
{
|
||||
nextsend = DateTime.Now.AddSeconds(2);
|
||||
Console.WriteLine("Sending follow wp " +DateTime.Now.ToString("h:MM:ss")+" "+ gotolocation.Lat + " " + gotolocation.Lng + " " +gotolocation.Alt);
|
||||
lastgotolocation = new PointLatLngAlt(gotolocation);
|
||||
|
||||
Locationwp gotohere = new Locationwp();
|
||||
|
||||
gotohere.id = (byte)MAVLink.MAV_CMD.WAYPOINT;
|
||||
gotohere.alt = (float)(gotolocation.Alt);
|
||||
gotohere.lat = (float)(gotolocation.Lat);
|
||||
gotohere.lng = (float)(gotolocation.Lng);
|
||||
|
||||
try
|
||||
{
|
||||
updateLocationLabel(gotohere);
|
||||
}
|
||||
catch { }
|
||||
|
||||
if (MainV2.comPort.BaseStream.IsOpen && MainV2.giveComport == false)
|
||||
{
|
||||
try
|
||||
{
|
||||
MainV2.giveComport = true;
|
||||
|
||||
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT, (byte)2);
|
||||
|
||||
GCSViews.FlightData.GuidedModeWP = new PointLatLngAlt(gotohere);
|
||||
|
||||
MainV2.giveComport = false;
|
||||
}
|
||||
catch { MainV2.giveComport = false; }
|
||||
}
|
||||
}
|
||||
}
|
||||
catch { System.Threading.Thread.Sleep(2000); }
|
||||
}
|
||||
}
|
||||
|
||||
private void updateLocationLabel(Locationwp plla)
|
||||
{
|
||||
this.BeginInvoke((MethodInvoker)delegate
|
||||
{
|
||||
LBL_location.Text = gotolocation.Lat + " " + gotolocation.Lng + " " + gotolocation.Alt +" "+ gotolocation.Tag;
|
||||
}
|
||||
);
|
||||
|
||||
}
|
||||
|
||||
private void SerialOutput_FormClosing(object sender, FormClosingEventArgs e)
|
||||
{
|
||||
}
|
||||
|
||||
// Calculates the checksum for a sentence
|
||||
string GetChecksum(string sentence)
|
||||
{
|
||||
// Loop through all chars to get a checksum
|
||||
int Checksum = 0;
|
||||
foreach (char Character in sentence.ToCharArray())
|
||||
{
|
||||
switch (Character)
|
||||
{
|
||||
case '$':
|
||||
// Ignore the dollar sign
|
||||
break;
|
||||
case '*':
|
||||
// Stop processing before the asterisk
|
||||
return Checksum.ToString("X2");
|
||||
default:
|
||||
// Is this the first value for the checksum?
|
||||
if (Checksum == 0)
|
||||
{
|
||||
// Yes. Set the checksum to the value
|
||||
Checksum = Convert.ToByte(Character);
|
||||
}
|
||||
else
|
||||
{
|
||||
// No. XOR the checksum with this character's value
|
||||
Checksum = Checksum ^ Convert.ToByte(Character);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
// Return the checksum formatted as a two-character hexadecimal
|
||||
return Checksum.ToString("X2");
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -1,123 +0,0 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<root>
|
||||
<!--
|
||||
Microsoft ResX Schema
|
||||
|
||||
Version 2.0
|
||||
|
||||
The primary goals of this format is to allow a simple XML format
|
||||
that is mostly human readable. The generation and parsing of the
|
||||
various data types are done through the TypeConverter classes
|
||||
associated with the data types.
|
||||
|
||||
Example:
|
||||
|
||||
... ado.net/XML headers & schema ...
|
||||
<resheader name="resmimetype">text/microsoft-resx</resheader>
|
||||
<resheader name="version">2.0</resheader>
|
||||
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
|
||||
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
|
||||
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
|
||||
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
|
||||
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
|
||||
<value>[base64 mime encoded serialized .NET Framework object]</value>
|
||||
</data>
|
||||
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
|
||||
<comment>This is a comment</comment>
|
||||
</data>
|
||||
|
||||
There are any number of "resheader" rows that contain simple
|
||||
name/value pairs.
|
||||
|
||||
Each data row contains a name, and value. The row also contains a
|
||||
type or mimetype. Type corresponds to a .NET class that support
|
||||
text/value conversion through the TypeConverter architecture.
|
||||
Classes that don't support this are serialized and stored with the
|
||||
mimetype set.
|
||||
|
||||
The mimetype is used for serialized objects, and tells the
|
||||
ResXResourceReader how to depersist the object. This is currently not
|
||||
extensible. For a given mimetype the value must be set accordingly:
|
||||
|
||||
Note - application/x-microsoft.net.object.binary.base64 is the format
|
||||
that the ResXResourceWriter will generate, however the reader can
|
||||
read any of the formats listed below.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.binary.base64
|
||||
value : The object must be serialized with
|
||||
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
|
||||
: and then encoded with base64 encoding.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.soap.base64
|
||||
value : The object must be serialized with
|
||||
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
|
||||
: and then encoded with base64 encoding.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.bytearray.base64
|
||||
value : The object must be serialized into a byte array
|
||||
: using a System.ComponentModel.TypeConverter
|
||||
: and then encoded with base64 encoding.
|
||||
-->
|
||||
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
|
||||
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
|
||||
<xsd:element name="root" msdata:IsDataSet="true">
|
||||
<xsd:complexType>
|
||||
<xsd:choice maxOccurs="unbounded">
|
||||
<xsd:element name="metadata">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" use="required" type="xsd:string" />
|
||||
<xsd:attribute name="type" type="xsd:string" />
|
||||
<xsd:attribute name="mimetype" type="xsd:string" />
|
||||
<xsd:attribute ref="xml:space" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="assembly">
|
||||
<xsd:complexType>
|
||||
<xsd:attribute name="alias" type="xsd:string" />
|
||||
<xsd:attribute name="name" type="xsd:string" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="data">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
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<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
|
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</xsd:sequence>
|
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<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
|
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<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
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<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
|
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<xsd:attribute ref="xml:space" />
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</xsd:complexType>
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</xsd:element>
|
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<xsd:element name="resheader">
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<xsd:complexType>
|
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<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
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</xsd:sequence>
|
||||
<xsd:attribute name="name" type="xsd:string" use="required" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
</xsd:choice>
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
</xsd:schema>
|
||||
<resheader name="resmimetype">
|
||||
<value>text/microsoft-resx</value>
|
||||
</resheader>
|
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<resheader name="version">
|
||||
<value>2.0</value>
|
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</resheader>
|
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<resheader name="reader">
|
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<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
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</resheader>
|
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<resheader name="writer">
|
||||
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||
</resheader>
|
||||
<data name="textBox1.Text" xml:space="preserve">
|
||||
<value>Lo que esto hace. 1. se las actuales coordenadas GPS de un GPS NMEA. 2. envía un WP modo guiado a la AP cada 2 segundos. Como Usar 1. conectar con la AP. 2. el despegue, el modo de prueba guiada está trabajando. 3. abrir este y escoja su puerto com, y la velocidad de su NMEA GPS. 4. ahora debe estar siguiéndote.</value>
|
||||
</data>
|
||||
</root>
|
||||
|
|
@ -1,131 +0,0 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<root>
|
||||
<!--
|
||||
Microsoft ResX Schema
|
||||
|
||||
Version 2.0
|
||||
|
||||
The primary goals of this format is to allow a simple XML format
|
||||
that is mostly human readable. The generation and parsing of the
|
||||
various data types are done through the TypeConverter classes
|
||||
associated with the data types.
|
||||
|
||||
Example:
|
||||
|
||||
... ado.net/XML headers & schema ...
|
||||
<resheader name="resmimetype">text/microsoft-resx</resheader>
|
||||
<resheader name="version">2.0</resheader>
|
||||
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
|
||||
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
|
||||
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
|
||||
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
|
||||
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
|
||||
<value>[base64 mime encoded serialized .NET Framework object]</value>
|
||||
</data>
|
||||
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
|
||||
<comment>This is a comment</comment>
|
||||
</data>
|
||||
|
||||
There are any number of "resheader" rows that contain simple
|
||||
name/value pairs.
|
||||
|
||||
Each data row contains a name, and value. The row also contains a
|
||||
type or mimetype. Type corresponds to a .NET class that support
|
||||
text/value conversion through the TypeConverter architecture.
|
||||
Classes that don't support this are serialized and stored with the
|
||||
mimetype set.
|
||||
|
||||
The mimetype is used for serialized objects, and tells the
|
||||
ResXResourceReader how to depersist the object. This is currently not
|
||||
extensible. For a given mimetype the value must be set accordingly:
|
||||
|
||||
Note - application/x-microsoft.net.object.binary.base64 is the format
|
||||
that the ResXResourceWriter will generate, however the reader can
|
||||
read any of the formats listed below.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.binary.base64
|
||||
value : The object must be serialized with
|
||||
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
|
||||
: and then encoded with base64 encoding.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.soap.base64
|
||||
value : The object must be serialized with
|
||||
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
|
||||
: and then encoded with base64 encoding.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.bytearray.base64
|
||||
value : The object must be serialized into a byte array
|
||||
: using a System.ComponentModel.TypeConverter
|
||||
: and then encoded with base64 encoding.
|
||||
-->
|
||||
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
|
||||
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
|
||||
<xsd:element name="root" msdata:IsDataSet="true">
|
||||
<xsd:complexType>
|
||||
<xsd:choice maxOccurs="unbounded">
|
||||
<xsd:element name="metadata">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" />
|
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</xsd:sequence>
|
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<xsd:attribute name="name" use="required" type="xsd:string" />
|
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<xsd:attribute name="type" type="xsd:string" />
|
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<xsd:attribute name="mimetype" type="xsd:string" />
|
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<xsd:attribute ref="xml:space" />
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|
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<xsd:element name="assembly">
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<xsd:complexType>
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<xsd:attribute name="alias" type="xsd:string" />
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<xsd:attribute name="name" type="xsd:string" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="data">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
|
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</xsd:sequence>
|
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<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
|
||||
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
|
||||
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
|
||||
<xsd:attribute ref="xml:space" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="resheader">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" type="xsd:string" use="required" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
</xsd:choice>
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
</xsd:schema>
|
||||
<resheader name="resmimetype">
|
||||
<value>text/microsoft-resx</value>
|
||||
</resheader>
|
||||
<resheader name="version">
|
||||
<value>2.0</value>
|
||||
</resheader>
|
||||
<resheader name="reader">
|
||||
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||
</resheader>
|
||||
<resheader name="writer">
|
||||
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
|
||||
</resheader>
|
||||
<data name="textBox1.Text" xml:space="preserve">
|
||||
<value>What this does.
|
||||
1. gets the current gps coords from a nmea gps.
|
||||
2. sends a guided mode WP to the AP every 2 seconds.
|
||||
|
||||
How to use it
|
||||
1. connect to ap.
|
||||
2. take off, test guided mode is working.
|
||||
3. open this and pick your comport, and baud rate for your nmea gps.
|
||||
4. it should now be following you.</value>
|
||||
</data>
|
||||
</root>
|
||||
|
|
@ -1,208 +0,0 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<root>
|
||||
<!--
|
||||
Microsoft ResX Schema
|
||||
|
||||
Version 2.0
|
||||
|
||||
The primary goals of this format is to allow a simple XML format
|
||||
that is mostly human readable. The generation and parsing of the
|
||||
various data types are done through the TypeConverter classes
|
||||
associated with the data types.
|
||||
|
||||
Example:
|
||||
|
||||
... ado.net/XML headers & schema ...
|
||||
<resheader name="resmimetype">text/microsoft-resx</resheader>
|
||||
<resheader name="version">2.0</resheader>
|
||||
<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
|
||||
<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
|
||||
<data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
|
||||
<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
|
||||
<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
|
||||
<value>[base64 mime encoded serialized .NET Framework object]</value>
|
||||
</data>
|
||||
<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
|
||||
<value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
|
||||
<comment>This is a comment</comment>
|
||||
</data>
|
||||
|
||||
There are any number of "resheader" rows that contain simple
|
||||
name/value pairs.
|
||||
|
||||
Each data row contains a name, and value. The row also contains a
|
||||
type or mimetype. Type corresponds to a .NET class that support
|
||||
text/value conversion through the TypeConverter architecture.
|
||||
Classes that don't support this are serialized and stored with the
|
||||
mimetype set.
|
||||
|
||||
The mimetype is used for serialized objects, and tells the
|
||||
ResXResourceReader how to depersist the object. This is currently not
|
||||
extensible. For a given mimetype the value must be set accordingly:
|
||||
|
||||
Note - application/x-microsoft.net.object.binary.base64 is the format
|
||||
that the ResXResourceWriter will generate, however the reader can
|
||||
read any of the formats listed below.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.binary.base64
|
||||
value : The object must be serialized with
|
||||
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
|
||||
: and then encoded with base64 encoding.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.soap.base64
|
||||
value : The object must be serialized with
|
||||
: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
|
||||
: and then encoded with base64 encoding.
|
||||
|
||||
mimetype: application/x-microsoft.net.object.bytearray.base64
|
||||
value : The object must be serialized into a byte array
|
||||
: using a System.ComponentModel.TypeConverter
|
||||
: and then encoded with base64 encoding.
|
||||
-->
|
||||
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
|
||||
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
|
||||
<xsd:element name="root" msdata:IsDataSet="true">
|
||||
<xsd:complexType>
|
||||
<xsd:choice maxOccurs="unbounded">
|
||||
<xsd:element name="metadata">
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||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" use="required" type="xsd:string" />
|
||||
<xsd:attribute name="type" type="xsd:string" />
|
||||
<xsd:attribute name="mimetype" type="xsd:string" />
|
||||
<xsd:attribute ref="xml:space" />
|
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</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="assembly">
|
||||
<xsd:complexType>
|
||||
<xsd:attribute name="alias" type="xsd:string" />
|
||||
<xsd:attribute name="name" type="xsd:string" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="data">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
|
||||
</xsd:sequence>
|
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<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
|
||||
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
|
||||
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
|
||||
<xsd:attribute ref="xml:space" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
<xsd:element name="resheader">
|
||||
<xsd:complexType>
|
||||
<xsd:sequence>
|
||||
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
|
||||
</xsd:sequence>
|
||||
<xsd:attribute name="name" type="xsd:string" use="required" />
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
</xsd:choice>
|
||||
</xsd:complexType>
|
||||
</xsd:element>
|
||||
</xsd:schema>
|
||||
<resheader name="resmimetype">
|
||||
<value>text/microsoft-resx</value>
|
||||
</resheader>
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||||
<resheader name="version">
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||||
<value>2.0</value>
|
||||
</resheader>
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<resheader name="reader">
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<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
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|
||||
</resheader>
|
||||
<data name="textBox1.Text" xml:space="preserve">
|
||||
<value>What this does.
|
||||
1. gets the current gps coords from a nmea gps.
|
||||
2. sends a guided mode WP to the AP every 2 seconds.
|
||||
|
||||
How to use it
|
||||
1. connect to ap.
|
||||
2. take off, test guided mode is working.
|
||||
3. open this and pick your comport, and baud rate for your nmea gps.
|
||||
4. it should now be following you.</value>
|
||||
</data>
|
||||
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||||
cf////8AAF07/wCSZP8AvYL/GMWU/6Dn1P+K38f/ddi+/27Wuf+E3MX/leHN/6fm1f+l5tX/neLQ////
|
||||
////////////////////////////////////////j9/J/27Vuv9Tzq7/JsKY/xa/kv8aw5T/FcaW/wvL
|
||||
lf8aqoT/J4dw/////wAAXTv/AJFk/wC9gP8GwY3/mObQ/5rkz/+26dv/y/Hl/8Dt3/+06tz/pebV/5bg
|
||||
zP+g5NL//////////////v///f7+//7+/v//////7fn2////////////tOnb/6Ll0v+v6Nj/jeDI/zXK
|
||||
o/8IxJD/BMqS/xaqgv8lh2//////AABeO+8AgVf/AL1//wDBif/R9uv/1PPq/8Tv5P+36t3/rujY/6Lk
|
||||
0v+U4cv/jt7J//j8+///////+/38//f8+//2+/r/+Pz7//3+/v/m9/P/9Pv6//D6+P9/28L/jd7J/5jj
|
||||
z/+h5dL/qOvX/4Hmyf8f1J//E596/yOJcO////8AAGA8vwB3U/8p06P/hufM/8Ty5f/D7+T/s+vb/6bm
|
||||
1P+c4c//j9/K/4vcyP/t+fb///7///j8/P/0+/r/8vr5//P7+f/1+/r/+/39///////i9fL/ZNO1/3HW
|
||||
vP992sH/htzG/4vhyv+S5dD/mO7W/6X74v80noT/Io90v////wAAZkCAAHla/33ny/945cb/nunV/7Xr
|
||||
3v+l5tT/luDN/4ndxv992cL/1vLq//v9/P/1+/n/8vv4//L69//z+/j/9Pv5/7Xo2//x+vn/////////
|
||||
//+y59n/aNS3/3LWvP932r//fNzD/4Ljyf+J7ND/l/bd/yORdf8knH6A////AABuRzAAdlT/Xc6x/23o
|
||||
xv9s4MH/qurZ/5jiz/+I3cb/edjA/8ju5f/3/Pv/8vv4//H6+P/y+/j/6/f0/7np3v/7/fz//v7+/6fk
|
||||
1f+56tz///////////9h0bT/aNW4/23Wu/9v3L//dOLG/37w0f9m1rn/Hpt8/ymujTD///8AAAAAAACD
|
||||
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|
||||
0v/N7+f/adO4/1PMrf9t1Lr/i9zI/1/Rs/9h0rX/ZNe4/2bbvf9s5sb/ePfV/z2ylf8lrozfAAAAAP//
|
||||
/wAAAAAAAJNsYAWQbf9U1rP/Vee//0rYsf993sb/pebV//P7+v/s+Pb/6/f1/+749v+s5tj/Vc2u/1jP
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||||
r/9ZzrD/btW5/1bOr/9Wza//Vs6v/1fOr/9Z0LD/WdCy/1vTtP9d1rX/Xt+8/2btyP9k4L//IaaF/y7D
|
||||
nmAAAAAA////AAAAAAAAAAAAD6J9zyCjgv9S68L/P9+0/2Pevv/5////7/v6/+v59//j9/L/gtvF/1PN
|
||||
r/9Wz7D/Wc+x/1nQsf9Zz7H/WM6w/1fPsP9UzrD/VM+w/1TPrv9U0a//U9Oy/1Tatv9Z5sD/Y/LL/zSx
|
||||
lP8qupbPAAAAAAAAAAD///8AAAAAAAAAAAAYto4wGaeE/y23lP8+5rn/6/////j////w//3/ve/i/2bV
|
||||
uP9Tzq7/Vc+v/1jPsP9Z0LL/WM+w/1fOsf9Wz7D/Us2w/1HOrf9Qzq3/T9Cu/0zSr/9M2LP/TeC5/1bt
|
||||
xP9HxaX/KLKQ/zTPqDAAAAAAAAAAAP///wAAAAAAAAAAAAAAAAAkvpdgG6iF/y++m//e/////P///3rl
|
||||
yf9G0K3/VdKy/1bPsf9Wz7H/Vs6w/1bPsP9Sza//Ucyu/0/Nrf9NzKz/S82s/0fOrP9G0a7/QdWv/0Le
|
||||
tP9I6L7/Q8Ok/yitjP8yyKJgAAAAAAAAAAAAAAAA////AAAAAAAAAAAAAAAAAAAAAAAmwJlgG6iF/yK3
|
||||
kP8k3q7/H9el/x7Pn/8tzKT/Q9Cs/1HQsP9Q0K7/TM6u/0nMrf9Hzaz/RMyp/0LNqf8+zqn/ONGo/zTV
|
||||
qf833rD/O+S4/zvCof8orIv/MMSfYAAAAAAAAAAAAAAAAAAAAAD///8AAAAAAAAAAAAAAAAAAAAAAAAA
|
||||
AAAkvpdgG6iE/xukgv8gy53/HNql/xzRn/8czJz/HcmZ/yXJnP8qyp7/Lcqg/yzLn/8nypz/JMqc/yTO
|
||||
n/8l1KT/KN2r/y3Tpv8nq4n/JaqJ/yzAm2AAAAAAAAAAAAAAAAAAAAAAAAAAAP///wAAAAAAAAAAAAAA
|
||||
AAAAAAAAAAAAAAAAAAAato8wFKN/zxCScv8RnHn/DbqM/wjIlP8GyZT/BsaS/wbFkf8GxZH/B8WR/wfH
|
||||
k/8IypX/DMmV/xG3jP8WoX3/Fph2/xqkgs8ft5EwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA////AAAA
|
||||
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAJVvYACGZM8Aelr/AHlZ/wCFX/8AiWL/AJlr/wCb
|
||||
bP8AlGf/AI5k/wB/W/8AeFj/AHtb/wCHZd8ClXBgAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
|
||||
AAD///8AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAABwSzAAaESAAGI/vwBf
|
||||
Pd8AXTz/AF08/wBdPP8AXz3fAGJAvwBoRIAAcUswAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
|
||||
AAAAAAAAAAAAAP///wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP//
|
||||
/wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP///wD///8A////AP//
|
||||
/wD///8A////AP///wD///8A/+AD//+AAP/+AAA//AAAH/gAAA/wAAAH4AAAA+AAAAPAAAABwAAAAYAA
|
||||
AACAAAAAgAAAAIAAAACAAAAAgAAAAIAAAACAAAAAgAAAAIAAAACAAAAAwAAAAcAAAAHgAAAD4AAAA/AA
|
||||
AAf4AAAP/AAAH/4AAD//gAD//+AD//////8=
|
||||
</value>
|
||||
</data>
|
||||
</root>
|
||||
Loading…
Reference in New Issue