Merge branch 'master' of https://code.google.com/p/ardupilot-mega

ArduCopter/system.pde

@@ -82,7 +82,7 @@ static void init_ardupilot()
 	#endif
 
 	Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
-						 "\n\nFree RAM: %lu\n"),
+						 "\n\nFree RAM: %u\n"),
                     memcheck_available_memory());
 
 

ArduPlane/Log.pde

@@ -650,7 +650,7 @@ static void Log_Read(int start_page, int end_page)
 		Serial.printf_P(PSTR((AIRFRAME_NAME)
 	#endif
 	Serial.printf_P(PSTR("\n" THISFIRMWARE
-						 "\nFree RAM: %lu\n"),
+						 "\nFree RAM: %u\n"),
                     memcheck_available_memory());
 
 	DataFlash.StartRead(start_page);

ArduPlane/system.pde

@@ -79,7 +79,7 @@ static void init_ardupilot()
     Serial1.begin(38400, 128, 16);
 
 	Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
-						 "\n\nFree RAM: %lu\n"),
+						 "\n\nFree RAM: %u\n"),
                     memcheck_available_memory());
 
 	//

Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs

@@ -75,8 +75,14 @@ namespace System.IO.Ports
 
             string dest = Port;
             string host = "127.0.0.1";
-            ArdupilotMega.Common.InputBox("remote host", "Enter host name/ip (ensure remote end is already started)", ref host);
+            if (Windows.Forms.DialogResult.Cancel == ArdupilotMega.Common.InputBox("remote host", "Enter host name/ip (ensure remote end is already started)", ref host))
-            ArdupilotMega.Common.InputBox("remote Port", "Enter remote port", ref dest);
+            {
+                return;
+            }
+            if (Windows.Forms.DialogResult.Cancel == ArdupilotMega.Common.InputBox("remote Port", "Enter remote port", ref dest))
+            {
+                return;
+            }
             Port = dest;
 
             client = new TcpClient(host, int.Parse(Port));
@@ -169,7 +175,7 @@ namespace System.IO.Ports
             VerifyConnected();
             int size = client.Available;
             byte[] crap = new byte[size];
-            Console.WriteLine("UdpSerial DiscardInBuffer {0}",size);
+            Console.WriteLine("TcpSerial DiscardInBuffer {0}",size);
             Read(crap, 0, size);
         }
 

Tools/ArdupilotMegaPlanner/CurrentState.cs

@@ -193,12 +193,12 @@ namespace ArdupilotMega
         {
             UpdateCurrentSettings(bs, false, MainV2.comPort);
         }
-
+        /*
         public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow)
         {
             UpdateCurrentSettings(bs, false, MainV2.comPort);
         }
-
+        */
         public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow, MAVLink mavinterface)
         {
             if (DateTime.Now > lastupdate.AddMilliseconds(19) || updatenow) // 50 hz

Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs

@@ -142,6 +142,7 @@
             this.label52 = new System.Windows.Forms.Label();
             this.TabAC2 = new System.Windows.Forms.TabPage();
             this.groupBox5 = new System.Windows.Forms.GroupBox();
+            this.label14 = new System.Windows.Forms.Label();
             this.THR_RATE_IMAX = new System.Windows.Forms.DomainUpDown();
             this.THR_RATE_I = new System.Windows.Forms.DomainUpDown();
             this.label20 = new System.Windows.Forms.Label();
@@ -223,6 +224,7 @@
             this.RATE_RLL_P = new System.Windows.Forms.DomainUpDown();
             this.label91 = new System.Windows.Forms.Label();
             this.TabPlanner = new System.Windows.Forms.TabPage();
+            this.label26 = new System.Windows.Forms.Label();
             this.CMB_videoresolutions = new System.Windows.Forms.ComboBox();
             this.label12 = new System.Windows.Forms.Label();
             this.CHK_GDIPlus = new System.Windows.Forms.CheckBox();
@@ -273,8 +275,20 @@
             this.BUT_load = new ArdupilotMega.MyButton();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.BUT_compare = new ArdupilotMega.MyButton();
-            this.label14 = new System.Windows.Forms.Label();
+            this.groupBox17 = new System.Windows.Forms.GroupBox();
-            this.label26 = new System.Windows.Forms.Label();
+            this.ACRO_PIT_IMAX = new System.Windows.Forms.DomainUpDown();
+            this.label27 = new System.Windows.Forms.Label();
+            this.ACRO_PIT_I = new System.Windows.Forms.DomainUpDown();
+            this.label29 = new System.Windows.Forms.Label();
+            this.ACRO_PIT_P = new System.Windows.Forms.DomainUpDown();
+            this.label33 = new System.Windows.Forms.Label();
+            this.groupBox18 = new System.Windows.Forms.GroupBox();
+            this.ACRO_RLL_IMAX = new System.Windows.Forms.DomainUpDown();
+            this.label40 = new System.Windows.Forms.Label();
+            this.ACRO_RLL_I = new System.Windows.Forms.DomainUpDown();
+            this.label44 = new System.Windows.Forms.Label();
+            this.ACRO_RLL_P = new System.Windows.Forms.DomainUpDown();
+            this.label48 = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
             this.ConfigTabs.SuspendLayout();
             this.TabAPM2.SuspendLayout();
@@ -304,6 +318,8 @@
             this.groupBox25.SuspendLayout();
             this.TabPlanner.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).BeginInit();
+            this.groupBox17.SuspendLayout();
+            this.groupBox18.SuspendLayout();
             this.SuspendLayout();
             // 
             // Params
@@ -995,7 +1011,9 @@
             // 
             // TabAC2
             // 
+            this.TabAC2.Controls.Add(this.groupBox17);
             this.TabAC2.Controls.Add(this.groupBox5);
+            this.TabAC2.Controls.Add(this.groupBox18);
             this.TabAC2.Controls.Add(this.CHK_lockrollpitch);
             this.TabAC2.Controls.Add(this.groupBox4);
             this.TabAC2.Controls.Add(this.groupBox6);
@@ -1022,6 +1040,11 @@
             this.groupBox5.Name = "groupBox5";
             this.groupBox5.TabStop = false;
             // 
+            // label14
+            // 
+            resources.ApplyResources(this.label14, "label14");
+            this.label14.Name = "label14";
+            // 
             // THR_RATE_IMAX
             // 
             resources.ApplyResources(this.THR_RATE_IMAX, "THR_RATE_IMAX");
@@ -1050,8 +1073,11 @@
             // CHK_lockrollpitch
             // 
             resources.ApplyResources(this.CHK_lockrollpitch, "CHK_lockrollpitch");
+            this.CHK_lockrollpitch.Checked = true;
+            this.CHK_lockrollpitch.CheckState = System.Windows.Forms.CheckState.Checked;
             this.CHK_lockrollpitch.Name = "CHK_lockrollpitch";
             this.CHK_lockrollpitch.UseVisualStyleBackColor = true;
+            this.CHK_lockrollpitch.CheckedChanged += new System.EventHandler(this.CHK_lockrollpitch_CheckedChanged);
             // 
             // groupBox4
             // 
@@ -1545,6 +1571,11 @@
             resources.ApplyResources(this.TabPlanner, "TabPlanner");
             this.TabPlanner.Name = "TabPlanner";
             // 
+            // label26
+            // 
+            resources.ApplyResources(this.label26, "label26");
+            this.label26.Name = "label26";
+            // 
             // CMB_videoresolutions
             // 
             this.CMB_videoresolutions.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
@@ -1911,15 +1942,89 @@
             this.BUT_compare.UseVisualStyleBackColor = true;
             this.BUT_compare.Click += new System.EventHandler(this.BUT_compare_Click);
             // 
-            // label14
+            // groupBox17
             // 
-            resources.ApplyResources(this.label14, "label14");
+            this.groupBox17.Controls.Add(this.ACRO_PIT_IMAX);
-            this.label14.Name = "label14";
+            this.groupBox17.Controls.Add(this.label27);
+            this.groupBox17.Controls.Add(this.ACRO_PIT_I);
+            this.groupBox17.Controls.Add(this.label29);
+            this.groupBox17.Controls.Add(this.ACRO_PIT_P);
+            this.groupBox17.Controls.Add(this.label33);
+            resources.ApplyResources(this.groupBox17, "groupBox17");
+            this.groupBox17.Name = "groupBox17";
+            this.groupBox17.TabStop = false;
             // 
-            // label26
+            // ACRO_PIT_IMAX
             // 
-            resources.ApplyResources(this.label26, "label26");
+            resources.ApplyResources(this.ACRO_PIT_IMAX, "ACRO_PIT_IMAX");
-            this.label26.Name = "label26";
+            this.ACRO_PIT_IMAX.Name = "ACRO_PIT_IMAX";
+            // 
+            // label27
+            // 
+            resources.ApplyResources(this.label27, "label27");
+            this.label27.Name = "label27";
+            // 
+            // ACRO_PIT_I
+            // 
+            resources.ApplyResources(this.ACRO_PIT_I, "ACRO_PIT_I");
+            this.ACRO_PIT_I.Name = "ACRO_PIT_I";
+            // 
+            // label29
+            // 
+            resources.ApplyResources(this.label29, "label29");
+            this.label29.Name = "label29";
+            // 
+            // ACRO_PIT_P
+            // 
+            resources.ApplyResources(this.ACRO_PIT_P, "ACRO_PIT_P");
+            this.ACRO_PIT_P.Name = "ACRO_PIT_P";
+            // 
+            // label33
+            // 
+            resources.ApplyResources(this.label33, "label33");
+            this.label33.Name = "label33";
+            // 
+            // groupBox18
+            // 
+            this.groupBox18.Controls.Add(this.ACRO_RLL_IMAX);
+            this.groupBox18.Controls.Add(this.label40);
+            this.groupBox18.Controls.Add(this.ACRO_RLL_I);
+            this.groupBox18.Controls.Add(this.label44);
+            this.groupBox18.Controls.Add(this.ACRO_RLL_P);
+            this.groupBox18.Controls.Add(this.label48);
+            resources.ApplyResources(this.groupBox18, "groupBox18");
+            this.groupBox18.Name = "groupBox18";
+            this.groupBox18.TabStop = false;
+            // 
+            // ACRO_RLL_IMAX
+            // 
+            resources.ApplyResources(this.ACRO_RLL_IMAX, "ACRO_RLL_IMAX");
+            this.ACRO_RLL_IMAX.Name = "ACRO_RLL_IMAX";
+            // 
+            // label40
+            // 
+            resources.ApplyResources(this.label40, "label40");
+            this.label40.Name = "label40";
+            // 
+            // ACRO_RLL_I
+            // 
+            resources.ApplyResources(this.ACRO_RLL_I, "ACRO_RLL_I");
+            this.ACRO_RLL_I.Name = "ACRO_RLL_I";
+            // 
+            // label44
+            // 
+            resources.ApplyResources(this.label44, "label44");
+            this.label44.Name = "label44";
+            // 
+            // ACRO_RLL_P
+            // 
+            resources.ApplyResources(this.ACRO_RLL_P, "ACRO_RLL_P");
+            this.ACRO_RLL_P.Name = "ACRO_RLL_P";
+            // 
+            // label48
+            // 
+            resources.ApplyResources(this.label48, "label48");
+            this.label48.Name = "label48";
             // 
             // Configuration
             // 
@@ -1965,6 +2070,8 @@
             this.groupBox25.ResumeLayout(false);
             this.TabPlanner.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).EndInit();
+            this.groupBox17.ResumeLayout(false);
+            this.groupBox18.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }
@@ -2214,5 +2321,19 @@
         private System.Windows.Forms.Label label109;
         private System.Windows.Forms.Label label14;
         private System.Windows.Forms.Label label26;
+        private System.Windows.Forms.GroupBox groupBox17;
+        private System.Windows.Forms.DomainUpDown ACRO_PIT_IMAX;
+        private System.Windows.Forms.Label label27;
+        private System.Windows.Forms.DomainUpDown ACRO_PIT_I;
+        private System.Windows.Forms.Label label29;
+        private System.Windows.Forms.DomainUpDown ACRO_PIT_P;
+        private System.Windows.Forms.Label label33;
+        private System.Windows.Forms.GroupBox groupBox18;
+        private System.Windows.Forms.DomainUpDown ACRO_RLL_IMAX;
+        private System.Windows.Forms.Label label40;
+        private System.Windows.Forms.DomainUpDown ACRO_RLL_I;
+        private System.Windows.Forms.Label label44;
+        private System.Windows.Forms.DomainUpDown ACRO_RLL_P;
+        private System.Windows.Forms.Label label48;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs

@@ -61,24 +61,6 @@ namespace ArdupilotMega.GCSViews
         {
             InitializeComponent();
 
-            // fix for dup name
-            XTRK_ANGLE_CD1.Name = "XTRK_ANGLE_CD";
-        }
-
-        private void Configuration_Load(object sender, EventArgs e)
-        {
-            // read tooltips
-            if (tooltips.Count == 0)
-                readToolTips();
-
-            this.SuspendLayout();
-
-            // prefill all fields
-            param = MainV2.comPort.param;
-            processToScreen();
-
-            this.ResumeLayout();
-
             // enable disable relevbant hardware tabs
             if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
             {
@@ -93,6 +75,20 @@ namespace ArdupilotMega.GCSViews
                 TabAC2.Enabled = true;
             }
 
+            // read tooltips
+            if (tooltips.Count == 0)
+                readToolTips();
+
+            // prefill all fields
+            param = MainV2.comPort.param;
+            processToScreen();
+
+            // fix for dup name
+            XTRK_ANGLE_CD1.Name = "XTRK_ANGLE_CD";
+        }
+
+        private void Configuration_Load(object sender, EventArgs e)
+        {
             // setup up camera button states
             if (MainV2.cam != null)
             {
@@ -386,7 +382,7 @@ namespace ArdupilotMega.GCSViews
                 // enable roll and pitch pairing for ac2
                 if (CHK_lockrollpitch.Checked)
                 {
-                    if (name.StartsWith("RATE_") || name.StartsWith("STB_"))
+                    if (name.StartsWith("RATE_") || name.StartsWith("STB_") || name.StartsWith("ACRO_"))
                     {
                         if (name.Contains("_RLL_"))
                         {
@@ -534,6 +530,8 @@ namespace ArdupilotMega.GCSViews
                             continue;
                         if (name == "WP_TOTAL")
                             continue;
+                        if (name == "CMD_TOTAL")
+                            continue;
                         if (row.Cells[0].Value.ToString() == name)
                         {
                             if (row.Cells[1].Value.ToString() != value.ToString())
@@ -1021,6 +1019,8 @@ namespace ArdupilotMega.GCSViews
                         continue;
                     if (name == "WP_TOTAL")
                         continue;
+                    if (name == "CMD_TOTAL")
+                        continue;
 
                     param2[name] = value;
                 }
@@ -1039,5 +1039,10 @@ namespace ArdupilotMega.GCSViews
             MessageBox.Show("You need to restart the planner for this to take effect");
             MainV2.config["CHK_GDIPlus"] = CHK_GDIPlus.Checked.ToString();
         }
+
+        private void CHK_lockrollpitch_CheckedChanged(object sender, EventArgs e)
+        {
+
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -488,7 +488,13 @@ namespace ArdupilotMega.GCSViews
                     return;
                 }
 
-                int apmformat_version = ArduinoDetect.decodeApVar(MainV2.comportname, board);
+                int apmformat_version = -1; // fail continue
+
+                try
+                {
+                    apmformat_version = ArduinoDetect.decodeApVar(MainV2.comportname, board);
+                }
+                catch { }
 
                 if (apmformat_version != -1 && apmformat_version != temp.k_format_version)
                 {
@@ -678,7 +684,7 @@ namespace ArdupilotMega.GCSViews
 
                 Application.DoEvents();
 
-                System.Threading.Thread.Sleep(5000); // 5 seconds - new apvar erases eeprom on new format version, this should buy us some time.
+                System.Threading.Thread.Sleep(10000); // 10 seconds - new apvar erases eeprom on new format version, this should buy us some time.
 
             }
             catch (Exception ex) { lbl_status.Text = "Failed upload"; MessageBox.Show("Check port settings or Port in use? " + ex.ToString()); port.Close(); }

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -364,7 +364,7 @@ namespace ArdupilotMega.GCSViews
 
 
 
-                        if (CB_tuning.Checked == false) // draw if in view
+//                        if (CB_tuning.Checked == false) // draw if in view
                         {                         
 
                             if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
@@ -992,9 +992,9 @@ namespace ArdupilotMega.GCSViews
 
             CMB_setwp.Items.Add("0 (Home)");
 
-            if (MainV2.comPort.param["WP_TOTAL"] != null)
+            if (MainV2.comPort.param["CMD_TOTAL"] != null)
             {
-                int wps = int.Parse(MainV2.comPort.param["WP_TOTAL"].ToString());
+                int wps = int.Parse(MainV2.comPort.param["CMD_TOTAL"].ToString());
                 for (int z = 1; z <= wps; z++)
                 {
                     CMB_setwp.Items.Add(z.ToString());

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -1573,7 +1573,6 @@ namespace ArdupilotMega.GCSViews
                 xScale.Max = time + xScale.MajorStep;
                 xScale.Min = xScale.Max - 30.0;
             }
-
                 // Make sure the Y axis is rescaled to accommodate actual data
                 try
                 {
@@ -1582,7 +1581,6 @@ namespace ArdupilotMega.GCSViews
                 catch { }
                 // Force a redraw
                 zg1.Invalidate();
-
         }
 
         private void SaveSettings_Click(object sender, EventArgs e)

Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs

@@ -172,6 +172,13 @@ namespace ArdupilotMega.GCSViews
 
                 comPort.Open();
 
+                comPort.WriteLine("");
+                comPort.WriteLine("");
+                comPort.WriteLine("");
+                comPort.WriteLine("");
+                comPort.WriteLine("");
+                comPort.WriteLine("");
+
                 System.Threading.Thread t11 = new System.Threading.Thread(delegate()
                 {
                     threadrun = true;

Tools/ArdupilotMegaPlanner/Joystick.cs

@@ -504,11 +504,19 @@ namespace ArdupilotMega
             int min, max, trim = 0;
 
             if (MainV2.comPort.param.Count > 0)
+            {
+                try
                 {
                     min = (int)(float)(MainV2.comPort.param["RC" + chan + "_MIN"]);
                     max = (int)(float)(MainV2.comPort.param["RC" + chan + "_MAX"]);
                     trim = (int)(float)(MainV2.comPort.param["RC" + chan + "_TRIM"]);
                 }
+                catch {
+                    min = 1000;
+                    max = 2000;
+                    trim = 1500;
+                }
+            }
             else
             {
                 min = 1000;

Tools/ArdupilotMegaPlanner/MAVLink.cs

@@ -1275,6 +1275,7 @@ namespace ArdupilotMega
                     if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_REQUEST && buffer[9] == 0)
                     {
                         param["WP_TOTAL"] = (float)wp_total - 1;
+                        param["CMD_TOTAL"] = (float)wp_total - 1;
                         MainV2.givecomport = false;
                         return;
                     }
@@ -1647,7 +1648,7 @@ namespace ArdupilotMega
 
             if (bpstime.Second != DateTime.Now.Second && !logreadmode)
             {
-                Console.WriteLine("bps {0} loss {1} left {2}", bps1, synclost, BaseStream.BytesToRead);
+                Console.WriteLine("bps {0} loss {1} left {2} mem {3}", bps1, synclost, BaseStream.BytesToRead,System.GC.GetTotalMemory(false));
                 bps2 = bps1; // prev sec
                 bps1 = 0; // current sec
                 bpstime = DateTime.Now;

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -468,6 +468,7 @@ namespace ArdupilotMega
 
         private void MenuConfiguration_Click(object sender, EventArgs e)
         {
+            MyView.SuspendLayout();
             MyView.Controls.Clear();
 
             GCSViews.Terminal.threadrun = false;
@@ -486,13 +487,11 @@ namespace ArdupilotMega
 
             UserControl temp = Configuration;
 
-            temp.SuspendLayout();
-
             fixtheme(temp);
 
-            temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
+            //temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
 
-            temp.Location = new Point(0, MainMenu.Height);
+            temp.Location = new Point(0, 0);
 
             temp.Dock = DockStyle.Fill;
 
@@ -500,9 +499,11 @@ namespace ArdupilotMega
 
             temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
 
+            temp.ResumeLayout();
+
             MyView.Controls.Add(temp);
 
-            temp.ResumeLayout();
+            MyView.ResumeLayout();
         }
 
         private void MenuSimulation_Click(object sender, EventArgs e)
@@ -562,7 +563,19 @@ namespace ArdupilotMega
 
             this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
 
-            UserControl temp = new GCSViews.Terminal();
+            // dispose of old else memory leak
+            if (Terminal != null)
+            {
+                try
+                {
+                    Terminal.Dispose();
+                }
+                catch { }
+            }
+
+            Terminal = new GCSViews.Terminal();
+
+            UserControl temp = Terminal;
 
             fixtheme(temp);
 

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -332,7 +332,7 @@ namespace ArdupilotMega
 
                         cs.datetime = mine.lastlogread;
 
-                        cs.UpdateCurrentSettings(null, true);
+                        cs.UpdateCurrentSettings(null, true, mine);
 
                         try
                         {
@@ -360,6 +360,7 @@ namespace ArdupilotMega
 
                     writeKML(logfile + ".kml");
 
+                    progressBar1.Value = 100;
 
                 }
             }

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("1.0.86")]
+[assembly: AssemblyFileVersion("1.0.87")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Setup/Setup.cs

@@ -135,7 +135,7 @@ namespace ArdupilotMega.Setup
 
                 System.Threading.Thread.Sleep(5);
 
-                MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true);
+                MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
 
                 if (MainV2.cs.ch1in > 800 && MainV2.cs.ch1in < 2200)
                 {
@@ -192,7 +192,7 @@ namespace ArdupilotMega.Setup
 
             MessageBox.Show("Ensure all your sticks are centered, and click ok to continue");
 
-            MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true);
+            MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
 
             rctrim[0] = MainV2.cs.ch1in;
             rctrim[1] = MainV2.cs.ch2in;

Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application

@@ -11,7 +11,7 @@
           <dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
         </dsig:Transforms>
         <dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
-        <dsig:DigestValue>FgyYFBDKA+EmX+ZazsEdbI/ME7o=</dsig:DigestValue>
+        <dsig:DigestValue>S+dMQOC9TeJyQiYvhw37LpJxZU0=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>

Tools/scripts/format.sh

@@ -2,10 +2,12 @@
 function format {
 	DIR=$1
 	find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec astyle {} \;
-	find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec rm {}.orig \;
+	find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec rm -f {}.orig \;
 }
 
 format apo
 format ArduRover
 format ArduBoat
 format libraries/APO
+format libraries/AP_Common
+format libraries/AP_GPS

libraries/AP_Common/AP_Var.h

@@ -302,14 +302,18 @@ public:
     ///
     /// @return             The parent group, or NULL if the variable is not grouped.
     ///
-    AP_Var_group *group(void) { return _group; }
+    AP_Var_group *group(void) {
+        return _group;
+    }
 
     /// Returns the first variable in the global list.
     ///
     /// @return             The first variable in the global list, or NULL if
     ///                     there are none.
     ///
-    static AP_Var *first(void) { return _variables; }
+    static AP_Var *first(void) {
+        return _variables;
+    }
 
     /// Returns the next variable in the global list.
     ///
@@ -367,7 +371,9 @@ public:
     ///
     /// @return             The sum of sizeof(*this) for all constructed AP_Var subclass instances.
     ///
-    static uint16_t     get_memory_use() { return _bytes_in_use; }
+    static uint16_t     get_memory_use() {
+        return _bytes_in_use;
+    }
 
 protected:
     // Memory statistics

libraries/AP_DCM/AP_DCM_HIL.cpp

@@ -42,12 +42,12 @@ AP_DCM_HIL::setHil(float _roll, float _pitch, float _yaw,
 	float sPitch = sin(pitch), cPitch = cos(pitch);
 	float sYaw = sin(yaw), cYaw = cos(yaw);
 	_dcm_matrix.a.x =  cPitch*cYaw;
-	_dcm_matrix.a.y =  cPitch*sYaw;
+	_dcm_matrix.a.y =  -cRoll*sYaw+sRoll*sPitch*cYaw;
-	_dcm_matrix.a.z =  -sPitch;
+	_dcm_matrix.a.z =  sRoll*sYaw+cRoll*sPitch*cYaw;
-	_dcm_matrix.b.x =  -cRoll*sYaw+sRoll*sPitch*cYaw;
+	_dcm_matrix.b.x =  cPitch*sYaw;
 	_dcm_matrix.b.y =  cRoll*cYaw+sRoll*sPitch*sYaw;
-	_dcm_matrix.b.z =  sRoll*cPitch;
+	_dcm_matrix.b.z =  -sRoll*cYaw+cRoll*sPitch*sYaw;
-	_dcm_matrix.c.x =  sRoll*sYaw+cRoll*sPitch*cYaw;
+	_dcm_matrix.c.x =  -sPitch;
-	_dcm_matrix.c.y =  -sRoll*cYaw+cRoll*sPitch*sYaw;
+	_dcm_matrix.c.y =  sRoll*cPitch;
 	_dcm_matrix.c.z =  cRoll*cPitch;
 }

libraries/AP_GPS/AP_GPS_406.cpp

@@ -41,8 +41,8 @@ AP_GPS_406::_configure_gps(void)
     const uint8_t gps_checksum[] 	= {0xA8, 0xAA, 0xAD, 0xAF, 0xC1};
     const uint8_t gps_ender[]		= {0xB0, 0xB3};
 
-	for(int z = 0; z < 2; z++){
+    for(int z = 0; z < 2; z++) {
-		for(int x = 0; x < 5; x++){
+        for(int x = 0; x < 5; x++) {
             _port->write(gps_header, sizeof(gps_header));	// Prints the msg header, is the same header for all msg..
             _port->write(gps_payload[x]);					// Prints the payload, is not the same for every msg
             for(int y = 0; y < 6; y++)						// Prints 6 zeros

libraries/AP_GPS/AP_GPS_IMU.cpp

@@ -56,12 +56,12 @@ AP_GPS_IMU::read(void)
 
     numc = _port->available();
 
-        if (numc > 0){
+    if (numc > 0) {
-                for (int i=0;i<numc;i++){       // Process bytes received               
+        for (int i=0; i<numc; i++) {    // Process bytes received
 
             data = _port->read();
 
-                        switch(step){            //Normally we start from zero. This is a state machine
+            switch(step) {           //Normally we start from zero. This is a state machine
             case 0:
                 if(data == 0x44)        // IMU sync char 1
                     step++;  //OH first data packet is correct, so jump to the next step
@@ -92,7 +92,7 @@ AP_GPS_IMU::read(void)
                 payload_length = data;
                 checksum(payload_length);
                 step++;
-                                        if (payload_length > 28){
+                if (payload_length > 28) {
                     step = 0;        //Bad data, so restart to step zero and try again.
                     payload_counter = 0;
                     ck_a = 0;

libraries/AP_GPS/AP_GPS_IMU.h

@@ -7,7 +7,7 @@
 #define MAXPAYLOAD 32
 
 class AP_GPS_IMU : public GPS {
-  public:
+public:
 
     // Methods
     AP_GPS_IMU(Stream *s);
@@ -25,7 +25,7 @@ class AP_GPS_IMU : public GPS {
     virtual void setHIL(long time, float latitude, float longitude, float altitude,
                         float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);
 
-  private:
+private:
     // Packet checksums
     uint8_t ck_a;
     uint8_t ck_b;

libraries/AP_GPS/AP_GPS_MTK.cpp

@@ -56,13 +56,13 @@ AP_GPS_MTK::read(void)
     bool	parsed = false;
 
     numc = _port->available();
-	for (int i = 0; i < numc; i++){	// Process bytes received
+    for (int i = 0; i < numc; i++) {	// Process bytes received
 
         // read the next byte
         data = _port->read();
 
 restart:
-		switch(_step){
+        switch(_step) {
 
             // Message preamble, class, ID detection
             //

libraries/AP_GPS/AP_GPS_MTK16.cpp

@@ -64,7 +64,7 @@ AP_GPS_MTK16::read(void)
         data = _port->read();
 
 restart:
-		switch(_step){
+        switch(_step) {
 
             // Message preamble, class, ID detection
             //

libraries/AP_GPS/AP_GPS_None.h

@@ -10,6 +10,8 @@ class AP_GPS_None : public GPS
 public:
     AP_GPS_None(Stream *s) : GPS(s) {}
     virtual void init(void) {};
-	virtual bool read(void) { return false; };
+    virtual bool read(void) {
+        return false;
+    };
 };
 #endif

libraries/AP_GPS/AP_GPS_SIRF.cpp

@@ -65,7 +65,7 @@ AP_GPS_SIRF::read(void)
         // read the next byte
         data = _port->read();
 
-		switch(_step){
+        switch(_step) {
 
             // Message preamble detection
             //

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -49,12 +49,12 @@ AP_GPS_UBLOX::read(void)
     bool		parsed = false;
 
     numc = _port->available();
-	for (int i = 0; i < numc; i++){	// Process bytes received
+    for (int i = 0; i < numc; i++) {	// Process bytes received
 
         // read the next byte
         data = _port->read();
 
-		switch(_step){
+        switch(_step) {
 
             // Message preamble detection
             //

libraries/AP_GPS/GPS.h

@@ -43,7 +43,9 @@ public:
     ///
     /// @returns			Current GPS status
     ///
-	GPS_Status		status(void) { return _status; }
+    GPS_Status		status(void) {
+        return _status;
+    }
 
     /// GPS time epoch codes
     ///
@@ -59,7 +61,9 @@ public:
     ///
     /// @returns			Current GPS time epoch code
     ///
-	GPS_Time_Epoch		epoch(void) { return _epoch; }
+    GPS_Time_Epoch		epoch(void) {
+        return _epoch;
+    }
 
     /// Startup initialisation.
     ///

libraries/AP_GPS/examples/GPS_406_test/GPS_406_test.pde

@@ -34,7 +34,7 @@ void loop()
 {
     delay(20);
     gps.update();
-	if (gps.new_data){
+    if (gps.new_data) {
         Serial.print("gps:");
         Serial.print(" Lat:");
         Serial.print((float)gps.latitude / T7, DEC);

libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde

@@ -29,7 +29,7 @@ void setup()
 void loop()
 {
     gps->update();
-	if (gps->new_data){
+    if (gps->new_data) {
         if (gps->fix) {
             Serial.printf("\nLat: %.7f Lon: %.7f Alt: %.2fm GSP: %.2fm/s CoG: %d SAT: %d TIM: %lu",
                           (float)gps->latitude / T7,

libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde

@@ -32,7 +32,7 @@ void loop()
 {
     delay(20);
     gps.update();
-	if (gps.new_data){
+    if (gps.new_data) {
         Serial.print("gps:");
         Serial.print(" Lat:");
         Serial.print((float)gps.latitude / T7, DEC);

libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde

@@ -32,7 +32,8 @@ const uint8_t sirf_to_nmea[] = { 0xa0, 0xa2, // preamble
                                  0x00, 0x00, // pad
                                  0x96, 0x00, // 38400
                                  0x01, 0x25, // checksum TBD
-								 0xb0, 0xb3 }; // postamble
+                                 0xb0, 0xb3
+                               }; // postamble
 
 void setup()
 {
@@ -52,7 +53,7 @@ void setup()
 void loop()
 {
     gps->update();
-	if (gps->new_data){
+    if (gps->new_data) {
         if (gps->fix) {
             Serial.printf("\nLat: %.7f Lon: %.7f Alt: %.2fm GSP: %.2fm/s CoG: %d SAT: %d TIM: %lu",
                           (float)gps->latitude / T7,

libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde

@@ -32,7 +32,7 @@ void loop()
 {
     delay(20);
     gps.update();
-	if (gps.new_data){
+    if (gps.new_data) {
         Serial.print("gps:");
         Serial.print(" Lat:");
         Serial.print((float)gps.latitude / T7, DEC);