diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
index f394484c2c..b0f33aff2c 100644
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
@@ -556,6 +556,9 @@
Always
+
+ Always
+
diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs
index 9698638b7c..dff779f139 100644
--- a/Tools/ArdupilotMegaPlanner/MainV2.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.cs
@@ -14,7 +14,7 @@ using System.Net;
using System.Text.RegularExpressions;
using System.Web;
using System.Diagnostics;
-using System.Runtime.InteropServices;
+using System.Runtime.InteropServices;
using System.Speech.Synthesis;
using System.Globalization;
using System.Threading;
@@ -172,7 +172,7 @@ namespace ArdupilotMega
if (MainV2.config["CHK_GDIPlus"] != null)
GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());
- changeunits();
+ changeunits();
try
{
@@ -254,7 +254,7 @@ namespace ArdupilotMega
if (MONO)
{
- devs = Directory.GetFiles("/dev/","*ACM*");
+ devs = Directory.GetFiles("/dev/", "*ACM*");
}
string[] ports = SerialPort.GetPortNames();
@@ -701,7 +701,7 @@ namespace ArdupilotMega
comPort.logfile = new BinaryWriter(File.Open(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm-ss") + ".tlog", FileMode.CreateNew));
}
catch { MessageBox.Show("Failed to create log - wont log this session"); } // soft fail
-
+
comPort.BaseStream.PortName = CMB_serialport.Text;
comPort.Open(true);
@@ -1123,7 +1123,7 @@ namespace ArdupilotMega
if (heatbeatsend.Second != DateTime.Now.Second)
{
-// Console.WriteLine("remote lost {0}", cs.packetdropremote);
+ // Console.WriteLine("remote lost {0}", cs.packetdropremote);
MAVLink.__mavlink_heartbeat_t htb = new MAVLink.__mavlink_heartbeat_t();
@@ -1325,7 +1325,7 @@ namespace ArdupilotMega
if (url.Contains("websocket"))
{
- using (var writer = new StreamWriter(stream,Encoding.Default))
+ using (var writer = new StreamWriter(stream, Encoding.Default))
{
writer.WriteLine("HTTP/1.1 101 WebSocket Protocol Handshake");
writer.WriteLine("Upgrade: WebSocket");
@@ -1336,7 +1336,7 @@ namespace ArdupilotMega
int end = head.IndexOf('\r', start);
if (end == -1)
end = head.IndexOf('\n', start);
- string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start,end-start));
+ string accept = ComputeWebSocketHandshakeSecurityHash09(head.Substring(start, end - start));
writer.WriteLine("Sec-WebSocket-Accept: " + accept);
@@ -1369,14 +1369,98 @@ namespace ArdupilotMega
packet[i++] = (byte)ch;
}
- stream.Write(packet,0,i);
+ stream.Write(packet, 0, i);
//break;
}
}
}
- else if (url.Contains(".html"))
+ else if (url.Contains("network.kml"))
{
+ string header = "HTTP/1.1 200 OK\r\nContent-Type: application/vnd.google-earth.kml+xml\n\n";
+ byte[] temp = encoding.GetBytes(header);
+ stream.Write(temp, 0, temp.Length);
+
+ SharpKml.Dom.Document kml = new SharpKml.Dom.Document();
+
+ SharpKml.Dom.Placemark pmplane = new SharpKml.Dom.Placemark();
+ pmplane.Name = "P/Q ";
+
+ pmplane.Visibility = true;
+
+ SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
+ loc.Latitude = cs.lat;
+ loc.Longitude = cs.lng;
+ loc.Altitude = cs.alt;
+
+ if (loc.Altitude < 0)
+ loc.Altitude = 0.01;
+
+ SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
+ ori.Heading = cs.yaw;
+ ori.Roll = -cs.roll;
+ ori.Tilt = -cs.pitch;
+
+ SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();
+
+ sca.X = 2;
+ sca.Y = 2;
+ sca.Z = 2;
+
+ SharpKml.Dom.Model model = new SharpKml.Dom.Model();
+ model.Location = loc;
+ model.Orientation = ori;
+ model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
+ model.Scale = sca;
+
+ SharpKml.Dom.Link link = new SharpKml.Dom.Link();
+ link.Href = new Uri("block_plane_0.dae", UriKind.Relative);
+
+ model.Link = link;
+
+ pmplane.Geometry = model;
+
+ SharpKml.Dom.LookAt la = new SharpKml.Dom.LookAt()
+ { Altitude = loc.Altitude.Value, Latitude = loc.Latitude.Value, Longitude = loc.Longitude.Value, Tilt = 80,
+ Heading = cs.yaw, AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute, Range = 50};
+
+ kml.Viewpoint = la;
+
+ kml.AddFeature(pmplane);
+
+ SharpKml.Base.Serializer serializer = new SharpKml.Base.Serializer();
+ serializer.Serialize(kml);
+
+ byte[] buffer = Encoding.ASCII.GetBytes(serializer.Xml);
+
+ stream.Write(buffer, 0, buffer.Length);
+
+ stream.Close();
+ }
+ else if (url.Contains("block_plane_0.dae"))
+ {
+ string header = "HTTP/1.1 200 OK\r\nContent-Type: text/plain\n\n";
+ byte[] temp = encoding.GetBytes(header);
+ stream.Write(temp, 0, temp.Length);
+
+ BinaryReader file = new BinaryReader(File.Open("block_plane_0.dae", FileMode.Open, FileAccess.Read, FileShare.Read));
+ byte[] buffer = new byte[1024];
+ while (file.PeekChar() != -1)
+ {
+
+ int leng = file.Read(buffer, 0, buffer.Length);
+
+ stream.Write(buffer, 0, leng);
+ }
+ file.Close();
+ stream.Close();
+ }
+ else if (url.Contains("hud.html"))
+ {
+ string header = "HTTP/1.1 200 OK\r\nContent-Type: text/html\n\n";
+ byte[] temp = encoding.GetBytes(header);
+ stream.Write(temp, 0, temp.Length);
+
BinaryReader file = new BinaryReader(File.Open("hud.html", FileMode.Open, FileAccess.Read, FileShare.Read));
byte[] buffer = new byte[1024];
while (file.PeekChar() != -1)
@@ -1524,7 +1608,7 @@ namespace ArdupilotMega
catch (Exception ex) { MessageBox.Show("Update Failed " + ex.Message); }
}
- private static void updatelabel(Label loadinglabel,string text)
+ private static void updatelabel(Label loadinglabel, string text)
{
MainV2.instance.Invoke((MethodInvoker)delegate
{
@@ -1589,7 +1673,7 @@ namespace ArdupilotMega
}
if (file.EndsWith("/"))
{
- update = updatecheck(loadinglabel, baseurl + file, file) && update;
+ update = updatecheck(loadinglabel, baseurl + file, subdir.Replace("/", "\\") + file) && update;
continue;
}
if (loadinglabel != null)
@@ -1657,7 +1741,7 @@ namespace ArdupilotMega
}
}
if (loadinglabel != null)
- updatelabel(loadinglabel,"Getting " + file);
+ updatelabel(loadinglabel, "Getting " + file);
// Create a request using a URL that can receive a post.
request = WebRequest.Create(baseurl + file);
@@ -1689,7 +1773,7 @@ namespace ArdupilotMega
if (dt.Second != DateTime.Now.Second)
{
if (loadinglabel != null)
- updatelabel(loadinglabel,"Getting " + file + ": " + Math.Abs(bytes) + " bytes");//(((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%";
+ updatelabel(loadinglabel, "Getting " + file + ": " + Math.Abs(bytes) + " bytes");//(((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%";
dt = DateTime.Now;
}
}
diff --git a/Tools/ArdupilotMegaPlanner/MavlinkLog.cs b/Tools/ArdupilotMegaPlanner/MavlinkLog.cs
index cb60509b09..7b17af0a54 100644
--- a/Tools/ArdupilotMegaPlanner/MavlinkLog.cs
+++ b/Tools/ArdupilotMegaPlanner/MavlinkLog.cs
@@ -227,8 +227,8 @@ namespace ArdupilotMega
| Pitch: " + model.Orientation.Tilt.Value.ToString("0.00") + @" |
| Yaw: " + model.Orientation.Heading.Value.ToString("0.00") + @" |
| Time: " + cs.datetime.ToString("HH:mm:sszzzzzz") + @" |
-
- ]]>";
+ ";
+// ]]>";
pmplane.Description = desc;
}
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index 506a52024a..76e6c3166b 100644
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
@@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.1.5")]
+[assembly: AssemblyFileVersion("1.1.6")]
[assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/m3u/networklink.kml b/Tools/ArdupilotMegaPlanner/bin/Release/m3u/networklink.kml
new file mode 100644
index 0000000000..0f28d211d2
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/m3u/networklink.kml
@@ -0,0 +1,19 @@
+
+
+
+ Network Links
+ 1
+
+ View Centered Placemark
+ 1
+ 0
+ 1
+
+ http://127.0.0.1:56781/network.kml
+ onInterval
+ 1
+ 1
+
+
+
+