APM Planner 1.1.56

add ardutracker support
add load/save setting in Tracker
move getserialports to serial class
hopefully fix dtr issue for good.

Tools/ArdupilotMegaPlanner/Antenna/ArduTracker.cs

@@ -0,0 +1,155 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace ArdupilotMega.Antenna
+{
+    class ArduTracker : ITrackerOutput
+    {
+        public SerialPort ComPort { get; set; }
+        /// <summary>
+        ///  0-360
+        /// </summary>
+        public double TrimPan { get; set; }
+        /// <summary>
+        /// -90 - 90
+        /// </summary>
+        public double TrimTilt { get; set; }
+
+        public int PanStartRange { get; set; }
+        public int TiltStartRange { get; set; }
+        public int PanEndRange { get; set; }
+        public int TiltEndRange { get; set; }
+        public int PanPWMRange { get; set; }
+        public int TiltPWMRange { get; set; }
+
+        public bool PanReverse { get { return _panreverse == 1; } set { _panreverse = value == true ? -1 : 1; } }
+        public bool TiltReverse { get { return _tiltreverse == 1; } set { _tiltreverse = value == true ? -1 : 1; } }
+
+        int _panreverse = 1;
+        int _tiltreverse = 1;
+
+        int currentpan = 1500;
+        int currenttilt = 1500;
+
+        public bool Init()
+        {
+
+            if ((PanStartRange - PanEndRange) == 0)
+            {
+                System.Windows.Forms.CustomMessageBox.Show("Invalid Pan Range", "Error");
+                return false;
+            }
+
+            if ((TiltStartRange - TiltEndRange) == 0)
+            {
+                System.Windows.Forms.CustomMessageBox.Show("Invalid Tilt Range", "Error");
+                return false;
+            }
+
+            try
+            {
+                ComPort.Open();
+            }
+            catch (Exception ex) { System.Windows.Forms.CustomMessageBox.Show("Connect failed " + ex.Message, "Error"); return false; }
+
+            return true;
+        }
+        public bool Setup()
+        {
+           
+
+            return true;
+        }
+
+        double wrap_180(double input)
+        {
+            if (input > 180)
+                return input - 360;
+            if (input < -180)
+                return input + 360;
+            return input;
+        }
+
+        double wrap_range(double input, double range)
+        {
+            if (input > range)
+                return input - 360;
+            if (input < -range)
+                return input + 360;
+            return input;
+        }
+
+        public bool Pan(double Angle)
+        {
+            double range = Math.Abs(PanStartRange - PanEndRange);
+
+            // get relative center based on tracking center
+            double rangeleft = PanStartRange - TrimPan;
+            double rangeright = PanEndRange - TrimPan;
+            double centerpos = 1500;
+
+            // get the output angle the tracker needs to point and constrain the output to the allowed options
+            short PointAtAngle = Constrain(wrap_180(Angle - TrimPan), PanStartRange, PanEndRange);
+
+            // conver the angle into a 0-pwmrange value
+            int target = (int)((((PointAtAngle / range) * 2.0) * (PanPWMRange / 2) * _panreverse + centerpos));
+
+           // Console.WriteLine("P " + Angle + " " + target + " " + PointAtAngle);
+
+            currentpan = target;
+
+            return false;
+        }
+
+        public bool Tilt(double Angle)
+        {
+            double range = Math.Abs(TiltStartRange - TiltEndRange);
+
+            short PointAtAngle = Constrain((Angle - TrimTilt), TiltStartRange, TiltEndRange);
+
+            int target = (int)((((PointAtAngle / range) * 2.0) * (TiltPWMRange / 2) * _tiltreverse + 1500));
+
+           // Console.WriteLine("T " + Angle + " " + target + " " + PointAtAngle);
+
+            currenttilt = target;
+
+            return false;
+        }
+
+        public bool PanAndTilt(double pan, double tilt)
+        {
+            Tilt(tilt);
+            Pan(pan);
+
+            string command = string.Format("!!!PAN:{0:0000},TLT:{1:0000}\n", currentpan, currenttilt);
+
+            Console.Write(command);
+
+            ComPort.Write(command);
+
+            return false;
+        }
+
+        public bool Close()
+        {
+            try
+            {
+                ComPort.Close();
+            }
+            catch { }
+            return true;
+        }
+
+        short Constrain(double input, double min, double max)
+        {
+            if (input < min)
+                return (short)min;
+            if (input > max)
+                return (short)max;
+            return (short)input;
+        }
+
+    }
+}

Tools/ArdupilotMegaPlanner/Antenna/ITrackerOutput.cs

@@ -16,6 +16,8 @@ namespace ArdupilotMega.Antenna
         int TiltStartRange { get; set; }
         int PanEndRange { get; set; }
         int TiltEndRange { get; set; }
+        int PanPWMRange { get; set; }
+        int TiltPWMRange { get; set; }
 
         bool PanReverse { get; set; }
         bool TiltReverse { get; set; }

Tools/ArdupilotMegaPlanner/Antenna/Maestro.cs

@@ -21,6 +21,8 @@ namespace ArdupilotMega.Antenna
         public int TiltStartRange { get; set; }
         public int PanEndRange { get; set; }
         public int TiltEndRange { get; set; }
+        public int PanPWMRange { get; set; }
+        public int TiltPWMRange { get; set; }
 
         public bool PanReverse { get { return _panreverse == -1; } set { _panreverse = value == true ? -1 : 1 ;  } }
         public bool TiltReverse { get { return _tiltreverse == -1; } set { _tiltreverse = value == true ? -1 : 1; } }

Tools/ArdupilotMegaPlanner/Antenna/Tracker.Designer.cs

@@ -33,7 +33,6 @@
             this.label1 = new System.Windows.Forms.Label();
             this.CMB_baudrate = new System.Windows.Forms.ComboBox();
             this.CMB_serialport = new System.Windows.Forms.ComboBox();
-            this.BUT_connect = new ArdupilotMega.MyButton();
             this.TRK_pantrim = new System.Windows.Forms.TrackBar();
             this.TXT_panrange = new System.Windows.Forms.TextBox();
             this.label3 = new System.Windows.Forms.Label();
@@ -44,6 +43,18 @@
             this.TRK_tilttrim = new System.Windows.Forms.TrackBar();
             this.label2 = new System.Windows.Forms.Label();
             this.label7 = new System.Windows.Forms.Label();
+            this.CHK_revpan = new System.Windows.Forms.CheckBox();
+            this.CHK_revtilt = new System.Windows.Forms.CheckBox();
+            this.TXT_pwmrangepan = new System.Windows.Forms.TextBox();
+            this.TXT_pwmrangetilt = new System.Windows.Forms.TextBox();
+            this.label8 = new System.Windows.Forms.Label();
+            this.label9 = new System.Windows.Forms.Label();
+            this.label10 = new System.Windows.Forms.Label();
+            this.label11 = new System.Windows.Forms.Label();
+            this.label12 = new System.Windows.Forms.Label();
+            this.BUT_connect = new ArdupilotMega.MyButton();
+            this.LBL_pantrim = new System.Windows.Forms.Label();
+            this.LBL_tilttrim = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.TRK_pantrim)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.TRK_tilttrim)).BeginInit();
             this.SuspendLayout();
@@ -52,7 +63,8 @@
             // 
             this.CMB_interface.FormattingEnabled = true;
             this.CMB_interface.Items.AddRange(new object[] {
-            "Maestro"});
+            "Maestro",
+            "ArduTracker"});
             this.CMB_interface.Location = new System.Drawing.Point(83, 10);
             this.CMB_interface.Name = "CMB_interface";
             this.CMB_interface.Size = new System.Drawing.Size(121, 21);
@@ -95,19 +107,9 @@
             this.CMB_serialport.Size = new System.Drawing.Size(121, 21);
             this.CMB_serialport.TabIndex = 1;
             // 
-            // BUT_connect
-            // 
-            this.BUT_connect.Location = new System.Drawing.Point(476, 9);
-            this.BUT_connect.Name = "BUT_connect";
-            this.BUT_connect.Size = new System.Drawing.Size(75, 23);
-            this.BUT_connect.TabIndex = 3;
-            this.BUT_connect.Text = "Connect";
-            this.BUT_connect.UseVisualStyleBackColor = true;
-            this.BUT_connect.Click += new System.EventHandler(this.BUT_connect_Click);
-            // 
             // TRK_pantrim
             // 
-            this.TRK_pantrim.Location = new System.Drawing.Point(153, 65);
+            this.TRK_pantrim.Location = new System.Drawing.Point(153, 81);
             this.TRK_pantrim.Maximum = 90;
             this.TRK_pantrim.Minimum = -90;
             this.TRK_pantrim.Name = "TRK_pantrim";
@@ -118,7 +120,7 @@
             // 
             // TXT_panrange
             // 
-            this.TXT_panrange.Location = new System.Drawing.Point(83, 65);
+            this.TXT_panrange.Location = new System.Drawing.Point(83, 81);
             this.TXT_panrange.Name = "TXT_panrange";
             this.TXT_panrange.Size = new System.Drawing.Size(64, 20);
             this.TXT_panrange.TabIndex = 4;
@@ -128,7 +130,7 @@
             // label3
             // 
             this.label3.AutoSize = true;
-            this.label3.Location = new System.Drawing.Point(326, 49);
+            this.label3.Location = new System.Drawing.Point(326, 65);
             this.label3.Name = "label3";
             this.label3.Size = new System.Drawing.Size(27, 13);
             this.label3.TabIndex = 10;
@@ -137,25 +139,25 @@
             // label4
             // 
             this.label4.AutoSize = true;
-            this.label4.Location = new System.Drawing.Point(83, 49);
+            this.label4.Location = new System.Drawing.Point(83, 65);
             this.label4.Name = "label4";
-            this.label4.Size = new System.Drawing.Size(56, 13);
+            this.label4.Size = new System.Drawing.Size(39, 13);
             this.label4.TabIndex = 11;
-            this.label4.Text = "Range -/+";
+            this.label4.Text = "Range";
             // 
             // label5
             // 
             this.label5.AutoSize = true;
-            this.label5.Location = new System.Drawing.Point(83, 125);
+            this.label5.Location = new System.Drawing.Point(83, 141);
             this.label5.Name = "label5";
-            this.label5.Size = new System.Drawing.Size(56, 13);
+            this.label5.Size = new System.Drawing.Size(39, 13);
             this.label5.TabIndex = 17;
-            this.label5.Text = "Range -/+";
+            this.label5.Text = "Range";
             // 
             // label6
             // 
             this.label6.AutoSize = true;
-            this.label6.Location = new System.Drawing.Point(326, 125);
+            this.label6.Location = new System.Drawing.Point(326, 141);
             this.label6.Name = "label6";
             this.label6.Size = new System.Drawing.Size(27, 13);
             this.label6.TabIndex = 16;
@@ -163,7 +165,7 @@
             // 
             // TXT_tiltrange
             // 
-            this.TXT_tiltrange.Location = new System.Drawing.Point(83, 141);
+            this.TXT_tiltrange.Location = new System.Drawing.Point(83, 157);
             this.TXT_tiltrange.Name = "TXT_tiltrange";
             this.TXT_tiltrange.Size = new System.Drawing.Size(64, 20);
             this.TXT_tiltrange.TabIndex = 6;
@@ -172,7 +174,7 @@
             // 
             // TRK_tilttrim
             // 
-            this.TRK_tilttrim.Location = new System.Drawing.Point(153, 141);
+            this.TRK_tilttrim.Location = new System.Drawing.Point(153, 157);
             this.TRK_tilttrim.Maximum = 45;
             this.TRK_tilttrim.Minimum = -45;
             this.TRK_tilttrim.Name = "TRK_tilttrim";
@@ -184,7 +186,7 @@
             // label2
             // 
             this.label2.AutoSize = true;
-            this.label2.Location = new System.Drawing.Point(13, 68);
+            this.label2.Location = new System.Drawing.Point(12, 65);
             this.label2.Name = "label2";
             this.label2.Size = new System.Drawing.Size(26, 13);
             this.label2.TabIndex = 18;
@@ -193,17 +195,140 @@
             // label7
             // 
             this.label7.AutoSize = true;
-            this.label7.Location = new System.Drawing.Point(13, 144);
+            this.label7.Location = new System.Drawing.Point(12, 141);
             this.label7.Name = "label7";
             this.label7.Size = new System.Drawing.Size(21, 13);
             this.label7.TabIndex = 19;
             this.label7.Text = "Tilt";
             // 
+            // CHK_revpan
+            // 
+            this.CHK_revpan.AutoSize = true;
+            this.CHK_revpan.Location = new System.Drawing.Point(534, 83);
+            this.CHK_revpan.Name = "CHK_revpan";
+            this.CHK_revpan.Size = new System.Drawing.Size(46, 17);
+            this.CHK_revpan.TabIndex = 20;
+            this.CHK_revpan.Text = "Rev";
+            this.CHK_revpan.UseVisualStyleBackColor = true;
+            this.CHK_revpan.CheckedChanged += new System.EventHandler(this.CHK_revpan_CheckedChanged);
+            // 
+            // CHK_revtilt
+            // 
+            this.CHK_revtilt.AutoSize = true;
+            this.CHK_revtilt.Location = new System.Drawing.Point(534, 159);
+            this.CHK_revtilt.Name = "CHK_revtilt";
+            this.CHK_revtilt.Size = new System.Drawing.Size(46, 17);
+            this.CHK_revtilt.TabIndex = 21;
+            this.CHK_revtilt.Text = "Rev";
+            this.CHK_revtilt.UseVisualStyleBackColor = true;
+            this.CHK_revtilt.CheckedChanged += new System.EventHandler(this.CHK_revtilt_CheckedChanged);
+            // 
+            // TXT_pwmrangepan
+            // 
+            this.TXT_pwmrangepan.Location = new System.Drawing.Point(83, 107);
+            this.TXT_pwmrangepan.Name = "TXT_pwmrangepan";
+            this.TXT_pwmrangepan.Size = new System.Drawing.Size(64, 20);
+            this.TXT_pwmrangepan.TabIndex = 22;
+            this.TXT_pwmrangepan.Text = "1000";
+            // 
+            // TXT_pwmrangetilt
+            // 
+            this.TXT_pwmrangetilt.Location = new System.Drawing.Point(83, 183);
+            this.TXT_pwmrangetilt.Name = "TXT_pwmrangetilt";
+            this.TXT_pwmrangetilt.Size = new System.Drawing.Size(64, 20);
+            this.TXT_pwmrangetilt.TabIndex = 23;
+            this.TXT_pwmrangetilt.Text = "1000";
+            // 
+            // label8
+            // 
+            this.label8.AutoSize = true;
+            this.label8.Location = new System.Drawing.Point(43, 110);
+            this.label8.Name = "label8";
+            this.label8.Size = new System.Drawing.Size(34, 13);
+            this.label8.TabIndex = 24;
+            this.label8.Text = "PWM";
+            // 
+            // label9
+            // 
+            this.label9.AutoSize = true;
+            this.label9.Location = new System.Drawing.Point(43, 186);
+            this.label9.Name = "label9";
+            this.label9.Size = new System.Drawing.Size(34, 13);
+            this.label9.TabIndex = 25;
+            this.label9.Text = "PWM";
+            // 
+            // label10
+            // 
+            this.label10.AutoSize = true;
+            this.label10.Location = new System.Drawing.Point(45, 160);
+            this.label10.Name = "label10";
+            this.label10.Size = new System.Drawing.Size(34, 13);
+            this.label10.TabIndex = 27;
+            this.label10.Text = "Angle";
+            // 
+            // label11
+            // 
+            this.label11.AutoSize = true;
+            this.label11.Location = new System.Drawing.Point(45, 84);
+            this.label11.Name = "label11";
+            this.label11.Size = new System.Drawing.Size(34, 13);
+            this.label11.TabIndex = 26;
+            this.label11.Text = "Angle";
+            // 
+            // label12
+            // 
+            this.label12.AutoSize = true;
+            this.label12.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.label12.Location = new System.Drawing.Point(94, 40);
+            this.label12.Name = "label12";
+            this.label12.Size = new System.Drawing.Size(403, 13);
+            this.label12.TabIndex = 28;
+            this.label12.Text = "Miss using this interface can cause servo damage, use with caution!!!";
+            // 
+            // BUT_connect
+            // 
+            this.BUT_connect.Location = new System.Drawing.Point(476, 9);
+            this.BUT_connect.Name = "BUT_connect";
+            this.BUT_connect.Size = new System.Drawing.Size(75, 23);
+            this.BUT_connect.TabIndex = 3;
+            this.BUT_connect.Text = "Connect";
+            this.BUT_connect.UseVisualStyleBackColor = true;
+            this.BUT_connect.Click += new System.EventHandler(this.BUT_connect_Click);
+            // 
+            // LBL_pantrim
+            // 
+            this.LBL_pantrim.AutoSize = true;
+            this.LBL_pantrim.Location = new System.Drawing.Point(326, 113);
+            this.LBL_pantrim.Name = "LBL_pantrim";
+            this.LBL_pantrim.Size = new System.Drawing.Size(34, 13);
+            this.LBL_pantrim.TabIndex = 29;
+            this.LBL_pantrim.Text = "Angle";
+            // 
+            // LBL_tilttrim
+            // 
+            this.LBL_tilttrim.AutoSize = true;
+            this.LBL_tilttrim.Location = new System.Drawing.Point(326, 190);
+            this.LBL_tilttrim.Name = "LBL_tilttrim";
+            this.LBL_tilttrim.Size = new System.Drawing.Size(34, 13);
+            this.LBL_tilttrim.TabIndex = 30;
+            this.LBL_tilttrim.Text = "Angle";
+            // 
             // Tracker
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(569, 195);
+            this.ClientSize = new System.Drawing.Size(587, 212);
+            this.Controls.Add(this.LBL_tilttrim);
+            this.Controls.Add(this.LBL_pantrim);
+            this.Controls.Add(this.label12);
+            this.Controls.Add(this.label10);
+            this.Controls.Add(this.label11);
+            this.Controls.Add(this.label9);
+            this.Controls.Add(this.label8);
+            this.Controls.Add(this.TXT_pwmrangetilt);
+            this.Controls.Add(this.TXT_pwmrangepan);
+            this.Controls.Add(this.CHK_revtilt);
+            this.Controls.Add(this.CHK_revpan);
             this.Controls.Add(this.label7);
             this.Controls.Add(this.label2);
             this.Controls.Add(this.label5);
@@ -222,6 +347,7 @@
             this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
             this.Name = "Tracker";
             this.Text = "Tracker";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Tracker_FormClosing);
             ((System.ComponentModel.ISupportInitialize)(this.TRK_pantrim)).EndInit();
             ((System.ComponentModel.ISupportInitialize)(this.TRK_tilttrim)).EndInit();
             this.ResumeLayout(false);
@@ -246,5 +372,16 @@
         private System.Windows.Forms.TrackBar TRK_tilttrim;
         private System.Windows.Forms.Label label2;
         private System.Windows.Forms.Label label7;
+        private System.Windows.Forms.CheckBox CHK_revpan;
+        private System.Windows.Forms.CheckBox CHK_revtilt;
+        private System.Windows.Forms.TextBox TXT_pwmrangepan;
+        private System.Windows.Forms.TextBox TXT_pwmrangetilt;
+        private System.Windows.Forms.Label label8;
+        private System.Windows.Forms.Label label9;
+        private System.Windows.Forms.Label label10;
+        private System.Windows.Forms.Label label11;
+        private System.Windows.Forms.Label label12;
+        private System.Windows.Forms.Label LBL_pantrim;
+        private System.Windows.Forms.Label LBL_tilttrim;
     }
 }

Tools/ArdupilotMegaPlanner/Antenna/Tracker.cs

@@ -15,6 +15,12 @@ namespace ArdupilotMega.Antenna
         static bool threadrun = false;
         static ITrackerOutput tracker;
 
+        enum interfaces
+        {
+            Maestro,
+            ArduTracker
+        }
+
         public Tracker()
         {
             InitializeComponent();
@@ -27,10 +33,63 @@ namespace ArdupilotMega.Antenna
             {
                 BUT_connect.Text = "Disconnect";
             }
+
+            foreach (string value in MainV2.config.Keys)
+            {
+                if (value.StartsWith("Tracker_"))
+                {
+                    var ctls = Controls.Find(value.Replace("Tracker_",""),true);
+
+                    foreach (Control ctl in ctls)
+                    {
+                        if (typeof(TextBox) == ctl.GetType() ||
+                            typeof(ComboBox) == ctl.GetType())
+                        {
+                            ctl.Text = MainV2.config[value].ToString();
+                        }
+                        else if (typeof(TrackBar) == ctl.GetType())
+                        {
+                            ((TrackBar)ctl).Value = int.Parse(MainV2.config[value].ToString());
+                        }
+                        else if (typeof(CheckBox) == ctl.GetType())
+                        {
+                            ((CheckBox)ctl).Checked = bool.Parse(MainV2.config[value].ToString());
+                        }
+                    }
+                }
+            }
+
+            // update other fields from load params
+            TXT_panrange_TextChanged(null, null);
+            TXT_tiltrange_TextChanged(null, null);
+            TRK_pantrim_Scroll(null, null);
+            TRK_tilttrim_Scroll(null, null);
+        }
+
+        void saveconfig()
+        {
+            foreach (Control ctl in Controls)
+            {
+                if (typeof(TextBox) == ctl.GetType() ||
+                    typeof(ComboBox) == ctl.GetType())
+                {
+                    MainV2.config["Tracker_" + ctl.Name] = ctl.Text;
+                }
+                if (typeof(TrackBar) == ctl.GetType())
+                {
+                    MainV2.config["Tracker_" + ctl.Name] = ((TrackBar)ctl).Value;
+                }
+                if (typeof(CheckBox) == ctl.GetType())
+                {
+                    MainV2.config["Tracker_" + ctl.Name] = ((CheckBox)ctl).Checked;
+                }
+            }
         }
 
         private void BUT_connect_Click(object sender, EventArgs e)
         {
+            saveconfig();
+
             if (threadrun)
             {
                 threadrun = false;
@@ -44,7 +103,10 @@ namespace ArdupilotMega.Antenna
                 tracker.ComPort.Close();
             }
 
+            if (CMB_interface.Text == "Maestro")
                 tracker = new ArdupilotMega.Antenna.Maestro();
+            if (CMB_interface.Text == "ArduTracker")
+                tracker = new ArdupilotMega.Antenna.ArduTracker();
 
             try
             {
@@ -58,14 +120,20 @@ namespace ArdupilotMega.Antenna
 
             try
             {
-                tracker.PanStartRange = int.Parse(TXT_panrange.Text) / 2 * -1;
+                tracker.PanStartRange = int.Parse(TXT_panrange.Text) / 1 * -1;
-                tracker.PanEndRange = int.Parse(TXT_panrange.Text) / 2;
+                tracker.PanEndRange = int.Parse(TXT_panrange.Text) / 1;
                 tracker.TrimPan = TRK_pantrim.Value;
 
                 tracker.TiltStartRange = int.Parse(TXT_tiltrange.Text) / 2 * -1;
                 tracker.TiltEndRange = int.Parse(TXT_tiltrange.Text) / 2;
                 tracker.TrimTilt = TRK_tilttrim.Value;
 
+                tracker.PanReverse = CHK_revpan.Checked;
+                tracker.TiltReverse = CHK_revtilt.Checked;
+
+                tracker.PanPWMRange = int.Parse(TXT_pwmrangepan.Text);
+                tracker.TiltPWMRange = int.Parse(TXT_pwmrangetilt.Text);
+
             }
             catch (Exception ex) { CustomMessageBox.Show("Bad User input " + ex.Message); return; }
 
@@ -83,6 +151,8 @@ namespace ArdupilotMega.Antenna
                     t12.Start();                     
                 }
             }
+
+            BUT_connect.Text = "Disconnect";
         }
 
         void mainloop()
@@ -104,12 +174,14 @@ namespace ArdupilotMega.Antenna
         {
             if (tracker != null)
                 tracker.TrimPan = TRK_pantrim.Value;
+            LBL_pantrim.Text = TRK_pantrim.Value.ToString();
         }
 
         private void TRK_tilttrim_Scroll(object sender, EventArgs e)
         {
             if (tracker != null)
                 tracker.TrimTilt = TRK_tilttrim.Value;
+            LBL_tilttrim.Text = TRK_tilttrim.Value.ToString();
         }
 
         private void TXT_panrange_TextChanged(object sender, EventArgs e)
@@ -118,8 +190,8 @@ namespace ArdupilotMega.Antenna
 
             int.TryParse(TXT_panrange.Text, out range);
 
-            TRK_pantrim.Minimum = range / 2 * -1;
+            TRK_pantrim.Minimum = range / 1 * -1;
-            TRK_pantrim.Maximum = range / 2;
+            TRK_pantrim.Maximum = range / 1;
         }
 
         private void TXT_tiltrange_TextChanged(object sender, EventArgs e)
@@ -128,8 +200,23 @@ namespace ArdupilotMega.Antenna
 
             int.TryParse(TXT_tiltrange.Text, out range);
 
-            TRK_tilttrim.Minimum = range / 2 * -1;
+            TRK_tilttrim.Minimum = range / 1 * -1;
-            TRK_tilttrim.Maximum = range / 2;
+            TRK_tilttrim.Maximum = range / 1;
+        }
+
+        private void CHK_revpan_CheckedChanged(object sender, EventArgs e)
+        {
+
+        }
+
+        private void CHK_revtilt_CheckedChanged(object sender, EventArgs e)
+        {
+
+        }
+
+        private void Tracker_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            saveconfig();
         }
     }
 }

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -213,6 +213,7 @@
     </Reference>
   </ItemGroup>
   <ItemGroup>
+    <Compile Include="Antenna\ArduTracker.cs" />
     <Compile Include="Antenna\ITrackerOutput.cs" />
     <Compile Include="Antenna\Maestro.cs" />
     <Compile Include="Antenna\Tracker.cs">
@@ -230,6 +231,7 @@
       <DependentUpon>ProgressReporterDialogue.cs</DependentUpon>
     </Compile>
     <Compile Include="MagCalib.cs" />
+    <Compile Include="PIDTunning.cs" />
     <Compile Include="Radio\3DRradio.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -446,7 +448,6 @@
     </Compile>
     <Compile Include="Radio\Uploader.cs" />
     <Compile Include="LangUtility.cs" />
-    <Compile Include="test.cs" />
     <Compile Include="ThemeManager.cs" />
     <EmbeddedResource Include="Antenna\Tracker.resx">
       <DependentUpon>Tracker.cs</DependentUpon>

Tools/ArdupilotMegaPlanner/CommsSerialPort.cs

@@ -3,6 +3,7 @@ using System.Collections.Generic;
 using System.Text;
 using System.IO.Ports;
 using System.IO;
+using System.Linq;
 
 namespace ArdupilotMega
 {
@@ -18,6 +19,11 @@ namespace ArdupilotMega
 
         public void toggleDTR()
         {
+            bool open = this.IsOpen;
+
+            if (!open)
+                this.Open();
+
             base.DtrEnable = false;
             base.RtsEnable = false;
 
@@ -27,6 +33,56 @@ namespace ArdupilotMega
             base.RtsEnable = true;
 
             System.Threading.Thread.Sleep(50);
+
+            if (!open)
+                this.Close();
+        }
+
+        public new static string[] GetPortNames()
+        {
+            string[] monoDevs = new string[0];
+
+            if (Directory.Exists("/dev/"))
+            {
+                if (Directory.Exists("/dev/serial/by-id/"))
+                    monoDevs = Directory.GetFiles("/dev/serial/by-id/", "*");
+                monoDevs = Directory.GetFiles("/dev/", "*ACM*");
+                monoDevs = Directory.GetFiles("/dev/", "ttyUSB*");
+            }
+
+            string[] ports = System.IO.Ports.SerialPort.GetPortNames()
+            .Select(p => p.TrimEnd())
+            .Select(FixBlueToothPortNameBug)
+            .ToArray();
+
+            string[] allPorts = new string[monoDevs.Length + ports.Length];
+
+            monoDevs.CopyTo(allPorts, 0);
+            ports.CopyTo(allPorts, monoDevs.Length);
+
+            return allPorts;
+        }
+
+
+        // .NET bug: sometimes bluetooth ports are enumerated with bogus characters 
+        // eg 'COM10' becomes 'COM10c' - one workaround is to remove the non numeric  
+        // char. Annoyingly, sometimes a numeric char is added, which means this 
+        // does not work in all cases. 
+        // See http://connect.microsoft.com/VisualStudio/feedback/details/236183/system-io-ports-serialport-getportnames-error-with-bluetooth 
+        private static string FixBlueToothPortNameBug(string portName)
+        {
+            if (!portName.StartsWith("COM"))
+                return portName;
+            var newPortName = "COM";                                // Start over with "COM" 
+            foreach (var portChar in portName.Substring(3).ToCharArray())  //  Remove "COM", put the rest in a character array 
+            {
+                if (char.IsDigit(portChar))
+                    newPortName += portChar.ToString(); // Good character, append to portName 
+                //  else
+                //log.WarnFormat("Bad (Non Numeric) character in port name '{0}' - removing", portName);
+            }
+
+            return newPortName;
         }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -792,7 +792,7 @@ namespace ArdupilotMega.GCSViews
             try
             {
                 Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
-                swlog = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm") + " telem.log");
+                swlog = new StreamWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm") + " telem.log");
             }
             catch { CustomMessageBox.Show("Log creation error"); }
         }
@@ -1375,7 +1375,7 @@ namespace ArdupilotMega.GCSViews
 
             aviwriter = new AviWriter();
             Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
-            aviwriter.avi_start(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm-ss") + ".avi");
+            aviwriter.avi_start(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".avi");
 
             recordHudToAVIToolStripMenuItem.Text = "Recording";
         }

Tools/ArdupilotMegaPlanner/Log.cs

@@ -233,7 +233,7 @@ namespace ArdupilotMega
                         case serialstatus.Createfile:
                             receivedbytes = 0;
                             Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
-                            logfile = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm") + " " + currentlog + ".log";
+                            logfile = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm") + " " + currentlog + ".log";
                             sw = new StreamWriter(logfile);
                             status = serialstatus.Waiting;
                             lock (thisLock)

Tools/ArdupilotMegaPlanner/MAVLink.cs

@@ -184,9 +184,6 @@ namespace ArdupilotMega
 
                     BaseStream.DiscardInBuffer();
 
-                    // removed because of apc220 units
-                    //BaseStream.toggleDTR();
-
                     Thread.Sleep(1000);
                 }
 

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -117,7 +117,7 @@ namespace ArdupilotMega
 
             comPort.BaseStream.BaudRate = 115200;
 
-            CMB_serialport.Items.AddRange(GetPortNames());
+            CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
             CMB_serialport.Items.Add("TCP");
             CMB_serialport.Items.Add("UDP");
             if (CMB_serialport.Items.Count > 0)
@@ -253,57 +253,6 @@ namespace ArdupilotMega
             splash.Close();
         }
 
-        private string[] GetPortNames()
-        {
-            string[] monoDevs = new string[0];
-
-            log.Debug("Getting Comports");
-
-            if (MONO)
-            {
-                if (Directory.Exists("/dev/"))
-                {
-                    if (Directory.Exists("/dev/serial/by-id/"))
-                        monoDevs = Directory.GetFiles("/dev/serial/by-id/", "*");
-                    monoDevs = Directory.GetFiles("/dev/", "*ACM*");
-                    monoDevs = Directory.GetFiles("/dev/", "ttyUSB*");
-                }
-            }
-
-            string[] ports = SerialPort.GetPortNames()
-                .Select(p => p.TrimEnd())
-                .Select(FixBlueToothPortNameBug)
-                .ToArray();
-
-            string[] allPorts = new string[monoDevs.Length + ports.Length];
-
-            monoDevs.CopyTo(allPorts, 0);
-            ports.CopyTo(allPorts, monoDevs.Length);
-
-            return allPorts;
-        }
-
-        // .NET bug: sometimes bluetooth ports are enumerated with bogus characters 
-        // eg 'COM10' becomes 'COM10c' - one workaround is to remove the non numeric  
-        // char. Annoyingly, sometimes a numeric char is added, which means this 
-        // does not work in all cases. 
-        // See http://connect.microsoft.com/VisualStudio/feedback/details/236183/system-io-ports-serialport-getportnames-error-with-bluetooth 
-        private string FixBlueToothPortNameBug(string portName)
-        {
-            if (!portName.StartsWith("COM"))
-                return portName;
-            var newPortName = "COM";                                // Start over with "COM" 
-            foreach (var portChar in portName.Substring(3).ToCharArray())  //  Remove "COM", put the rest in a character array 
-            {
-                if (char.IsDigit(portChar))
-                    newPortName += portChar.ToString(); // Good character, append to portName 
-                else
-                    log.WarnFormat("Bad (Non Numeric) character in port name '{0}' - removing", portName);
-            }
-
-            return newPortName;
-        }
-
         internal void ScreenShot()
         {
             Rectangle bounds = Screen.GetBounds(Point.Empty);
@@ -313,7 +262,7 @@ namespace ArdupilotMega
                 {
                     g.CopyFromScreen(Point.Empty, Point.Empty, bounds.Size);
                 }
-                string name = "ss" + DateTime.Now.ToString("hhmmss") + ".jpg";
+                string name = "ss" + DateTime.Now.ToString("HHmmss") + ".jpg";
                 bitmap.Save(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + name, System.Drawing.Imaging.ImageFormat.Jpeg);
                 CustomMessageBox.Show("Screenshot saved to " + name);
             }
@@ -324,7 +273,7 @@ namespace ArdupilotMega
         {
             string oldport = CMB_serialport.Text;
             CMB_serialport.Items.Clear();
-            CMB_serialport.Items.AddRange(GetPortNames());
+            CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
             CMB_serialport.Items.Add("TCP");
             CMB_serialport.Items.Add("UDP");
             if (CMB_serialport.Items.Contains(oldport))
@@ -538,10 +487,19 @@ namespace ArdupilotMega
                 comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1");
                 comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None");
 
-                comPort.BaseStream.DtrEnable = false;
-
                 try
                 {
+                    comPort.BaseStream.PortName = CMB_serialport.Text;
+
+                    // false here
+                    comPort.BaseStream.DtrEnable = false;
+                    comPort.BaseStream.RtsEnable = false;
+
+                    if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
+                        comPort.BaseStream.toggleDTR();
+
+                    // if reset on connect is on dtr will be true here
+
                     if (comPort.logfile != null)
                         comPort.logfile.Close();
                     try
@@ -551,7 +509,6 @@ namespace ArdupilotMega
                     }
                     catch { CustomMessageBox.Show("Failed to create log - wont log this session"); } // soft fail
 
-                    comPort.BaseStream.PortName = CMB_serialport.Text;
                     comPort.Open(true);
 
                     if (comPort.param["SYSID_SW_TYPE"] != null)

Tools/ArdupilotMegaPlanner/PIDTunning.cs

@@ -0,0 +1,46 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace ArdupilotMega
+{
+    class PIDTunning
+    {
+
+        public static void twiddle(double[] initialgains, Func<double[],double> run, double tol = 0.001)
+        {
+            int n_params = 3;
+            double err= 0;
+            double[] dparams = initialgains; //{1.0f,1.0f,1.0f};
+            double[] paramss = {0.0f,0.0f,0.0f};
+            double best_error = run(paramss);
+            int n = 0;
+
+            while (dparams.Sum() > tol) {
+                for (int i = 0; i < n_params; i++){
+                    paramss[i] += dparams[i];
+                    err = run(paramss);
+                    if (err < best_error){
+                        best_error = err;
+                        dparams[i] *= 1.1;
+                    }
+                    else {
+                        paramss[i] -= 2.0 * dparams[i];
+                        err = run(paramss);
+                        if (err < best_error){
+                            best_error = err;
+                            dparams[i] *= 1.1;
+                        }
+                        else {
+                            paramss[i] += dparams[i];
+                            dparams[i] *= 0.9;
+                        }
+                    }
+                    n += 1;
+                    Console.WriteLine("Twiddle #" + n + " " + paramss.ToString() + " -> " + best_error);
+                }
+            }
+        }
+    }
+}

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("1.1.55")]
+[assembly: AssemblyFileVersion("1.1.56")]
 [assembly: NeutralResourcesLanguageAttribute("")]