APM Planner 1.1.59

fix possible issue loading stream rates
fix tracker ranges
add more ch6 options
modify mag calib with throttle

Tools/ArdupilotMegaPlanner/Antenna/Maestro.cs

@@ -110,7 +110,7 @@ namespace ArdupilotMega.Antenna
             // conver the angle into a 0-255 value
             byte target = (byte)((((PointAtAngle / range) * 2.0) * 127 + centerpos) * _panreverse);
 
-            //Console.WriteLine("P " + Angle + " " + target + " " + PointAtAngle);
+            Console.WriteLine("P " + Angle + " " + target + " " + PointAtAngle);
 
             var buffer = new byte[] { 0xff,PanAddress,target};
             ComPort.Write(buffer, 0, buffer.Length);

Tools/ArdupilotMegaPlanner/Antenna/Tracker.cs

@@ -120,8 +120,8 @@ namespace ArdupilotMega.Antenna
 
             try
             {
-                tracker.PanStartRange = int.Parse(TXT_panrange.Text) / 1 * -1;
+                tracker.PanStartRange = int.Parse(TXT_panrange.Text) / 2 * -1;
-                tracker.PanEndRange = int.Parse(TXT_panrange.Text) / 1;
+                tracker.PanEndRange = int.Parse(TXT_panrange.Text) / 2;
                 tracker.TrimPan = TRK_pantrim.Value;
 
                 tracker.TiltStartRange = int.Parse(TXT_tiltrange.Text) / 2 * -1;

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -223,6 +223,18 @@
       <DependentUpon>Tracker.cs</DependentUpon>
     </Compile>
     <Compile Include="CodeGen.cs" />
+    <Compile Include="Controls\BackstageView\BackstageView.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="Controls\BackstageView\BackstageView.designer.cs">
+      <DependentUpon>BackstageView.cs</DependentUpon>
+    </Compile>
+    <Compile Include="Controls\BackstageView\BackstageViewButton.cs">
+      <SubType>Component</SubType>
+    </Compile>
+    <Compile Include="Controls\BackstageView\BackStageViewMenuPanel.cs">
+      <SubType>Component</SubType>
+    </Compile>
     <Compile Include="Controls\CustomMessageBox.cs" />
     <Compile Include="Controls\ProgressReporterDialogue.cs">
       <SubType>Form</SubType>
@@ -230,6 +242,72 @@
     <Compile Include="Controls\ProgressReporterDialogue.designer.cs">
       <DependentUpon>ProgressReporterDialogue.cs</DependentUpon>
     </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigAccelerometerCalibration.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigAccelerometerCalibration.Designer.cs">
+      <DependentUpon>ConfigAccelerometerCalibration.cs</DependentUpon>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigArducopter.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigArducopter.Designer.cs">
+      <DependentUpon>ConfigArducopter.cs</DependentUpon>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigArduplane.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigArduplane.Designer.cs">
+      <DependentUpon>ConfigArduplane.cs</DependentUpon>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigBatteryMonitoring.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigBatteryMonitoring.Designer.cs">
+      <DependentUpon>ConfigBatteryMonitoring.cs</DependentUpon>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigFlightModes.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigFlightModes.Designer.cs">
+      <DependentUpon>ConfigFlightModes.cs</DependentUpon>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigHardwareOptions.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigHardwareOptions.Designer.cs">
+      <DependentUpon>ConfigHardwareOptions.cs</DependentUpon>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigPlanner.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigPlanner.Designer.cs">
+      <DependentUpon>ConfigPlanner.cs</DependentUpon>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigRadioInput.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigRadioInput.Designer.cs">
+      <DependentUpon>ConfigRadioInput.cs</DependentUpon>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigTradHeli.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigTradHeli.Designer.cs">
+      <DependentUpon>ConfigTradHeli.cs</DependentUpon>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\Configuration.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\Configuration.Designer.cs">
+      <DependentUpon>Configuration.cs</DependentUpon>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigRawParams.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigRawParams.Designer.cs">
+      <DependentUpon>ConfigRawParams.cs</DependentUpon>
+    </Compile>
     <Compile Include="MagCalib.cs" />
     <Compile Include="PIDTunning.cs" />
     <Compile Include="Radio\3DRradio.cs">
@@ -452,9 +530,45 @@
     <EmbeddedResource Include="Antenna\Tracker.resx">
       <DependentUpon>Tracker.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="Controls\BackstageView\BackstageView.resx">
+      <DependentUpon>BackstageView.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="Controls\ProgressReporterDialogue.resx">
       <DependentUpon>ProgressReporterDialogue.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigAccelerometerCalibration.resx">
+      <DependentUpon>ConfigAccelerometerCalibration.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigArducopter.resx">
+      <DependentUpon>ConfigArducopter.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigArduplane.resx">
+      <DependentUpon>ConfigArduplane.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigBatteryMonitoring.resx">
+      <DependentUpon>ConfigBatteryMonitoring.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigFlightModes.resx">
+      <DependentUpon>ConfigFlightModes.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigHardwareOptions.resx">
+      <DependentUpon>ConfigHardwareOptions.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigPlanner.resx">
+      <DependentUpon>ConfigPlanner.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigRadioInput.resx">
+      <DependentUpon>ConfigRadioInput.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigRawParams.resx">
+      <DependentUpon>ConfigRawParams.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigTradHeli.resx">
+      <DependentUpon>ConfigTradHeli.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\Configuration.resx">
+      <DependentUpon>Configuration.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="Radio\3DRradio.resx">
       <DependentUpon>3DRradio.cs</DependentUpon>
     </EmbeddedResource>

Tools/ArdupilotMegaPlanner/Common.cs

@@ -381,7 +381,12 @@ namespace ArdupilotMega
 
             CH6_NAV_I = 20,
             CH6_LOITER_RATE_P = 22,
-            CH6_LOITER_RATE_D = 23
+            CH6_LOITER_RATE_D = 23,
+            CH6_YAW_KI = 24,
+            CH6_ACRO_KP = 25,
+            CH6_YAW_RATE_KD = 26,
+            CH6_LOITER_KI = 27,
+            CH6_LOITER_RATE_KI = 28
         }
 
 

Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackStageViewMenuPanel.cs

@@ -0,0 +1,33 @@
+using System.Drawing;
+using System.Drawing.Drawing2D;
+using System.Windows.Forms;
+
+namespace ArdupilotMega.Controls.BackstageView
+{
+    public class BackStageViewMenuPanel : Panel
+    {
+        internal Color GradColor = Color.White;
+        internal Color PencilBorderColor = Color.White;
+
+        private const int GradientWidth = 6;
+
+        public BackStageViewMenuPanel()
+        {
+            this.SetStyle(ControlStyles.UserPaint, true);
+        }
+
+        protected override void OnPaintBackground(PaintEventArgs pevent)
+        {
+            base.OnPaintBackground(pevent);
+
+            var rc = new Rectangle(ClientSize.Width - GradientWidth, 0, GradientWidth, this.ClientSize.Height);
+
+            using (var brush = new LinearGradientBrush(rc, BackColor, GradColor, LinearGradientMode.Horizontal))
+            {
+                pevent.Graphics.FillRectangle(brush, rc);
+            }
+
+            pevent.Graphics.DrawLine(new Pen(PencilBorderColor), Width-1,0,Width-1,Height);
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackstageView.Designer.cs

@@ -0,0 +1,73 @@
+namespace ArdupilotMega.Controls.BackstageView
+{
+    partial class BackstageView
+    {
+        /// <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 Component 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()
+        {
+            this.pnlPages = new System.Windows.Forms.Panel();
+            this.pnlMenu = new BackStageViewMenuPanel();
+            this.SuspendLayout();
+            // 
+            // pnlPages
+            // 
+            this.pnlPages.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.pnlPages.Location = new System.Drawing.Point(147, 0);
+            this.pnlPages.MinimumSize = new System.Drawing.Size(100, 0);
+            this.pnlPages.Name = "pnlPages";
+            this.pnlPages.Size = new System.Drawing.Size(243, 189);
+            this.pnlPages.TabIndex = 0;
+            // 
+            // pnlMenu
+            // 
+            this.pnlMenu.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left)));
+            this.pnlMenu.Location = new System.Drawing.Point(0, 0);
+            this.pnlMenu.Name = "pnlMenu";
+            this.pnlMenu.Size = new System.Drawing.Size(150, 170);
+            this.pnlMenu.TabIndex = 1;
+            // 
+            // BackstageView
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.AutoSize = true;
+            this.Controls.Add(this.pnlMenu);
+            this.Controls.Add(this.pnlPages);
+            this.Name = "BackstageView";
+            this.Size = new System.Drawing.Size(393, 192);
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.Panel pnlPages;
+        private BackStageViewMenuPanel pnlMenu;
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackstageView.cs

@@ -0,0 +1,225 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Linq;
+using System.Windows.Forms;
+using ArdupilotMega.Controls.BackstageView;
+
+namespace ArdupilotMega.Controls.BackstageView
+{
+    public partial class BackstageView : UserControl
+    {
+        private Color _buttonsAreaBgColor = Color.White;
+        private Color _buttonsAreaPencilColor = Color.DarkGray;
+        private Color _selectedTextColor = Color.White;
+        private Color _unSelectedTextColor = Color.Gray;
+        private Color _highlightColor1 = Color.DarkBlue;
+        private Color _highlightColor2 = Color.Blue;
+
+        private readonly List<BackstageViewPage> _pages= new List<BackstageViewPage>();
+        private BackstageViewPage _activePage;
+        private const int ButtonSpacing = 30;
+        private const int ButtonHeight = 30;
+
+        public BackstageView()
+        {
+            InitializeComponent();
+
+            this.pnlMenu.Height = this.Height;
+            this.pnlPages.Height = this.Height;
+
+            pnlMenu.BackColor = _buttonsAreaBgColor;
+            pnlMenu.PencilBorderColor = _buttonsAreaPencilColor;
+            pnlMenu.GradColor = this.BackColor;
+        }
+
+
+        public override Color BackColor
+        {
+            get
+            {
+                return base.BackColor;
+            }
+            set
+            {
+                base.BackColor = value;
+                UpdateButtons();
+                pnlMenu.GradColor = this.BackColor;
+            }
+        }
+
+        [Description("Background pencil line color for the content region"), Category("Appearance")]
+        [DefaultValue(typeof(Color),"DarkGray")]
+        public Color ButtonsAreaPencilColor
+        {
+            get { return _buttonsAreaPencilColor; }
+            set
+            {
+                _buttonsAreaPencilColor = value;
+                pnlMenu.PencilBorderColor = _buttonsAreaPencilColor;
+                pnlMenu.Invalidate();
+                UpdateButtons();
+                Invalidate();
+            }
+        }
+
+
+        [Description("Background color for the buttons region"), Category("Appearance")]
+        [DefaultValue(typeof(Color),"White")]
+        public Color ButtonsAreaBgColor
+        {
+            get { return _buttonsAreaBgColor; }
+            set
+            {
+                _buttonsAreaBgColor = value;
+                this.pnlMenu.BackColor = _buttonsAreaBgColor;
+                pnlMenu.Invalidate();
+                Invalidate();
+            }
+        }
+
+        [Description("Color for the selector buttons text"), Category("Appearance")]
+        [DefaultValue(typeof(Color), "White")]
+        public Color SelectedTextColor
+        {
+            get { return _selectedTextColor; }
+            set
+            {
+                _selectedTextColor = value;
+                UpdateButtons();
+            }
+        }
+
+        [Description("Color for the un selected selector buttons text"), Category("Appearance")]
+        [DefaultValue(typeof(Color), "Gray")]
+        public Color UnSelectedTextColor
+        {
+            get { return _unSelectedTextColor; }
+            set
+            {
+                _unSelectedTextColor = value;
+                UpdateButtons();
+                Invalidate();
+            }
+        }
+
+        [Description("Color selected button background 1"), Category("Appearance")]
+        [DefaultValue(typeof(Color), "DarkBlue")]
+        public Color HighlightColor1
+        {
+            get { return _highlightColor1; }
+            set
+            {
+                _highlightColor1 = value;
+                UpdateButtons();
+                Invalidate();
+            }
+        }
+
+        [Description("Color selected button background 2"), Category("Appearance")]
+        [DefaultValue(typeof(Color), "Blue")]
+        public Color HighlightColor2
+        {
+            get { return _highlightColor2; }
+            set
+            {
+                _highlightColor2 = value;
+                UpdateButtons();
+                Invalidate();
+            }
+        }
+
+       
+        private void UpdateButtons()
+        {
+            foreach (var backstageViewButton in pnlMenu.Controls.OfType<BackstageViewButton>())
+            {
+                backstageViewButton.HighlightColor2 = _highlightColor2;
+                backstageViewButton.HighlightColor1 = _highlightColor1;
+                backstageViewButton.UnSelectedTextColor = _unSelectedTextColor;
+                backstageViewButton.SelectedTextColor = _selectedTextColor;
+                backstageViewButton.ContentPageColor = this.BackColor;
+                backstageViewButton.PencilBorderColor = _buttonsAreaPencilColor;
+
+                backstageViewButton.Invalidate();
+            }
+        }
+
+        public void AddPage(BackstageViewPage page)
+        {
+            page.Page.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
+            page.Page.Location = new Point(pnlMenu.Width, 0);
+            page.Page.Dock = DockStyle.Fill;
+
+            _pages.Add(page);
+            CreateLinkButton(page);
+            this.pnlPages.Controls.Add(page.Page);
+
+            if (_activePage == null)
+                _activePage = page;
+
+            ActivatePage(page);
+            // Todo: set the link button to be selected looking 
+        }
+
+        private void CreateLinkButton(BackstageViewPage page)
+        {
+            var lnkButton = new BackstageViewButton
+                                {
+                                    Text = page.LinkText,
+                                    Tag = page,
+                                    Top = _pages.IndexOf(page) * ButtonSpacing,
+                                    Width = this.pnlMenu.Width,
+                                    Height = ButtonHeight,
+                                    ContentPageColor = this.BackColor,
+                                    PencilBorderColor = _buttonsAreaPencilColor,
+                                    SelectedTextColor = _selectedTextColor,
+                                    UnSelectedTextColor = _unSelectedTextColor,
+                                    HighlightColor1 = _highlightColor1,
+                                    HighlightColor2 = _highlightColor2
+                                };
+
+            pnlMenu.Controls.Add(lnkButton);
+            lnkButton.Click += this.ButtonClick;
+        }
+
+
+        private void ButtonClick(object sender, EventArgs e)
+        {
+            var backstageViewButton = ((BackstageViewButton) sender);
+            var associatedPage = backstageViewButton.Tag as BackstageViewPage;
+            this.ActivatePage(associatedPage);
+        }
+
+        private void ActivatePage(BackstageViewPage associatedPage)
+        {
+            // deactivate the old page
+            _activePage.Page.Visible = false;
+            var oldButton = this.pnlMenu.Controls.OfType<BackstageViewButton>().Single(b => b.Tag == _activePage);
+            oldButton.IsSelected = false;
+
+            associatedPage.Page.Visible = true;
+            var newButton = this.pnlMenu.Controls.OfType<BackstageViewButton>().Single(b => b.Tag == associatedPage);
+            newButton.IsSelected = true;
+
+            _activePage = associatedPage;
+        }
+
+
+        public class BackstageViewPage
+        {
+            public BackstageViewPage(Control page, string linkText)
+            {
+                Page = page;
+                LinkText = linkText;
+            }
+
+            public Control Page { get; private set; }
+            public string LinkText { get; set; }
+        }
+    }
+
+
+  
+}

Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackstageView.resx

@@ -0,0 +1,120 @@
+<?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" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <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>
+</root>

Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackstageViewButton.cs

@@ -0,0 +1,150 @@
+using System;
+using System.Drawing;
+using System.Drawing.Drawing2D;
+using System.Windows.Forms;
+
+namespace ArdupilotMega.Controls.BackstageView
+{
+    public class BackstageViewButton : Control
+    {
+        private bool _isSelected;
+
+        internal Color ContentPageColor = Color.Gray;
+        internal Color PencilBorderColor = Color.White;
+        internal Color SelectedTextColor = Color.White;
+        internal Color UnSelectedTextColor = Color.Gray;
+        internal Color HighlightColor1 = Color.DarkBlue;
+        internal Color HighlightColor2 = Color.Blue;
+        private bool _isMouseOver;
+
+        //internal Color HighlightColor1 = Color.FromArgb(0x94, 0xc1, 0x1f);
+        //internal Color HighlightColor2 = Color.FromArgb(0xcd, 0xe2, 0x96);
+
+        public BackstageViewButton()
+        {
+            SetStyle(ControlStyles.SupportsTransparentBackColor, true);
+            SetStyle(ControlStyles.Opaque, true);
+            SetStyle(ControlStyles.ResizeRedraw, true);
+            this.BackColor = Color.Transparent;
+        }
+
+        /// <summary>
+        /// Whether this button should show the selected style
+        /// </summary>
+        public bool IsSelected
+        {
+            get { return _isSelected; }
+            set
+            {
+                if (_isSelected != value)
+                {
+                    _isSelected = value;
+                    //this.Parent.Refresh(); // <-- brutal, but works
+
+                   
+                    InvalidateParentForBackground();
+
+                    this.Invalidate();
+                }
+            }
+        }
+
+        // Must be a better way to redraw parent control in the area of
+        // the button 
+        private void InvalidateParentForBackground()
+        {
+            var screenrect = this.RectangleToScreen(this.ClientRectangle);
+            var rectangleToClient = this.Parent.RectangleToClient(screenrect);
+            this.Parent.Invalidate(rectangleToClient);
+        }
+
+
+        protected override void OnPaint(PaintEventArgs pevent)
+        {
+           Graphics g = pevent.Graphics;
+         
+
+            // Now the little 'arrow' thingy if we are selected and the selected bg grad
+           if (_isSelected)
+           {
+               var rect1 = new Rectangle(0, 0, Width / 2, Height);
+               var rect2 = new Rectangle(Width / 2, 0, Width, Height);
+
+               g.FillRectangle(new LinearGradientBrush(rect1, HighlightColor1, HighlightColor2, LinearGradientMode.Horizontal), rect1);
+               g.FillRectangle(new LinearGradientBrush(rect2, HighlightColor2, HighlightColor1, LinearGradientMode.Horizontal), rect2);
+
+               var butPen = new Pen(HighlightColor1);
+               g.DrawLine(butPen, 0, 0, Width, 0);
+               g.DrawLine(butPen, 0, Height - 1, Width, Height - 1);
+
+               var arrowBrush = new SolidBrush(this.ContentPageColor);
+
+               var midheight = Height / 2;
+               var arSize = 8;
+
+               var arrowPoints = new[]
+                                     {
+                                         new Point(Width, midheight + arSize),
+                                         new Point(Width - arSize, midheight),
+                                         new Point(Width, midheight - arSize)
+                                     };
+
+               g.DrawString(Text, new Font(FontFamily.GenericSansSerif, 10), new SolidBrush(SelectedTextColor), 20, 6);
+
+               g.FillPolygon(arrowBrush, arrowPoints);
+
+               var pencilBrush = new Pen(this.PencilBorderColor);
+
+
+               g.DrawPolygon(pencilBrush, arrowPoints);
+
+               
+           }
+           else
+           {
+               if (_isMouseOver)
+               {
+                   var brush = new SolidBrush(Color.FromArgb(10, 0xA0, 0xA0, 0xA0));
+
+                   g.FillRectangle(brush, this.ClientRectangle);
+
+                   var butPen = new Pen(PencilBorderColor);
+                   g.DrawLine(butPen, 0, 0, Width, 0);
+                   g.DrawLine(butPen, 0, Height - 1, Width, Height - 1);
+               }
+
+               g.DrawString(Text, new Font(FontFamily.GenericSansSerif, 10), new SolidBrush(this.UnSelectedTextColor), 20, 6);
+           }
+        }
+
+
+        protected override void OnMouseEnter(EventArgs e)
+        {
+            _isMouseOver = true;
+            base.OnMouseEnter(e);
+            InvalidateParentForBackground();
+            this.Invalidate();
+        }
+
+        protected override void OnMouseLeave(EventArgs e)
+        {
+            _isMouseOver = false;
+            base.OnMouseLeave(e);
+            InvalidateParentForBackground();
+            this.Invalidate();
+
+        }
+
+        // This IS necessary for transparency 
+        protected override CreateParams CreateParams
+        {
+            get
+            {
+                const int WS_EX_TRANSPARENT = 0x20;
+                CreateParams cp = base.CreateParams;
+                cp.ExStyle |= WS_EX_TRANSPARENT;
+                return cp;
+            }
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs

@@ -201,9 +201,11 @@ namespace ArdupilotMega.GCSViews
                         }
                         catch { return; }
                     }
-
+                    try
+                    {
                         comPort.Write("\n\n\n");
-
+                    }
+                    catch { return; }
                     while (threadrun)
                     {
                         try

Tools/ArdupilotMegaPlanner/MAVLink.cs

@@ -1162,6 +1162,8 @@ namespace ArdupilotMega
             req.start_stop = 1; // start
             req.req_stream_id = id; // id
 
+            // send each one twice.
+            generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
             generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
         }
 

Tools/ArdupilotMegaPlanner/MagCalib.cs

@@ -21,7 +21,7 @@ namespace ArdupilotMega
         /// <summary>
         /// Self contained process tlog and save/display offsets
         /// </summary>
-        public static void ProcessLog()
+        public static void ProcessLog(int throttleThreshold = 0)
         {
             OpenFileDialog openFileDialog1 = new OpenFileDialog();
             openFileDialog1.Filter = "*.tlog|*.tlog";
@@ -40,7 +40,7 @@ namespace ArdupilotMega
             {
                 try
                 {
-                    double[] ans = getOffsets(openFileDialog1.FileName);
+                    double[] ans = getOffsets(openFileDialog1.FileName, throttleThreshold);
 
                     SaveOffsets(ans);
                 }
@@ -53,9 +53,9 @@ namespace ArdupilotMega
         /// </summary>
         /// <param name="fn">Filename</param>
         /// <returns>Offsets</returns>
-        public static double[] getOffsets(string fn)
+        public static double[] getOffsets(string fn, int throttleThreshold = 0)
         {
-            // based of tridge's work
+            // based off tridge's work
             string logfile = fn;
 
             // old method
@@ -76,6 +76,9 @@ namespace ArdupilotMega
 
             Hashtable filter = new Hashtable();
 
+            // track data to use
+            bool useData = false;
+
             log.Info("Start log: " + DateTime.Now);
 
                 MAVLink mine = new MAVLink();
@@ -95,6 +98,19 @@ namespace ArdupilotMega
                     if (packet == null)
                         continue;
 
+                    if (packet.GetType() == typeof(MAVLink.__mavlink_vfr_hud_t))
+                    {
+                        if (((MAVLink.__mavlink_vfr_hud_t)packet).throttle >= throttleThreshold)
+                        {
+                            useData = true;
+                        }
+                        else
+                        {
+                            useData = false;
+                        }
+
+                    }
+
                     if (packet.GetType() == typeof(MAVLink.__mavlink_sensor_offsets_t))
                     {
                         offset = new Tuple<float, float, float>(
@@ -102,7 +118,7 @@ namespace ArdupilotMega
                             ((MAVLink.__mavlink_sensor_offsets_t)packet).mag_ofs_y,
                             ((MAVLink.__mavlink_sensor_offsets_t)packet).mag_ofs_z);
                     }
-                    else if (packet.GetType() == typeof(MAVLink.__mavlink_raw_imu_t))
+                    else if (packet.GetType() == typeof(MAVLink.__mavlink_raw_imu_t) && useData)
                     {
                         int div = 20;
 

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -72,6 +72,7 @@ namespace ArdupilotMega
         GCSViews.FlightData FlightData;
         GCSViews.FlightPlanner FlightPlanner;
         GCSViews.Configuration Configuration;
+        //GCSViews.ConfigurationView.Configuration Configuration;
         GCSViews.Simulation Simulation;
         GCSViews.Firmware Firmware;
         GCSViews.Terminal Terminal;
@@ -188,14 +189,14 @@ namespace ArdupilotMega
 
                 if (config["CMB_rateattitude"] != null)
                     MainV2.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString());
-                if (config["CMB_rateattitude"] != null)
+                if (config["rateposition"] != null)
                     MainV2.cs.rateposition = byte.Parse(config["CMB_rateposition"].ToString());
-                if (config["CMB_rateattitude"] != null)
+                if (config["CMB_ratestatus"] != null)
                     MainV2.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString());
-                if (config["CMB_rateattitude"] != null)
+                if (config["CMB_raterc"] != null)
                     MainV2.cs.raterc = byte.Parse(config["CMB_raterc"].ToString());
                 if (config["CMB_ratesensors"] != null)
-                    MainV2.cs.raterc = byte.Parse(config["CMB_ratesensors"].ToString());
+                    MainV2.cs.ratesensors = byte.Parse(config["CMB_ratesensors"].ToString());
 
                 if (config["speechenable"] != null)
                     MainV2.speechEnable = bool.Parse(config["speechenable"].ToString());
@@ -339,6 +340,7 @@ namespace ArdupilotMega
             }
 
             Configuration = new GCSViews.Configuration();
+            //Configuration = new GCSViews.ConfigurationView.Configuration();
 
             UserControl temp = Configuration;
 

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -853,6 +853,14 @@ namespace ArdupilotMega
                 MavlinkInterface.logplaybackfile.Close();
                 MavlinkInterface.logplaybackfile = null;
 
+                try
+                {
+
+                    addMagField(ref options);
+
+                }
+                catch (Exception ex) { log.Info(ex.ToString()); }
+
                 // custom sort based on packet name
                 //options.Sort(delegate(string c1, string c2) { return String.Compare(c1.Substring(0,c1.IndexOf('.')),c2.Substring(0,c2.IndexOf('.')));});
 
@@ -872,6 +880,33 @@ namespace ArdupilotMega
             return selection;
         }
 
+        void addMagField(ref List<string> options)
+        {
+            string field = "mag_field Custom";
+
+            options.Add("Custom.mag_field");
+
+            this.data[field] = new PointPairList();
+
+            PointPairList list = ((PointPairList)this.data[field]);
+
+            PointPairList listx = ((PointPairList)this.data["xmag __mavlink_raw_imu_t"]);
+            PointPairList listy = ((PointPairList)this.data["ymag __mavlink_raw_imu_t"]);
+            PointPairList listz = ((PointPairList)this.data["zmag __mavlink_raw_imu_t"]);
+
+            //(float)Math.Sqrt(Math.Pow(mx, 2) + Math.Pow(my, 2) + Math.Pow(mz, 2));
+
+            for (int a = 0; a < listx.Count; a++)
+            {
+                
+                double ans = Math.Sqrt(Math.Pow(listx[a].Y, 2) + Math.Pow(listy[a].Y, 2) + Math.Pow(listz[a].Y, 2));
+
+                //Console.WriteLine("{0} {1} {2} {3}", ans, listx[a].Y, listy[a].Y, listz[a].Y);
+
+                list.Add(listx[a].X, ans);
+            }
+        }
+
         private void AddDataOption(Form selectform, string Name)
         {
 
@@ -947,7 +982,7 @@ namespace ArdupilotMega
                 selection.Remove(((CheckBox)sender).Name);
                 foreach (var item in zg1.GraphPane.CurveList)
                 {
-                    if (item.Tag == ((CheckBox)sender).Name)
+                    if (item.Tag.ToString() == ((CheckBox)sender).Name)
                     {
                         zg1.GraphPane.CurveList.Remove(item);
                         break;

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("1.1.58")]
+[assembly: AssemblyFileVersion("1.1.59")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Setup/Setup.Designer.cs

@@ -30,7 +30,7 @@
         {
             this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Setup));
-            this.tabControl1 = new System.Windows.Forms.TabControl();
+            this.Tabs = new System.Windows.Forms.TabControl();
             this.tabRadioIn = new System.Windows.Forms.TabPage();
             this.groupBoxElevons = new System.Windows.Forms.GroupBox();
             this.CHK_mixmode = new System.Windows.Forms.CheckBox();
@@ -116,6 +116,9 @@
             this.TXT_battcapacity = new System.Windows.Forms.TextBox();
             this.CMB_batmontype = new System.Windows.Forms.ComboBox();
             this.pictureBox5 = new System.Windows.Forms.PictureBox();
+            this.tabArduplane = new System.Windows.Forms.TabPage();
+            this.label48 = new System.Windows.Forms.Label();
+            this.BUT_levelplane = new ArdupilotMega.MyButton();
             this.tabArducopter = new System.Windows.Forms.TabPage();
             this.label28 = new System.Windows.Forms.Label();
             this.label16 = new System.Windows.Forms.Label();
@@ -180,7 +183,7 @@
             this.tabReset = new System.Windows.Forms.TabPage();
             this.BUT_reset = new ArdupilotMega.MyButton();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
-            this.tabControl1.SuspendLayout();
+            this.Tabs.SuspendLayout();
             this.tabRadioIn.SuspendLayout();
             this.groupBoxElevons.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).BeginInit();
@@ -193,6 +196,7 @@
             this.tabBattery.SuspendLayout();
             this.groupBox4.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox5)).BeginInit();
+            this.tabArduplane.SuspendLayout();
             this.tabArducopter.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuadX)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuad)).BeginInit();
@@ -208,18 +212,19 @@
             this.tabReset.SuspendLayout();
             this.SuspendLayout();
             // 
-            // tabControl1
+            // Tabs
             // 
-            this.tabControl1.Controls.Add(this.tabRadioIn);
+            this.Tabs.Controls.Add(this.tabRadioIn);
-            this.tabControl1.Controls.Add(this.tabModes);
+            this.Tabs.Controls.Add(this.tabModes);
-            this.tabControl1.Controls.Add(this.tabHardware);
+            this.Tabs.Controls.Add(this.tabHardware);
-            this.tabControl1.Controls.Add(this.tabBattery);
+            this.Tabs.Controls.Add(this.tabBattery);
-            this.tabControl1.Controls.Add(this.tabArducopter);
+            this.Tabs.Controls.Add(this.tabArduplane);
-            this.tabControl1.Controls.Add(this.tabHeli);
+            this.Tabs.Controls.Add(this.tabArducopter);
-            resources.ApplyResources(this.tabControl1, "tabControl1");
+            this.Tabs.Controls.Add(this.tabHeli);
-            this.tabControl1.Name = "tabControl1";
+            resources.ApplyResources(this.Tabs, "Tabs");
-            this.tabControl1.SelectedIndex = 0;
+            this.Tabs.Name = "Tabs";
-            this.tabControl1.SelectedIndexChanged += new System.EventHandler(this.tabControl1_SelectedIndexChanged);
+            this.Tabs.SelectedIndex = 0;
+            this.Tabs.SelectedIndexChanged += new System.EventHandler(this.tabControl1_SelectedIndexChanged);
             // 
             // tabRadioIn
             // 
@@ -931,6 +936,26 @@
             this.pictureBox5.Name = "pictureBox5";
             this.pictureBox5.TabStop = false;
             // 
+            // tabArduplane
+            // 
+            this.tabArduplane.Controls.Add(this.label48);
+            this.tabArduplane.Controls.Add(this.BUT_levelplane);
+            resources.ApplyResources(this.tabArduplane, "tabArduplane");
+            this.tabArduplane.Name = "tabArduplane";
+            this.tabArduplane.UseVisualStyleBackColor = true;
+            // 
+            // label48
+            // 
+            resources.ApplyResources(this.label48, "label48");
+            this.label48.Name = "label48";
+            // 
+            // BUT_levelplane
+            // 
+            resources.ApplyResources(this.BUT_levelplane, "BUT_levelplane");
+            this.BUT_levelplane.Name = "BUT_levelplane";
+            this.BUT_levelplane.UseVisualStyleBackColor = true;
+            this.BUT_levelplane.Click += new System.EventHandler(this.BUT_levelplane_Click);
+            // 
             // tabArducopter
             // 
             this.tabArducopter.Controls.Add(this.label28);
@@ -1595,12 +1620,12 @@
             // 
             resources.ApplyResources(this, "$this");
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.Controls.Add(this.tabControl1);
+            this.Controls.Add(this.Tabs);
             this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.SizableToolWindow;
             this.Name = "Setup";
             this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Setup_FormClosing);
             this.Load += new System.EventHandler(this.Setup_Load);
-            this.tabControl1.ResumeLayout(false);
+            this.Tabs.ResumeLayout(false);
             this.tabRadioIn.ResumeLayout(false);
             this.tabRadioIn.PerformLayout();
             this.groupBoxElevons.ResumeLayout(false);
@@ -1619,6 +1644,8 @@
             this.groupBox4.ResumeLayout(false);
             this.groupBox4.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox5)).EndInit();
+            this.tabArduplane.ResumeLayout(false);
+            this.tabArduplane.PerformLayout();
             this.tabArducopter.ResumeLayout(false);
             this.tabArducopter.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuadX)).EndInit();
@@ -1644,7 +1671,7 @@
 
         #endregion
 
-        private System.Windows.Forms.TabControl tabControl1;
+        private System.Windows.Forms.TabControl Tabs;
         private System.Windows.Forms.TabPage tabRadioIn;
         private HorizontalProgressBar2 BAR8;
         private HorizontalProgressBar2 BAR7;
@@ -1794,6 +1821,9 @@
         private System.Windows.Forms.RadioButton H1_ENABLE;
         private System.Windows.Forms.RadioButton CCPM;
         private MyButton BUT_MagCalibration;
+        private System.Windows.Forms.TabPage tabArduplane;
+        private System.Windows.Forms.Label label48;
+        private MyButton BUT_levelplane;
 
     }
 }

Tools/ArdupilotMegaPlanner/Setup/Setup.cs

@@ -100,7 +100,7 @@ namespace ArdupilotMega.Setup
 
             fmodelist[no].BackColor = Color.Green;
 
-            if (tabControl1.SelectedTab == tabHeli)
+            if (Tabs.SelectedTab == tabHeli)
             {
                 if (MainV2.comPort.param["HSV_MAN"] == null || MainV2.comPort.param["HSV_MAN"].ToString() == "0")
                     return;
@@ -312,7 +312,7 @@ namespace ArdupilotMega.Setup
             int monosux = 0;
             monosux *= 5;
 
-            if (tabControl1.SelectedTab == tabRadioIn)
+            if (Tabs.SelectedTab == tabRadioIn)
             {
                 startup = true;
 
@@ -340,7 +340,7 @@ namespace ArdupilotMega.Setup
                 startup = false;
             }
 
-            if (tabControl1.SelectedTab == tabModes)
+            if (Tabs.SelectedTab == tabModes)
             {
                 if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) // APM
                 {
@@ -416,7 +416,7 @@ namespace ArdupilotMega.Setup
                 }
             }
 
-            if (tabControl1.SelectedTab == tabHardware)
+            if (Tabs.SelectedTab == tabHardware)
             {
                 startup = true;
 
@@ -442,7 +442,7 @@ namespace ArdupilotMega.Setup
                 startup = false;
             }
 
-            if (tabControl1.SelectedTab == tabBattery)
+            if (Tabs.SelectedTab == tabBattery)
             {
                 startup = true;
                 bool not_supported = false;
@@ -501,7 +501,7 @@ namespace ArdupilotMega.Setup
                 startup = false;
             }
 
-            if (tabControl1.SelectedTab == tabArducopter)
+            if (Tabs.SelectedTab == tabArducopter)
             {
                 if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
                 {
@@ -510,7 +510,7 @@ namespace ArdupilotMega.Setup
                 }
             }
 
-            if (tabControl1.SelectedTab == tabHeli)
+            if (Tabs.SelectedTab == tabHeli)
             {
                 if (MainV2.comPort.param["GYR_ENABLE"] == null)
                 {
@@ -1437,7 +1437,7 @@ namespace ArdupilotMega.Setup
             timer.Stop();
             timer.Dispose();
 
-            tabControl1.SelectedIndex = 0;
+            Tabs.SelectedIndex = 0;
 
             // mono runs validation on all controls on exit. try and skip it
             startup = true;
@@ -1697,7 +1697,34 @@ namespace ArdupilotMega.Setup
             }
             else
             {
-                MagCalib.ProcessLog();
+                string minthro = "30";
+                Common.InputBox("Min Throttle", "Use only data above this throttle percent.", ref minthro);
+
+                int ans = 0;
+                int.TryParse(minthro, out ans);
+
+                MagCalib.ProcessLog(ans);
+            }
+        }
+
+        private void BUT_levelplane_Click(object sender, EventArgs e)
+        {
+            try
+            {
+                MainV2.comPort.setParam("MANUAL_LEVEL",1);
+
+#if MAVLINK10
+                int fixme; // needs to be accel only
+                MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,1,1,1,1,1,1);
+#else
+                MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
+#endif
+
+                BUT_levelac2.Text = "Complete";
+            }
+            catch
+            {
+                CustomMessageBox.Show("Failed to level : AP 2.32+ is required");
             }
         }
     }

Tools/ArdupilotMegaPlanner/ThemeManager.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Drawing;
 using System.Windows.Forms;
+using ArdupilotMega.Controls.BackstageView;
 using log4net;
 
 namespace ArdupilotMega
@@ -225,6 +226,18 @@ namespace ArdupilotMega
                     LNK.VisitedLinkColor = TextColor;
 
                 }
+                else if (ctl.GetType() == typeof(BackstageView))
+                {
+                    var bsv = ctl as BackstageView;
+
+                    bsv.BackColor = BGColor;
+                    bsv.ButtonsAreaBgColor = ControlBGColor;
+                    bsv.HighlightColor2 = Color.FromArgb(0x94, 0xc1, 0x1f);
+                    bsv.HighlightColor1 = Color.FromArgb(0x40, 0x57, 0x04);
+                    bsv.SelectedTextColor = Color.White;
+                    bsv.UnSelectedTextColor = Color.Gray;
+                    bsv.ButtonsAreaPencilColor = Color.DarkGray;
+                }
                 else if (ctl.GetType() == typeof(HorizontalProgressBar2) || ctl.GetType() == typeof(VerticalProgressBar2))
                 {
                     ((HorizontalProgressBar2)ctl).BackgroundColor = ControlBGColor;