APM Planner 1.1.85

work on opengltest
fix last missing param
fix com port selection on connecting to bad comport
add convert to csv. entire log
add log caching to image georef. for tlog and logs
add srtm data caching

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -174,10 +174,6 @@
       <SpecificVersion>False</SpecificVersion>
       <HintPath>Lib\OpenTK.dll</HintPath>
     </Reference>
-    <Reference Include="OpenTK.Compatibility, Version=1.0.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
-      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\..\..\..\Desktop\DIYDrones\opentk\trunk\Binaries\OpenTK\Debug\OpenTK.Compatibility.dll</HintPath>
-    </Reference>
     <Reference Include="OpenTK.GLControl, Version=1.0.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>
     </Reference>

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj.user

@@ -11,6 +11,6 @@
     <UpdateUrlHistory />
   </PropertyGroup>
   <PropertyGroup>
-    <ReferencePath>C:\Users\hog\Documents\Visual Studio 2010\Projects\ArdupilotMega\ArdupilotMega\Lib\;C:\Users\hog\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\;C:\Users\hog\Desktop\DIYDrones\myquad\sharpkml\SharpKml\bin\Release\;C:\Users\hog\Desktop\DIYDrones\myquad\MetaDataExtractorCSharp240d\bin\Release\</ReferencePath>
+    <ReferencePath>C:\Users\hog\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\;C:\Users\hog\Documents\Visual Studio 2010\Projects\ArdupilotMega\ArdupilotMega\Lib\;C:\Users\hog\Desktop\DIYDrones\myquad\sharpkml\SharpKml\bin\Release\;C:\Users\hog\Desktop\DIYDrones\myquad\MetaDataExtractorCSharp240d\bin\Release\</ReferencePath>
   </PropertyGroup>
 </Project>

Tools/ArdupilotMegaPlanner/Common.cs

@@ -304,6 +304,11 @@ namespace ArdupilotMega
             return (int)((Lat + Lng + Alt) * 100);
         }
 
+        public override string ToString()
+        {
+            return Lat + "," + Lng + "," + Alt;
+        }
+
         /// <summary>
         /// Calc Distance in M
         /// </summary>

Tools/ArdupilotMegaPlanner/Controls/OpenGLtest.cs

@@ -6,28 +6,119 @@ using OpenTK;
 using OpenTK.Graphics.OpenGL;
 using System.Drawing.Imaging;
 using System.Drawing;
+using GMap.NET;
+using GMap.NET.WindowsForms;
 
 namespace ArdupilotMega.Controls
 {
     public class OpenGLtest : GLControl
     {
-        int fixme;
+        public static OpenGLtest instance;
+
+        // terrain image
         Bitmap _terrain = new Bitmap(640,480);
+        int texture = 0;
+
+        float _angle = 0;
+        double cameraX, cameraY, cameraZ;       // camera coordinates
+        double lookX, lookY, lookZ;             // camera look-at coordinates
+
+        double step = 1 / 1200.0;
+
+        RectLatLng area = new RectLatLng(-35.04286,117.84262,0.1,0.1);
+
+        double _alt = 0;
+        public PointLatLngAlt LocationCenter { 
+            get { 
+                return new PointLatLngAlt(area.LocationMiddle.Lat, area.LocationMiddle.Lng,_alt,"");
+            }
+            set {
+
+                if (area.LocationMiddle.Lat == value.Lat && area.LocationMiddle.Lng == value.Lng)
+                    return;
+
+                if (value.Lat == 0 && value.Lng == 0)
+                    return;
+
+                _alt = value.Alt;
+                area = new RectLatLng(value.Lat + 0.15, value.Lng - 0.15, 0.3, 0.3);
+               // Console.WriteLine(area.LocationMiddle + " " + value.ToString());
+                this.Invalidate();
+            } 
+        }
+
+        public Vector3 rpy = new Vector3();
 
         public OpenGLtest()
         {
+            instance = this;
+
             InitializeComponent();
 
+            GL.GenTextures(1, out texture);
+        }
+
+        void getImage()
+        {
+            MapType type = MapType.GoogleSatellite;
+            PureProjection prj = null;
+            int maxZoom;
+
+            GMaps.Instance.AdjustProjection(type, ref prj, out maxZoom);
+          int zoom = 11; // 12
+            if (!area.IsEmpty)
+            {
                 try
                 {
-                _terrain = new Bitmap(@"C:\Users\hog\Pictures\Denmark\[Group 1]-P1020169_P1020174-6 images.jpg");
+                    List<GPoint> tileArea = prj.GetAreaTileList(area, zoom, 0);
+                    //string bigImage = zoom + "-" + type + "-vilnius.png";
+
+                    //Console.WriteLine("Preparing: " + bigImage);
+                    //Console.WriteLine("Zoom: " + zoom);
+                    //Console.WriteLine("Type: " + type.ToString());
+                    //Console.WriteLine("Area: " + area);
+
+                    var types = GMaps.Instance.GetAllLayersOfType(type);
+
+                    // current area
+                    GPoint topLeftPx = prj.FromLatLngToPixel(area.LocationTopLeft, zoom);
+                    GPoint rightButtomPx = prj.FromLatLngToPixel(area.Bottom, area.Right, zoom);
+                    GPoint pxDelta = new GPoint(rightButtomPx.X - topLeftPx.X, rightButtomPx.Y - topLeftPx.Y);
+
+                    int padding = 0;
+                    {
+                        using (Bitmap bmpDestination = new Bitmap(pxDelta.X + padding * 2, pxDelta.Y + padding * 2))
+                        {
+                            using (Graphics gfx = Graphics.FromImage(bmpDestination))
+                            {
+                                gfx.CompositingMode = System.Drawing.Drawing2D.CompositingMode.SourceOver;
+
+                                // get tiles & combine into one
+                                foreach (var p in tileArea)
+                                {
+                                   //Console.WriteLine("Downloading[" + p + "]: " + tileArea.IndexOf(p) + " of " + tileArea.Count);
+
+                                    foreach (MapType tp in types)
+                                    {
+                                        Exception ex;
+                                        WindowsFormsImage tile = GMaps.Instance.GetImageFrom(tp, p, zoom, out ex) as WindowsFormsImage;
+                                        if (tile != null)
+                                        {
+                                            using (tile)
+                                            {
+                                                int x = p.X * prj.TileSize.Width - topLeftPx.X + padding;
+                                                int y = p.Y * prj.TileSize.Width - topLeftPx.Y + padding;
+                                                {
+                                                    gfx.DrawImage(tile.Img, x, y, prj.TileSize.Width, prj.TileSize.Height);
                                                 }
-            catch {  }
+                                            }
-
+                                        }
-            _terrain = new Bitmap(_terrain, 512, 512);
+                                    }
+                                }
+                            }
+                            _terrain = new Bitmap(bmpDestination, 512, 512);
 
 
-            GL.GenTextures(1, out texture);
                             GL.BindTexture(TextureTarget.Texture2D, texture);
 
                             BitmapData data = _terrain.LockBits(new System.Drawing.Rectangle(0, 0, _terrain.Width, _terrain.Height),
@@ -43,38 +134,17 @@ namespace ArdupilotMega.Controls
                             GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMinFilter, (int)TextureMinFilter.Linear);
                             GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMagFilter, (int)TextureMagFilter.Linear);
 
+
+                        }
+                    }
+                }
+                catch { }
+            }
         }
 
         const float rad2deg = (float)(180 / Math.PI);
         const float deg2rad = (float)(1.0 / rad2deg);
 
-        int[,] getElevationData(double lat, double lng, double direction)
-        {
-            int[,] answer = new int[400,400];
-
-            double step = 0.00083333333333333;
-
-            for (int y = 0; y < answer.GetLength(0) - 1; y++)
-            {
-                Console.WriteLine(y);
-                for (int x = 0; x < answer.GetLength(1) - 1; x++)
-                {
-                    double mlat = lat + step * (float)y + Math.Sin(direction * deg2rad) * step * (float)y;
-                    double mlng = lng + step * (float)x + Math.Cos(direction * deg2rad) * step * (float)x;
-
-                  //  Console.WriteLine(mlat + " "+mlng);
-
-                    int alt = srtm.getAltitude(mlat, mlng, 20);
-                    answer[x,y] = alt;
-                }
-            }
-
-            return answer;
-        }
-
-        int texture = 0;
-        private System.ComponentModel.IContainer components;
-
         public Vector3 Normal(Vector3 a, Vector3 b, Vector3 c)
         {
                 var dir = Vector3.Cross(b - a, c - a);
@@ -82,17 +152,20 @@ namespace ArdupilotMega.Controls
                 return norm;
         }
 
-        float _angle = 0;
-        double cameraX, cameraY, cameraZ;       // camera coordinates
-        double lookX, lookY, lookZ;             // camera look-at coordinates
-
 
         protected override void OnPaint(System.Windows.Forms.PaintEventArgs e)
         {
             if (this.DesignMode)
                 return;
 
-            _angle+=1;
+            if (area.LocationMiddle.Lat == 0 && area.LocationMiddle.Lng == 0)
+                return;
+
+            _angle+=1f;
+
+           // area.LocationTopLeft = new PointLatLng(area.LocationTopLeft.Lat + 0.0001,area.LocationTopLeft.Lng);
+
+            //area.Size = new SizeLatLng(0.1, 0.1);
 
             try
             {
@@ -101,64 +174,126 @@ namespace ArdupilotMega.Controls
             }
             catch { return;  }
 
+            double heightscale = (step / 90.0) * 4;
+
             float scale = 1.0f;
 
-             float radians =  (float)(Math.PI*(_angle-90.0f)/180.0f);
+            float radians = (float)(Math.PI * (rpy.Z * -1) / 180.0f);
 
-            int mouseY = (int)(900 * scale);
+             //radians = 0;
 
-      // calculate the camera's position
+            float mouseY = (float)(0.1 * scale);
-      cameraX = lookX + Math.Sin(radians)*mouseY;     // multiplying by mouseY makes the
-      cameraZ = lookZ + Math.Cos(radians)*mouseY;    // camera get closer/farther away with mouseY
-      cameraY = lookY + mouseY / 2.0f;
  
-      // calculate the camera look-at coordinates as the center of the terrain map
+      cameraX = area.LocationMiddle.Lng;     // multiplying by mouseY makes the
-      lookX = (_terrain.Width * scale) / 2.0f;
+      cameraZ = area.LocationMiddle.Lat;    // camera get closer/farther away with mouseY
-      lookY = 0 * scale;
+      cameraY = (LocationCenter.Alt < srtm.getAltitude(cameraZ, cameraX, 20)) ? (srtm.getAltitude(cameraZ, cameraX, 20)+ 0.2) * heightscale : LocationCenter.Alt * heightscale;// (srtm.getAltitude(lookZ, lookX, 20) + 100) * heighscale;
-      lookZ = (_terrain.Height * scale) / 2.0f;
 
 
+      lookX = area.LocationMiddle.Lng + Math.Sin(radians) * mouseY; ;
+      lookY = cameraY;
+      lookZ = area.LocationMiddle.Lat + Math.Cos(radians) * mouseY; ;
+
 
             MakeCurrent();
 
-            GL.ClearColor(Color.Green);
+
+            GL.MatrixMode(MatrixMode.Projection);
+
+            OpenTK.Matrix4 projection = OpenTK.Matrix4.CreatePerspectiveFieldOfView(60 * deg2rad, 1f, 0.00001f, 5000.0f);
+            GL.LoadMatrix(ref projection);
+
+            Matrix4 modelview = Matrix4.LookAt((float)cameraX, (float)cameraY, (float)cameraZ, (float)lookX, (float)lookY, (float)lookZ, 0,1,0);
+            GL.MatrixMode(MatrixMode.Modelview);
+
+            // roll
+            modelview = Matrix4.Mult(modelview,Matrix4.CreateRotationZ (rpy.X * deg2rad));
+            // pitch
+            modelview = Matrix4.Mult(modelview, Matrix4.CreateRotationX(rpy.Y * -deg2rad));
+
+            GL.LoadMatrix(ref modelview);
+
+            GL.ClearColor(Color.Blue);
 
             GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
-            GL.LoadIdentity();
 
-            OpenTK.Graphics.Glu.LookAt(cameraX, cameraY, cameraZ, lookX, lookY, lookZ, 0.0, 1.0, 0.0);
+            GL.LightModel(LightModelParameter.LightModelAmbient,new float[] {1f,1f,1f,1f});
 
             GL.Enable(EnableCap.Texture2D);
             GL.BindTexture(TextureTarget.Texture2D, texture);
+            /*
+            GL.Begin(BeginMode.LineStrip);
 
-            double mlat = -34.73306;
+            GL.Color3(Color.White);
-            double mlng = 117.8864897;
+            GL.Vertex3(0, 0, 0);
-            double step = 0.00083333333333333;
 
-            int increment =50;
+            GL.Vertex3(area.Bottom, 0, area.Left);
 
-            for (int z = 0; z < _terrain.Height - 1; z += increment)
+            GL.Vertex3(lookX, lookY, lookZ);
+
+            //GL.Vertex3(cameraX, cameraY, cameraZ);
+
+            GL.End();
+            */
+            System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
+
+            sw.Start();
+
+            getImage();
+
+            sw.Stop();
+
+            Console.WriteLine("img " +sw.ElapsedMilliseconds);
+
+            sw.Start();
+
+           double increment = step * 1;
+
+            double cleanup = area.Bottom % increment;
+            double cleanup2 = area.Left % increment;
+
+            for (double z = (area.Bottom - cleanup); z < area.Top - step; z += increment)
             {
                 //Makes OpenGL draw a triangle at every three consecutive vertices
                 GL.Begin(BeginMode.TriangleStrip);
-                for (int x = 0; x < _terrain.Width - 1; x += increment)
+                for (double x = (area.Left - cleanup2); x < area.Right - step; x += increment)
                 {
+                    int heightl = srtm.getAltitude(z, area.Right + area.Left - x, 20);
 
-                   // Console.WriteLine(mlat + step * z +" "+ mlng + step * x);
+                 //   Console.WriteLine(x + " " + z);
 
-                    int heightl = srtm.getAltitude(mlat + step * z, mlng + step * x, 20);
+                    GL.Color3(Color.White);
 
-                    //GL.Color3(_terrain.GetPixel(x, z));
+
-                    GL.TexCoord2((x / (float)_terrain.Width),  (z / (float)_terrain.Height));
+                   // int heightl = 0;
-                    GL.Vertex3(x * scale, heightl, z * scale); //  _terrain.GetPixel(x, z).R
+
+                    double scale2 = (Math.Abs(x - area.Left) / area.WidthLng);// / (float)_terrain.Width;
+
+                    double scale3 = (Math.Abs(z - area.Bottom) / area.HeightLat);// / (float)_terrain.Height;
+
+                    double imgx = 1 - scale2;
+                    double imgy = 1 - scale3;
+                   // GL.Color3(Color.Red);
+
+                    //GL.Color3(_terrain.GetPixel(imgx, imgy));
+                    GL.TexCoord2(imgx,imgy);
+                    GL.Vertex3(x, heightl * heightscale, z); //  _terrain.GetPixel(x, z).R
             
                     try
                     {
-                        heightl = srtm.getAltitude(mlat + step * (z + increment), mlng + step * (x), 20);
+                        heightl = srtm.getAltitude(z + increment, area.Right + area.Left - x, 20);
 
-                        //GL.Color3(_terrain.GetPixel(x, z + increment));
+                        //scale2 = (Math.Abs(x - area.Left) / area.WidthLng) * (float)_terrain.Width;
-                        GL.TexCoord2((x / (float)_terrain.Width),  ((z + increment) / (float)_terrain.Height));
+
-                        GL.Vertex3(x * scale, heightl, z + increment * scale);
+                        scale3 = (Math.Abs(((z + increment) - area.Bottom)) / area.HeightLat);// / (float)_terrain.Height;
+
+                        imgx = 1- scale2;
+                        imgy = 1 - scale3;
+                       // GL.Color3(Color.Green);
+                       //GL.Color3(_terrain.GetPixel(imgx, imgy));
+                        GL.TexCoord2(imgx,imgy);
+                        GL.Vertex3(x, heightl * heightscale, z + increment);
+
+                      //  Console.WriteLine(x + " " + (z + step));
                     }
                     catch { break; }
                     
@@ -175,6 +310,10 @@ namespace ArdupilotMega.Controls
             GL.Flush();
 
 
+            sw.Stop();
+
+            Console.WriteLine("GL  "+sw.ElapsedMilliseconds);
+
             this.SwapBuffers();
 
             //this.Invalidate();
@@ -198,7 +337,7 @@ namespace ArdupilotMega.Controls
         {
             GL.Enable(EnableCap.DepthTest);
            // GL.Enable(EnableCap.Light0);
-          //  GL.Enable(EnableCap.Lighting);
+            GL.Enable(EnableCap.Lighting);
             GL.Enable(EnableCap.ColorMaterial);
             GL.Enable(EnableCap.Normalize);
 
@@ -213,16 +352,11 @@ namespace ArdupilotMega.Controls
 
         private void test_Resize(object sender, EventArgs e)
         {
+            MakeCurrent();
+
             GL.Viewport(0, 0, this.Width, this.Height);
-            GL.MatrixMode(MatrixMode.Projection);
-            GL.LoadIdentity();
-            if (Height == 0)
-                Height = 1;
 
-            OpenTK.Graphics.Glu.Perspective(54.0f, this.Width / this.Height, 1.0f, 5000.0f);
+            this.Invalidate();
-
-            GL.MatrixMode(MatrixMode.Modelview);
-            GL.LoadIdentity();
         }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -382,6 +382,12 @@ namespace ArdupilotMega.GCSViews
                     updateBindingSource();
                     //Console.WriteLine(DateTime.Now.Millisecond + " done ");
 
+                    if (ArdupilotMega.Controls.OpenGLtest.instance != null)
+                    {
+                        ArdupilotMega.Controls.OpenGLtest.instance.rpy = new OpenTK.Vector3(MainV2.cs.roll,MainV2.cs.pitch,MainV2.cs.yaw);
+                        ArdupilotMega.Controls.OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.cs.lat,MainV2.cs.lng,MainV2.cs.alt,"here");
+                    }
+
                     if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked == true)
                     {
 

Tools/ArdupilotMegaPlanner/MAVLink.cs

@@ -699,7 +699,7 @@ namespace ArdupilotMega
                         mavlink_param_value_t par = buffer.ByteArrayToStructure<mavlink_param_value_t>(6);
 
                         // set new target
-                        param_total = (par.param_count - 1);
+                        param_total = (par.param_count);
 
 
                         string paramID = System.Text.ASCIIEncoding.ASCII.GetString(par.param_id);
@@ -718,7 +718,7 @@ namespace ArdupilotMega
                             continue;
                         }
 
-                        log.Info(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (par.param_count - 2) + " name: " + paramID);
+                        log.Info(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (par.param_count) + " name: " + paramID);
 
                         modifyParamForDisplay(true, paramID, ref par.param_value);
                         param[paramID] = (par.param_value);
@@ -1524,7 +1524,7 @@ namespace ArdupilotMega
         /// </summary>
         /// <param name="datin">packet byte array</param>
         /// <returns>struct of data</returns>
-        public object DebugPacket(byte[] datin, ref string text, bool PrintToConsole)
+        public object DebugPacket(byte[] datin, ref string text, bool PrintToConsole, string delimeter = " ")
         {
             string textoutput;
             try
@@ -1538,7 +1538,7 @@ namespace ArdupilotMega
                     byte compid = datin[4];
                     byte messid = datin[5];
 
-                    textoutput = string.Format("{0:X} {1:X} {2:X} {3:X} {4:X} {5:X} ", header, length, seq, sysid, compid, messid);
+                    textoutput = string.Format("{0:X}{6}{1:X}{6}{2:X}{6}{3:X}{6}{4:X}{6}{5:X}{6}", header, length, seq, sysid, compid, messid, delimeter);
 
                     object data = Activator.CreateInstance(MAVLINK_MESSAGE_INFO[messid]);
 
@@ -1549,7 +1549,7 @@ namespace ArdupilotMega
                     if (PrintToConsole)
                     {
 
-                        textoutput = textoutput + test.Name + " ";
+                        textoutput = textoutput + test.Name + delimeter;
 
                         foreach (var field in test.GetFields())
                         {
@@ -1559,7 +1559,7 @@ namespace ArdupilotMega
 
                             if (field.FieldType.IsArray)
                             {
-                                textoutput = textoutput + field.Name + "=";
+                                textoutput = textoutput + field.Name + delimeter;
                                 byte[] crap = (byte[])fieldValue;
                                 foreach (byte fiel in crap)
                                 {
@@ -1572,14 +1572,14 @@ namespace ArdupilotMega
                                         textoutput = textoutput + (char)fiel;
                                     }
                                 }
-                                textoutput = textoutput + " ";
+                                textoutput = textoutput + delimeter;
                             }
                             else
                             {
-                                textoutput = textoutput + field.Name + "=" + fieldValue.ToString() + " ";
+                                textoutput = textoutput + field.Name + delimeter + fieldValue.ToString() + delimeter;
                             }
                         }
-                        textoutput = textoutput + " Len:" + datin.Length + "\r\n";
+                        textoutput = textoutput + delimeter + "Len" + delimeter + datin.Length + "\r\n";
                         if (PrintToConsole)
                             Console.Write(textoutput);
 

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -712,6 +712,8 @@ namespace ArdupilotMega
                     log.Warn(ex.ToString());
                     try
                     {
+                        _connectionControl.IsConnected(false);
+                        UpdateConnectIcon();
                         comPort.Close();
                     }
                     catch { }

Tools/ArdupilotMegaPlanner/MavlinkLog.Designer.cs

@@ -34,6 +34,7 @@
             this.BUT_humanreadable = new ArdupilotMega.Controls.MyButton();
             this.BUT_graphmavlog = new ArdupilotMega.Controls.MyButton();
             this.zg1 = new ZedGraph.ZedGraphControl();
+            this.BUT_convertcsv = new ArdupilotMega.Controls.MyButton();
             this.SuspendLayout();
             // 
             // BUT_redokml
@@ -74,10 +75,18 @@
             this.zg1.ScrollMinY = 0D;
             this.zg1.ScrollMinY2 = 0D;
             // 
+            // BUT_convertcsv
+            // 
+            resources.ApplyResources(this.BUT_convertcsv, "BUT_convertcsv");
+            this.BUT_convertcsv.Name = "BUT_convertcsv";
+            this.BUT_convertcsv.UseVisualStyleBackColor = true;
+            this.BUT_convertcsv.Click += new System.EventHandler(this.BUT_convertcsv_Click);
+            // 
             // MavlinkLog
             // 
             resources.ApplyResources(this, "$this");
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.BUT_convertcsv);
             this.Controls.Add(this.zg1);
             this.Controls.Add(this.BUT_graphmavlog);
             this.Controls.Add(this.BUT_humanreadable);
@@ -96,5 +105,6 @@
         private ArdupilotMega.Controls.MyButton BUT_humanreadable;
         private ArdupilotMega.Controls.MyButton BUT_graphmavlog;
         private ZedGraph.ZedGraphControl zg1;
+        private Controls.MyButton BUT_convertcsv;
     }
 }

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -1154,5 +1154,58 @@ namespace ArdupilotMega
 
             return selectform;
         }
+
+        private void BUT_convertcsv_Click(object sender, EventArgs e)
+        {
+            OpenFileDialog openFileDialog1 = new OpenFileDialog();
+            openFileDialog1.Filter = "*.tlog|*.tlog";
+            openFileDialog1.FilterIndex = 2;
+            openFileDialog1.RestoreDirectory = true;
+            openFileDialog1.Multiselect = true;
+            try
+            {
+                openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
+            }
+            catch { } // incase dir doesnt exist
+
+            if (openFileDialog1.ShowDialog() == DialogResult.OK)
+            {
+                foreach (string logfile in openFileDialog1.FileNames)
+                {
+
+                    MAVLink mine = new MAVLink();
+                    mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
+                    mine.logreadmode = true;
+
+                    mine.packets.Initialize(); // clear
+
+                    StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile) + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".csv");
+
+                    while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
+                    {
+                        // bar moves to 100 % in this step
+                        progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 1.0f);
+
+                        progressBar1.Refresh();
+                        //Application.DoEvents();
+
+                        byte[] packet = mine.readPacket();
+                        string text = "";
+                        mine.DebugPacket(packet, ref text,true,",");
+
+                        sw.Write(mine.lastlogread + "," + text);
+                    }
+
+                    sw.Close();
+
+                    progressBar1.Value = 100;
+
+                    mine.logreadmode = false;
+                    mine.logplaybackfile.Close();
+                    mine.logplaybackfile = null;
+
+                }
+            }
+        }
     }
 }

Tools/ArdupilotMegaPlanner/MavlinkLog.resx

@@ -123,7 +123,7 @@
   </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="BUT_redokml.Location" type="System.Drawing.Point, System.Drawing">
-    <value>143, 12</value>
+    <value>93, 12</value>
   </data>
   <data name="BUT_redokml.Size" type="System.Drawing.Size, System.Drawing">
     <value>116, 23</value>
@@ -139,13 +139,13 @@
     <value>BUT_redokml</value>
   </data>
   <data name="&gt;&gt;BUT_redokml.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4515.21878, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_redokml.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_redokml.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
   </data>
   <data name="progressBar1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Left, Right</value>
@@ -169,7 +169,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;progressBar1.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
   </data>
   <data name="BUT_humanreadable.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top</value>
@@ -178,7 +178,7 @@
     <value>NoControl</value>
   </data>
   <data name="BUT_humanreadable.Location" type="System.Drawing.Point, System.Drawing">
-    <value>265, 12</value>
+    <value>215, 12</value>
   </data>
   <data name="BUT_humanreadable.Size" type="System.Drawing.Size, System.Drawing">
     <value>116, 23</value>
@@ -193,13 +193,13 @@
     <value>BUT_humanreadable</value>
   </data>
   <data name="&gt;&gt;BUT_humanreadable.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4515.21878, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_humanreadable.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_humanreadable.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="BUT_graphmavlog.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top</value>
@@ -208,7 +208,7 @@
     <value>NoControl</value>
   </data>
   <data name="BUT_graphmavlog.Location" type="System.Drawing.Point, System.Drawing">
-    <value>387, 12</value>
+    <value>459, 12</value>
   </data>
   <data name="BUT_graphmavlog.Size" type="System.Drawing.Size, System.Drawing">
     <value>116, 23</value>
@@ -223,13 +223,13 @@
     <value>BUT_graphmavlog</value>
   </data>
   <data name="&gt;&gt;BUT_graphmavlog.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4515.21878, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_graphmavlog.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_graphmavlog.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="zg1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Bottom, Left, Right</value>
@@ -253,6 +253,36 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;zg1.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="BUT_convertcsv.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Top</value>
+  </data>
+  <data name="BUT_convertcsv.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_convertcsv.Location" type="System.Drawing.Point, System.Drawing">
+    <value>337, 12</value>
+  </data>
+  <data name="BUT_convertcsv.Size" type="System.Drawing.Size, System.Drawing">
+    <value>116, 23</value>
+  </data>
+  <data name="BUT_convertcsv.TabIndex" type="System.Int32, mscorlib">
+    <value>13</value>
+  </data>
+  <data name="BUT_convertcsv.Text" xml:space="preserve">
+    <value>Convert to CSV</value>
+  </data>
+  <data name="&gt;&gt;BUT_convertcsv.Name" xml:space="preserve">
+    <value>BUT_convertcsv</value>
+  </data>
+  <data name="&gt;&gt;BUT_convertcsv.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner, Version=1.1.4515.21878, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;BUT_convertcsv.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;BUT_convertcsv.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
   <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">

Tools/ArdupilotMegaPlanner/Program.cs

@@ -41,6 +41,10 @@ namespace ArdupilotMega
 
             //Common.linearRegression();
 
+            //Console.WriteLine(srtm.getAltitude(-35.115676879882812, 117.94178754638671,20));
+
+            //return;
+
             if (System.Diagnostics.Debugger.IsAttached)
             {
                 // testing

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.1.*")]
-[assembly: AssemblyFileVersion("1.1.84")]
+[assembly: AssemblyFileVersion("1.1.85")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/georefimage.cs

@@ -53,6 +53,8 @@ namespace ArdupilotMega
         Hashtable timecoordcache = new Hashtable();
         Hashtable imagetotime = new Hashtable();
 
+        List<string[]> logcache = new List<string[]>();
+
         DateTime getPhotoTime(string fn)
         {
             DateTime dtaken = DateTime.MinValue;
@@ -120,6 +122,9 @@ namespace ArdupilotMega
 
         List<string[]> readLog(string fn)
         {
+            if (logcache.Count > 0)
+                return logcache;
+
             List<string[]> list = new List<string[]>();
 
             if (fn.ToLower().EndsWith("tlog"))
@@ -146,7 +151,7 @@ namespace ArdupilotMega
                     //		line	"GPS: 82686250, 1, 8, -34.1406480, 118.5441900, 0.0000, 309.1900, 315.9500, 0.0000, 279.1200"	string
 
 
-                    string[] vals = new string[] { "GPS", (cs.datetime - new DateTime(cs.datetime.Year,cs.datetime.Month,cs.datetime.Day,0,0,0,DateTimeKind.Local)).TotalMilliseconds.ToString(), "1",
+                    string[] vals = new string[] { "GPS", (cs.datetime.ToUniversalTime() - new DateTime(cs.datetime.Year,cs.datetime.Month,cs.datetime.Day,0,0,0,DateTimeKind.Utc)).TotalMilliseconds.ToString(), "1",
                     cs.satcount.ToString(),cs.lat.ToString(),cs.lng.ToString(),"0.0",cs.alt.ToString(),cs.alt.ToString(),cs.groundspeed.ToString(),cs.yaw.ToString()};
 
                     if (oldvalues.Length > 2 && oldvalues[latpos] == vals[latpos]
@@ -164,6 +169,8 @@ namespace ArdupilotMega
 
                 mine.logplaybackfile.Close();
 
+                logcache = list;
+
                 return list;
             }
 
@@ -191,6 +198,8 @@ namespace ArdupilotMega
             sr.Close();
             sr.Dispose();
 
+            logcache = list;
+
             return list;
         }
 
@@ -452,6 +461,7 @@ namespace ArdupilotMega
             this.TXT_logfile.Size = new System.Drawing.Size(317, 20);
             this.TXT_logfile.TabIndex = 2;
             this.TXT_logfile.Text = "C:\\Users\\hog\\Pictures\\farm 1-10-2011\\100SSCAM\\2011-10-01 11-48 1.log";
+            this.TXT_logfile.TextChanged += new System.EventHandler(this.TXT_logfile_TextChanged);
             // 
             // TXT_jpgdir
             // 
@@ -681,6 +691,8 @@ namespace ArdupilotMega
 
         private void BUT_browselog_Click(object sender, EventArgs e)
         {
+            logcache.Clear();
+
             openFileDialog1.Filter = "Logs|*.log;*.tlog";
             openFileDialog1.ShowDialog();
 
@@ -830,6 +842,11 @@ namespace ArdupilotMega
         {
             System.Diagnostics.Process.Start(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "m3u" + Path.DirectorySeparatorChar + "GeoRefnetworklink.kml");
         }
+
+        private void TXT_logfile_TextChanged(object sender, EventArgs e)
+        {
+            logcache.Clear();
+        }
     }
 
     public class Rational

Tools/ArdupilotMegaPlanner/srtm.cs

@@ -13,7 +13,7 @@ namespace ArdupilotMega
 {
     class srtm
     {
-        public static string datadirectory;
+        public static string datadirectory = "./srtm/";
 
         static List<string> allhgts = new List<string>();
 
@@ -23,23 +23,20 @@ namespace ArdupilotMega
 
         static List<string> queue = new List<string>();
 
-        static Hashtable altcache = new Hashtable();
+        static Hashtable fnamecache = new Hashtable();
+
+        static Hashtable filecache = new Hashtable();
 
         public static int getAltitude(double lat, double lng, double zoom)
         {
-            if (!Directory.Exists(datadirectory))
-                Directory.CreateDirectory(datadirectory);
-
             short alt = 0;
 
-            lat += 0.00083333333333333;
+            lat += 1 / 1199.0;
-            //lng += 0.0008;
+            //lng -= 1 / 1201f;
 
-            if (altcache[lat * lng] != null)
+            // 		lat	-35.115676879882812	double
-                return (int)(short)altcache[lat * lng];
+            //		lng	117.94178754638671	double
-
+            // 		alt	70	short
-            if (altcache.Count > 10000)
-                altcache = new Hashtable();
 
             int x = (int)Math.Floor(lng);
             int y = (int)Math.Floor(lat);
@@ -56,19 +53,24 @@ namespace ArdupilotMega
             else
                 ew = "W";
 
-            string filename = ns + Math.Abs(y).ToString("00") + ew + Math.Abs(x).ToString("000") + ".hgt";
+            if (fnamecache[y] == null)
+                fnamecache[y] = Math.Abs(y).ToString("00");
+            if (fnamecache[1000 + x] == null)
+                fnamecache[1000 + x] = Math.Abs(x).ToString("000");
 
-            string filename2 = "srtm_" + Math.Round((lng + 2.5 + 180) / 5, 0).ToString("00") + "_" + Math.Round((60 - lat + 2.5) / 5, 0).ToString("00") + ".asc";
+            string filename = ns + fnamecache[y] + ew + fnamecache[1000 + x] + ".hgt";
 
             try
             {
 
-                if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename))
+                if (filecache.ContainsKey(datadirectory + Path.DirectorySeparatorChar + filename) || File.Exists(datadirectory + Path.DirectorySeparatorChar + filename))
                 { // srtm hgt files
-                    FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open, FileAccess.Read, FileShare.Read);
+                    //FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open, FileAccess.Read, FileShare.Read);
 
-                    float posx = 0;
+                    MemoryStream fs = readFile(datadirectory + Path.DirectorySeparatorChar + filename);
-                    float row = 0;
+
+                    int posx = 0;
+                    int row = 0;
 
                     if (fs.Length <= (1201 * 1201 * 2))
                     {
@@ -95,23 +97,20 @@ namespace ArdupilotMega
                     fs.Seek((int)(row + posx), SeekOrigin.Begin);
                     fs.Read(data, 0, data.Length);
 
-                    fs.Close();
+                    //fs.Close();
-                    fs.Dispose();
 
-                    Array.Reverse(data);
+                    //Array.Reverse(data);
 
-                    alt = BitConverter.ToInt16(data, 0);
+                    alt = (short)((data[0] << 8) + data[1]) ;//BitConverter.ToInt16(data, 0);
-
-                    altcache[lat * lng] = alt;
 
                     return alt;
                 }
-                else if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename2))
-                {
-                    // this is way to slow - and cacheing it will chew memory 6001 * 6001 * 4 = 144048004 bytes
-                    FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename2, FileMode.Open, FileAccess.Read);
 
-                    StreamReader sr = new StreamReader(fs);
+                string filename2 = "srtm_" + Math.Round((lng + 2.5 + 180) / 5, 0).ToString("00") + "_" + Math.Round((60 - lat + 2.5) / 5, 0).ToString("00") + ".asc";
+
+                if (File.Exists(datadirectory + Path.DirectorySeparatorChar + filename2))
+                {
+                    StreamReader sr = new StreamReader(readFile(datadirectory + Path.DirectorySeparatorChar + filename2));
 
                     int nox = 0;
                     int noy = 0;
@@ -191,12 +190,17 @@ namespace ArdupilotMega
 
                     }
 
+                    //sr.Close();
+
                     return alt;
                 }
                 else // get something
                 {
                     if (zoom >= 15)
                     {
+                        if (!Directory.Exists(datadirectory))
+                            Directory.CreateDirectory(datadirectory);
+
                         if (requestThread == null)
                         {
                             Console.WriteLine("Getting " + filename);
@@ -227,6 +231,27 @@ namespace ArdupilotMega
             return alt;
         }
 
+        static MemoryStream readFile(string filename)
+        {
+            if (filecache.ContainsKey(filename))
+            {
+                return (MemoryStream)filecache[filename];
+            }
+            else
+            {
+                FileStream fs = new FileStream(filename, FileMode.Open, FileAccess.Read);
+
+                byte[] file = new byte[fs.Length];
+                fs.Read(file, 0, (int)fs.Length);
+
+                filecache[filename] = new MemoryStream(file);
+
+                fs.Close();
+
+                return (MemoryStream)filecache[filename];
+            }
+        }
+
         static void requestRunner()
         {
             while (true)
@@ -252,7 +277,7 @@ namespace ArdupilotMega
                     }
                 }
                 catch { }
-                Thread.Sleep(100);
+                Thread.Sleep(500);
             }
         }
 
@@ -270,7 +295,9 @@ namespace ArdupilotMega
 
             foreach (string item in list)
             {
-                List<string> hgtfiles = getListing(item);
+                List<string> hgtfiles = new List<string>();
+
+                hgtfiles = getListing(item);
 
                 foreach (string hgt in hgtfiles)
                 {
@@ -321,10 +348,30 @@ namespace ArdupilotMega
 
         static List<string> getListing(string url)
         {
+            string name = new Uri(url).AbsolutePath;
+
+            name = Path.GetFileName(name.TrimEnd('/'));
+
             List<string> list = new List<string>();
 
+            if (File.Exists(datadirectory + Path.DirectorySeparatorChar + name))
+            {
+                StreamReader sr = new StreamReader(datadirectory + Path.DirectorySeparatorChar + name);
+
+                while (!sr.EndOfStream)
+                {
+                    list.Add(sr.ReadLine());
+                }
+
+                sr.Close();
+
+                return list;
+            }
+
+
             try
             {
+                StreamWriter sw = new StreamWriter(datadirectory + Path.DirectorySeparatorChar + name);
 
                 WebRequest req = HttpWebRequest.Create(url);
 
@@ -349,6 +396,13 @@ namespace ArdupilotMega
 
                     }
                 }
+
+                list.ForEach(x =>
+                {
+                    sw.WriteLine((string)x);
+                });
+
+                sw.Close();
             }
             catch { }
 

Tools/ArdupilotMegaPlanner/temp.cs

@@ -32,6 +32,15 @@ namespace ArdupilotMega
         public temp()
         {
             InitializeComponent();
+
+            if (System.Diagnostics.Debugger.IsAttached) {
+
+                ArdupilotMega.Controls.OpenGLtest ogl = new Controls.OpenGLtest();
+
+                this.Controls.Add(ogl);
+
+                ogl.Dock = DockStyle.Fill;
+            }
         }
 
         private void temp_Load(object sender, EventArgs e)