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

This commit is contained in:
Chris Anderson 2012-03-18 17:23:51 -07:00
parent aae9c20fc4 92ff8a75d5
commit d8e9a851b6
39 changed files with 2730 additions and 2877 deletions
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3
ArduCopter/APM_Config.h
View File

@ -89,6 +89,3 @@
// #define MOT_6 CH_4
// #define MOT_7 CH_7
// #define MOT_8 CH_8
// Enabling this will use the GPS lat/long coordinate to get the compass declination
//#define AUTOMATIC_DECLINATION ENABLED

33
ArduCopter/ArduCopter.pde
View File

@ -1,11 +1,11 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "ArduCopter V2.4.2"
#define THISFIRMWARE "ArduCopter V2.5"
/*
ArduCopter Version 2.4
Authors: Jason Short
Based on code and ideas from the Arducopter team: Randy Mackay, Pat Hickey, Jose Julio, Jani Hirvinen
Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier
ArduCopter Version 2.5
Lead author: Jason Short
Based on code and ideas from the Arducopter team: Randy Mackay, Pat Hickey, Jose Julio, Jani Hirvinen, Andrew Tridgell, Justin Beech, Adam Rivera, Jean-Louis Naudin, Roberto Navoni
Thanks to: Chris Anderson, Mike Smith, Jordi Munoz, Doug Weibel, James Goppert, Benjamin Pelletier, Robert Lefebvre, Marco Robustini
This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
@ -526,8 +526,8 @@ int32_t pitch_axis;
AverageFilterInt32_Size3 roll_rate_d_filter; // filtered acceleration
AverageFilterInt32_Size3 pitch_rate_d_filter; // filtered pitch acceleration
AverageFilterInt16_Size3 lat_rate_d_filter; // for filtering D term
AverageFilterInt16_Size3 lon_rate_d_filter; // for filtering D term
AverageFilterInt16_Size2 lat_rate_d_filter; // for filtering D term
AverageFilterInt16_Size2 lon_rate_d_filter; // for filtering D term
// Barometer filter
AverageFilterInt32_Size5 baro_filter; // filtered pitch acceleration
@ -1161,10 +1161,10 @@ static void fifty_hz_loop()
camera_stabilization();
# if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motor_armed)
Log_Write_Attitude();
if (g.log_bitmask & MASK_LOG_RAW)
if (g.log_bitmask & MASK_LOG_RAW && motor_armed)
Log_Write_Raw();
#endif
@ -1699,8 +1699,8 @@ void update_throttle_mode(void)
}
// hack to remove the influence of the ground effect
if(current_loc.alt < 200 && landing_boost != 0) {
nav_throttle = min(nav_throttle, 0);
if(g.sonar_enabled && current_loc.alt < 100 && landing_boost != 0) {
nav_throttle = min(nav_throttle, 0);
}
#if FRAME_CONFIG == HELI_FRAME
@ -1781,12 +1781,10 @@ static void update_navigation()
// go of the sticks
if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 500){
// flag will reset when speed drops below .5 m/s
loiter_override = true;
}
// Allow the user to take control temporarily,
// regain hold when the speed goes down to .5m/s
if(loiter_override){
// this sets the copter to not try and nav while we control it
wp_control = NO_NAV_MODE;
@ -1795,7 +1793,7 @@ static void update_navigation()
next_WP.lat = current_loc.lat;
next_WP.lng = current_loc.lng;
if((g.rc_2.control_in + g.rc_1.control_in) == 0){
if( g.rc_2.control_in == 0 && g.rc_1.control_in == 0 ){
loiter_override = false;
wp_control = LOITER_MODE;
}
@ -1924,6 +1922,7 @@ static void update_altitude()
// calc the vertical accel rate
int temp = (baro_alt - old_baro_alt) * 10;
baro_rate = (temp + baro_rate) >> 1;
baro_rate = constrain(baro_rate, -300, 300);
old_baro_alt = baro_alt;
// Note: sonar_alt is calculated in a faster loop and filtered with a mode filter
@ -1942,6 +1941,7 @@ static void update_altitude()
// calc the vertical accel rate
// positive = going up.
sonar_rate = (sonar_alt - old_sonar_alt) * 10;
sonar_rate = constrain(sonar_rate, -150, 150);
old_sonar_alt = sonar_alt;
#endif
@ -1953,9 +1953,8 @@ static void update_altitude()
sonar_alt = (float)sonar_alt * temp;
#endif
scale = (sonar_alt - 400) / 200;
scale = constrain(scale, 0, 1);
scale = (float)(sonar_alt - 400) / 200.0;
scale = constrain(scale, 0.0, 1.0);
// solve for a blended altitude
current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale) + home.alt;

4
ArduCopter/Log.pde
View File

@ -250,8 +250,8 @@ static void Log_Read_GPS()
int8_t temp2 = DataFlash.ReadByte(); // 2 sats
int32_t temp3 = DataFlash.ReadLong(); // 3 lat
int32_t temp4 = DataFlash.ReadLong(); // 4 lon
float temp5 = DataFlash.ReadLong() / 100.0; // 5 gps alt
float temp6 = DataFlash.ReadLong() / 100.0; // 6 sensor alt
float temp5 = DataFlash.ReadLong() / 100.0; // 5 sensor alt
float temp6 = DataFlash.ReadLong() / 100.0; // 6 gps alt
int16_t temp7 = DataFlash.ReadInt(); // 7 ground speed
int32_t temp8 = DataFlash.ReadLong();// 8 ground course

10
ArduCopter/config.h
View File

@ -664,7 +664,7 @@
// Loiter control gains
//
#ifndef LOITER_P
# define LOITER_P .4
# define LOITER_P .35
#endif
#ifndef LOITER_I
# define LOITER_I 0.0
@ -680,10 +680,10 @@
# define LOITER_RATE_P 2.0 //
#endif
#ifndef LOITER_RATE_I
# define LOITER_RATE_I 0.10 // Wind control
# define LOITER_RATE_I 0.2 // Wind control
#endif
#ifndef LOITER_RATE_D
# define LOITER_RATE_D 0.0 // try 2 or 3 for LOITER_RATE 1
# define LOITER_RATE_D 0 // try 2 or 3 for LOITER_RATE 1
#endif
#ifndef LOITER_RATE_IMAX
# define LOITER_RATE_IMAX 30 // degrees
@ -899,10 +899,6 @@
# define USE_CURRENT_ALT FALSE
#endif
#ifndef AUTO_RESET_LOITER
# define AUTO_RESET_LOITER 1 // enables Loiter to reset it's current location based on stick input.
#endif
#ifndef CUT_MOTORS
# define CUT_MOTORS 1 // do we cut the motors with no throttle?
#endif

2
ArduCopter/heli.pde
View File

@ -204,7 +204,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
// rudder feed forward based on collective
#if HIL_MODE == HIL_MODE_DISABLED // don't do rudder feed forward in simulator
if( !g.heli_ext_gyro_enabled ) {
yaw_offset = g.heli_collective_yaw_effect * abs(coll_out_scaled - g.heli_collective_mid);
yaw_offset = g.heli_collective_yaw_effect * abs(coll_out_scaled - heli_throttle_mid);
}
#endif
}

63
ArduCopter/navigation.pde
View File

@ -50,16 +50,26 @@ static void calc_XY_velocity(){
// y_GPS_speed positve = Up
// x_GPS_speed positve = Right
// initialise last_longitude and last_latitude
if( last_longitude == 0 && last_latitude == 0 ) {
last_longitude = g_gps->longitude;
last_latitude = g_gps->latitude;
}
// this speed is ~ in cm because we are using 10^7 numbers from GPS
float tmp = 1.0/dTnav;
// straightforward approach:
///*
x_actual_speed = x_speed_old + (float)(g_gps->longitude - last_longitude) * scaleLongDown * tmp;
y_actual_speed = y_speed_old + (float)(g_gps->latitude - last_latitude) * tmp;
x_actual_speed = x_actual_speed >> 1;
y_actual_speed = y_actual_speed >> 1;
x_actual_speed = (float)(g_gps->longitude - last_longitude) * scaleLongDown * tmp;
y_actual_speed = (float)(g_gps->latitude - last_latitude) * tmp;
x_actual_speed = (x_actual_speed + x_speed_old * 3) / 4;
y_actual_speed = (y_actual_speed + y_speed_old * 3) / 4;
//x_actual_speed = x_actual_speed >> 1;
//y_actual_speed = y_actual_speed >> 1;
x_speed_old = x_actual_speed;
y_speed_old = y_actual_speed;
@ -105,21 +115,37 @@ static void calc_location_error(struct Location *next_loc)
int16_t tmp;
tmp = (long_error - last_lon_error);
if(abs(abs(tmp) -last_lon_d) > 15) tmp = x_rate_d;
// -------------------------------------
tmp = (long_error - last_lon_error);
if(abs(abs(tmp) -last_lon_d) > 20){
tmp = x_rate_d;
}/*
if(long_error > 0){
if(tmp < 0) tmp = 0;
}else{
if(tmp > 0) tmp = 0;
}*/
x_rate_d = lon_rate_d_filter.apply(tmp);
x_rate_d = constrain(x_rate_d, -800, 800);
last_lon_d = abs(tmp);
tmp = (lat_error - last_lat_error);
if(abs(abs(tmp) -last_lat_d) > 15) tmp = y_rate_d;
//if(abs(tmp) > 80) tmp = y_rate_d;
// -------------------------------------
tmp = (lat_error - last_lat_error);
if(abs(abs(tmp) -last_lat_d) > 20)
tmp = y_rate_d;
/*if(lat_error > 0){
if(tmp < 0) tmp = 0;
}else{
if(tmp > 0) tmp = 0;
}*/
y_rate_d = lat_rate_d_filter.apply(tmp);
y_rate_d = constrain(y_rate_d, -800, 800);
last_lat_d = abs(tmp);
int16_t t22 = x_rate_d * (g.pid_loiter_rate_lon.kD() / dTnav);
int16_t raww = (long_error - last_lon_error);
//Serial.printf("XX, %d, %d, %d\n", raww, x_rate_d, t22);
// debug
//int16_t t22 = x_rate_d * (g.pid_loiter_rate_lon.kD() / dTnav);
//if(control_mode == LOITER)
// Serial.printf("XX, %d, %d, %d \n", long_error, t22, (int16_t)g.pid_loiter_rate_lon.get_integrator());
last_lon_error = long_error;
last_lat_error = lat_error;
@ -133,24 +159,23 @@ static void calc_loiter(int x_error, int y_error)
// East / West
x_target_speed = g.pi_loiter_lon.get_p(x_error); // not contstrained yet
//x_target_speed = constrain(x_target_speed, -250, 250); // limit to 2.5m/s travel speed
x_rate_error = x_target_speed - x_actual_speed; // calc the speed error
nav_lon = g.pid_loiter_rate_lon.get_pi(x_rate_error, dTnav);
nav_lon += x_rate_d * (g.pid_loiter_rate_lon.kD() / dTnav);
nav_lon = g.pid_loiter_rate_lon.get_pid(x_rate_error, dTnav);
//nav_lon += x_rate_d * (g.pid_loiter_rate_lon.kD() / dTnav);
nav_lon = constrain(nav_lon, -3000, 3000); // 30°
// North / South
y_target_speed = g.pi_loiter_lat.get_p(y_error);
//y_target_speed = constrain(y_target_speed, -250, 250);
y_rate_error = y_target_speed - y_actual_speed;
nav_lat = g.pid_loiter_rate_lat.get_pi(y_rate_error, dTnav);
nav_lat += y_rate_d * (g.pid_loiter_rate_lat.kD() / dTnav);
nav_lat = g.pid_loiter_rate_lat.get_pid(y_rate_error, dTnav);
//nav_lat += y_rate_d * (g.pid_loiter_rate_lat.kD() / dTnav);
nav_lat = constrain(nav_lat, -3000, 3000); // 30°
// copy over I term to Nav_Rate
g.pid_nav_lon.set_integrator(g.pid_loiter_rate_lon.get_integrator());
g.pid_nav_lat.set_integrator(g.pid_loiter_rate_lat.get_integrator());
//Serial.printf("XX, %d, %d, %d\n", long_error, x_actual_speed, (int16_t)g.pid_loiter_rate_lon.get_integrator());
// Wind I term based on location error,
// limit windup

32
ArduPlane/APM_Config.h
View File

@ -1,21 +1,20 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from
// their default values, place the appropriate #define statements here.
// This file is just a placeholder for your configuration file. If
// you wish to change any of the setup parameters from their default
// values, place the appropriate #define statements here.
// For example if you wanted the Port 3 baud rate to be 38400 you would add a statement like the one below (uncommented)
//#define SERIAL3_BAUD 38400
// the following 2 defines control which APM board you have. The
// 'BETA' board is only if you are developer who received a
// pre-release APM2 board with the older barometer on it.
// # define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
// # define APM2_BETA_HARDWARE
// You may also put an include statement here to point at another configuration file. This is convenient if you maintain
// different configuration files for different aircraft or HIL simulation. See the examples below
//#include "APM_Config_mavlink_hil.h"
//#include "Skywalker.h"
// The following are the recommended settings for Xplane simulation. Remove the leading "/* and trailing "*/" to enable:
// The following are the recommended settings for Xplane
// simulation. Remove the leading "/* and trailing "*/" to enable:
/*
#define HIL_MODE HIL_MODE_ATTITUDE
@ -27,18 +26,7 @@
// Mavlink supports
// 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude
// 2. HIL_MODE_SENSORS: full sensor simulation
#define HIL_MODE HIL_MODE_ATTITUDE
//#define HIL_MODE HIL_MODE_ATTITUDE
// Sensors
// All sensors are supported in all modes.
// The magnetometer is not used in
// HIL_MODE_ATTITUDE but you may leave it
// enabled if you wish.
#define AIRSPEED_SENSOR ENABLED
#define MAGNETOMETER ENABLED
#define AIRSPEED_CRUISE 25
#define THROTTLE_FAILSAFE ENABLED
*/
// Enabling this will use the GPS lat/long coordinate to get the compass declination
//#define AUTOMATIC_DECLINATION ENABLED

31
ArduPlane/APM_Config_mavlink_hil.h
View File

@ -1,31 +0,0 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// THIS IS A SAMPLE CONFIGURATION FILE FOR DOING HARDWARE IN THE LOOP TESTING USING THE MAVLINK HIL INTERFACE
// IF YOU WANTED TO USE THIS YOU WOULD COPY THE CONTENTS INTO YOUR APM_Config.h FILE!
// Enable Autopilot Flight Mode
#define FLIGHT_MODE_CHANNEL 8
#define FLIGHT_MODE_1 AUTO
#define FLIGHT_MODE_2 RTL
#define FLIGHT_MODE_3 FLY_BY_WIRE_A
#define FLIGHT_MODE_4 FLY_BY_WIRE_B
#define FLIGHT_MODE_5 STABILIZE
#define FLIGHT_MODE_6 MANUAL
// HIL_MODE SELECTION
//
// Mavlink supports
// 1. HIL_MODE_ATTITUDE : simulated position, airspeed, and attitude
// 2. HIL_MODE_SENSORS: full sensor simulation
#define HIL_MODE HIL_MODE_ATTITUDE
// Sensors
// All sensors are supported in all modes.
// The magnetometer is not used in
// HIL_MODE_ATTITUDE but you may leave it
// enabled if you wish.
#define AIRSPEED_SENSOR ENABLED
#define MAGNETOMETER ENABLED
#define AIRSPEED_CRUISE 25
#define THROTTLE_FAILSAFE ENABLED

2
ArduPlane/ArduPlane.pde
View File

@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "ArduPlane V2.28"
#define THISFIRMWARE "ArduPlane V2.30"
/*
Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler
Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier

84
Tools/ArduPPM/Libraries/PPM_Encoder.h
View File

@ -1,11 +1,10 @@
// Warning : Untested - Please use version 2.2.63 for field use.
// -------------------------------------------------------------
// PPM ENCODER V2.2.65 (25-09-2011)
// PPM ENCODER V2.2.66 (15-03-2012)
// -------------------------------------------------------------
// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p)
// and PhoneDrone (ATmega32u2)
// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p),
// PhoneDrone and APM2 (ATmega32u2)
// By: John Arne Birkeland - 2011
// By: John Arne Birkeland - 2012
// APM v1.x adaptation and "difficult" receiver testing by Olivier ADLER
// -------------------------------------------------------------
// Changelog:
@ -50,6 +49,11 @@
// - Changed brownout detection and FailSafe handling to work with XXU2 chips
// - Minor variable and define naming changes to enhance readability
// 15-03-2012
// V2.2.66 - Added APM2 (ATmega32U2) support for using TX and RX status leds to indicate PWM and PPM traffic
// - <RX>: <OFF> = no pwm input detected, <TOGGLE> = speed of toggle indicate how many channel are active, <ON> = input lost (failsafe)
// - <TX>: <OFF> = ppm output not started, <FAST TOGGLE> = normal PWM->PPM output or PPM passtrough failsafe, <SLOW TOGGLE> = PPM passtrough
// -------------------------------------------------------------
#ifndef _PPM_ENCODER_H_
@ -219,7 +223,7 @@ const uint16_t failsafe_ppm[ PPM_ARRAY_MAX ] =
};
// -------------------------------------------------------------
// AVR parameters for PhoneDrone PPM Encoder and future boards also using ATmega16-32u2
// AVR parameters for PhoneDrone and APM2 boards using ATmega32u2
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
#define SERVO_DDR DDRB
@ -347,6 +351,11 @@ void ppm_start( void )
// Restore interrupt status and register flags
SREG = SREG_tmp;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Turn on TX led if PPM generator is active
PORTD &= ~( 1<< PD5 );
#endif
}
// ------------------------------------------------------------------------------
@ -372,6 +381,11 @@ void ppm_stop( void )
// Restore interrupt status and register flags
SREG = SREG_tmp;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Turn off TX led if PPM generator is off
PORTD |= ( 1<< PD5 );
#endif
}
// ------------------------------------------------------------------------------
@ -387,7 +401,8 @@ ISR( WDT_vect ) // If watchdog is triggered then enable missing signal flag and
{
ppm[ i ] = failsafe_ppm[ i ];
}
}
}
// If we are in PPM passtrough mode and a input signal has been detected, or if chip has been reset from a brown_out then start the PPM generator.
if( ( servo_input_mode == PPM_PASSTROUGH_MODE && servo_input_missing == false ) || brownout_reset )
@ -395,13 +410,18 @@ ISR( WDT_vect ) // If watchdog is triggered then enable missing signal flag and
// Start PPM generator
ppm_start();
brownout_reset = false;
}
}
// Set missing receiver signal flag
servo_input_missing = true;
// Reset servo input error flag
servo_input_errors = 0;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Turn on RX led if failsafe has triggered after ppm generator i active
if( ppm_generator_active ) PORTD &= ~( 1<< PD4 );
#endif
}
// ------------------------------------------------------------------------------
@ -413,8 +433,13 @@ ISR( SERVO_INT_VECTOR )
{
// Servo pulse start timing
static uint16_t servo_start[ SERVO_CHANNELS ] = { 0, 0, 0, 0, 0, 0, 0, 0 };
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Toggle LED delay
static uint8_t led_delay = 0;
#endif
// Servo input pin storage
// Servo input pin storage
static uint8_t servo_pins_old = 0;
// Used to store current servo input pins
@ -454,6 +479,16 @@ ISR( SERVO_INT_VECTOR )
// Set servo input missing flag false to indicate that we have received servo input signals
servo_input_missing = false;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Toggle TX LED at PPM passtrough
if( ++led_delay > 128 ) // Toggle every 128th pulse
{
// Toggle TX led
PIND |= ( 1<< PD5 );
led_delay = 0;
}
#endif
// Leave interrupt
return;
}
@ -511,6 +546,8 @@ CHECK_PINS_LOOP: // Input servo pin check loop
// Update ppm[..]
ppm[ _ppm_channel ] = servo_width;
}
}
@ -521,7 +558,7 @@ CHECK_PINS_NEXT:
// Select next servo channel
servo_channel++;
// Check channel and process if needed
if( servo_channel < SERVO_CHANNELS ) goto CHECK_PINS_LOOP;
@ -531,6 +568,11 @@ CHECK_PINS_ERROR:
// Used to indicate invalid servo input signals
servo_input_errors++;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Delay LED toggle
led_delay = 0;
#endif
goto CHECK_PINS_NEXT;
@ -555,6 +597,15 @@ CHECK_PINS_DONE:
// Clear interrupt event from already processed pin changes
PCIFR |= (1 << SERVO_INT_CLEAR_FLAG);
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Toggle RX LED when finished receiving servo pulses
if( ++led_delay > 64 ) // Toggle led every 64th time
{
PIND |= ( 1<< PD4 );
led_delay = 0;
}
#endif
}
// ------------------------------------------------------------------------------
@ -571,8 +622,15 @@ ISR( PPM_INT_VECTOR )
PPM_COMPARE += ppm[ ppm_channel ];
// Select the next ppm channel
if( ++ppm_channel >= PPM_ARRAY_MAX ) ppm_channel = 0;
if( ++ppm_channel >= PPM_ARRAY_MAX )
{
ppm_channel = 0;
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
// Blink TX LED when PPM generator has finished a pulse train
PIND |= ( 1<< PD5 );
#endif
}
}
// ------------------------------------------------------------------------------
@ -720,7 +778,6 @@ void ppm_encoder_init( void )
// Enable servo input interrupt
PCICR |= (1 << SERVO_INT_ENABLE);
// PPM OUTPUT PIN
// ------------------------------------------------------------------------------
// Set PPM pin to output
@ -737,6 +794,9 @@ void ppm_encoder_init( void )
WDTCSR |= (1<<WDCE) | (1<<WDE );
// Set 250 ms watchdog timeout and enable interrupt
WDTCSR = (1<<WDIE) | (1<<WDP2);
}
// ------------------------------------------------------------------------------

2
Tools/ArdupilotMegaPlanner/ArduinoDetect.cs
View File

@ -158,7 +158,7 @@ namespace ArdupilotMega
{
serialPort.Close();
//HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Enum\USB\VID_2341&PID_0010\640333439373519060F0\Device Parameters
if (!MainV2.MONO || Thread.CurrentThread.CurrentUICulture.Name != "zh-Hans")
if (!MainV2.MONO && !Thread.CurrentThread.CurrentUICulture.IsChildOf(CultureInfoEx.GetCultureInfo("zh-Hans")))
{
ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_USBControllerDevice");
ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);

14
Tools/ArdupilotMegaPlanner/CurrentState.cs
View File

@ -77,6 +77,8 @@ namespace ArdupilotMega
public float my { get; set; }
public float mz { get; set; }
public float magfield { get { return (float)Math.Sqrt(Math.Pow(mx, 2) + Math.Pow(my, 2) + Math.Pow(mz, 2)); } }
// calced turn rate
public float turnrate { get { if (groundspeed <= 1) return 0; return (roll * 9.8f) / groundspeed; } }
@ -269,9 +271,9 @@ namespace ArdupilotMega
{
mode = "";
messages = new List<string>();
rateattitude = 10;
rateattitude = 3;
rateposition = 3;
ratestatus = 1;
ratestatus = 3;
ratesensors = 3;
raterc = 3;
datetime = DateTime.MinValue;
@ -581,9 +583,9 @@ namespace ArdupilotMega
packetdropremote = sysstatus.packet_drop;
if (oldmode != mode && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechmodeenabled") == "True")
if (oldmode != mode && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechmodeenabled") == "True")
{
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
}
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
@ -732,9 +734,9 @@ namespace ArdupilotMega
wpno = wpcur.seq;
if (oldwp != wpno && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechwaypointenabled") == "True")
if (oldwp != wpno && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechwaypointenabled") == "True")
{
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
}
//MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;

40
Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
View File

@ -4,7 +4,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AP-2560-2.hex</url2560-2>
<name>ArduPlane V2.28 </name>
<name>ArduPlane V2.30 </name>
<desc></desc>
<format_version>12</format_version>
</Firmware>
@ -12,7 +12,7 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/APHIL-2560-2.hex</url2560-2>
<name>ArduPlane V2.28 HIL</name>
<name>ArduPlane V2.30 HIL</name>
<desc>
#define FLIGHT_MODE_CHANNEL 8
#define FLIGHT_MODE_1 AUTO
@ -47,74 +47,74 @@
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560-2.hex</url2560-2>
<name>ArduCopter V2.4.1 Quad</name>
<name>ArduCopter V2.5 Quad</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
</desc>
<format_version>116</format_version>
<format_version>117</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560-2.hex</url2560-2>
<name>ArduCopter V2.4.1 Tri</name>
<name>ArduCopter V2.5 Tri</name>
<desc>
#define FRAME_CONFIG TRI_FRAME
</desc>
<format_version>116</format_version>
<format_version>117</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560-2.hex</url2560-2>
<name>ArduCopter V2.4.1 Hexa X</name>
<name>ArduCopter V2.5 Hexa X</name>
<desc>
#define FRAME_CONFIG HEXA_FRAME
</desc>
<format_version>116</format_version>
<format_version>117</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560-2.hex</url2560-2>
<name>ArduCopter V2.4.1 Y6</name>
<name>ArduCopter V2.5 Y6</name>
<desc>
#define FRAME_CONFIG Y6_FRAME
</desc>
<format_version>116</format_version>
<format_version>117</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octav-2560-2.hex</url2560-2>
<name>ArduCopter V2.4.1 Octa V</name>
<name>ArduCopter V2.5 Octa V</name>
<desc>
#define FRAME_CONFIG OCTA_FRAME
#define FRAME_ORIENTATION V_FRAME
</desc>
<format_version>116</format_version>
<format_version>117</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Octa-2560-2.hex</url2560-2>
<name>ArduCopter V2.4.1 Octa X</name>
<name>ArduCopter V2.5 Octa X</name>
<desc>
#define FRAME_CONFIG OCTA_FRAME
</desc>
<format_version>116</format_version>
<format_version>117</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-Heli-2560-2.hex</url2560-2>
<name>ArduCopter V2.4 Heli (2560 only)</name>
<name>ArduCopter V2.5 Heli (2560 only)</name>
<desc>
#define AUTO_RESET_LOITER 0
#define FRAME_CONFIG HELI_FRAME
@ -156,13 +156,13 @@
#define NAV_LOITER_IMAX 10
</desc>
<format_version>116</format_version>
<format_version>117</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560-2.hex</url2560-2>
<name>ArduCopter V2.4.1 Quad Hil</name>
<name>ArduCopter V2.5 Quad Hil</name>
<desc>
#define FRAME_CONFIG QUAD_FRAME
#define FRAME_ORIENTATION PLUS_FRAME
@ -172,13 +172,13 @@
</desc>
<format_version>116</format_version>
<format_version>117</format_version>
</Firmware>
<Firmware>
<url>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-1280.hex</url>
<url2560>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560.hex</url2560>
<url2560-2>http://meee146-planner.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELHIL-2560-2.hex</url2560-2>
<name>ArduCopter V2.4 Heli Hil</name>
<name>ArduCopter V2.5 Heli Hil</name>
<desc>
#define HIL_MODE HIL_MODE_ATTITUDE
@ -224,6 +224,6 @@
</desc>
<format_version>116</format_version>
<format_version>117</format_version>
</Firmware>
</options>

25
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs generated
View File

@ -287,6 +287,8 @@
this.BUT_load = new ArdupilotMega.MyButton();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.BUT_compare = new ArdupilotMega.MyButton();
this.label33 = new System.Windows.Forms.Label();
this.CMB_ratesensors = new System.Windows.Forms.ComboBox();
((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
this.ConfigTabs.SuspendLayout();
this.TabAP.SuspendLayout();
@ -1715,6 +1717,8 @@
//
// TabPlanner
//
this.TabPlanner.Controls.Add(this.label33);
this.TabPlanner.Controls.Add(this.CMB_ratesensors);
this.TabPlanner.Controls.Add(this.label26);
this.TabPlanner.Controls.Add(this.CMB_videoresolutions);
this.TabPlanner.Controls.Add(this.label12);
@ -2132,6 +2136,25 @@
this.BUT_compare.UseVisualStyleBackColor = true;
this.BUT_compare.Click += new System.EventHandler(this.BUT_compare_Click);
//
// label33
//
resources.ApplyResources(this.label33, "label33");
this.label33.Name = "label33";
//
// CMB_ratesensors
//
this.CMB_ratesensors.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.CMB_ratesensors.FormattingEnabled = true;
this.CMB_ratesensors.Items.AddRange(new object[] {
resources.GetString("CMB_ratesensors.Items"),
resources.GetString("CMB_ratesensors.Items1"),
resources.GetString("CMB_ratesensors.Items2"),
resources.GetString("CMB_ratesensors.Items3"),
resources.GetString("CMB_ratesensors.Items4")});
resources.ApplyResources(this.CMB_ratesensors, "CMB_ratesensors");
this.CMB_ratesensors.Name = "CMB_ratesensors";
this.CMB_ratesensors.SelectedIndexChanged += new System.EventHandler(this.CMB_ratesensors_SelectedIndexChanged);
//
// Configuration
//
resources.ApplyResources(this, "$this");
@ -2521,5 +2544,7 @@
private System.Windows.Forms.Label lblSTAB_D;
private System.Windows.Forms.NumericUpDown TUNE_LOW;
private System.Windows.Forms.NumericUpDown TUNE_HIGH;
private System.Windows.Forms.Label label33;
private System.Windows.Forms.ComboBox CMB_ratesensors;
}
}

13
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
View File

@ -145,6 +145,7 @@ namespace ArdupilotMega.GCSViews
CMB_rateposition.Text = MainV2.cs.rateposition.ToString();
CMB_raterc.Text = MainV2.cs.raterc.ToString();
CMB_ratestatus.Text = MainV2.cs.ratestatus.ToString();
CMB_ratesensors.Text = MainV2.cs.ratesensors.ToString();
if (MainV2.config["CHK_GDIPlus"] != null)
@ -862,10 +863,10 @@ namespace ArdupilotMega.GCSViews
private void CHK_enablespeech_CheckedChanged(object sender, EventArgs e)
{
MainV2.speechenable = CHK_enablespeech.Checked;
MainV2.speechEnable = CHK_enablespeech.Checked;
MainV2.config["speechenable"] = CHK_enablespeech.Checked;
if (MainV2.talk != null)
MainV2.talk.SpeakAsyncCancelAll();
if (MainV2.speechEngine != null)
MainV2.speechEngine.SpeakAsyncCancelAll();
}
private void CMB_language_SelectedIndexChanged(object sender, EventArgs e)
{
@ -1183,5 +1184,11 @@ namespace ArdupilotMega.GCSViews
}
return base.ProcessCmdKey(ref msg, keyData);
}
private void CMB_ratesensors_SelectedIndexChanged(object sender, EventArgs e)
{
MainV2.config[((ComboBox)sender).Name] = ((ComboBox)sender).Text;
MainV2.cs.ratesensors = byte.Parse(((ComboBox)sender).Text);
}
}
}

4601
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.resx
View File

File diff suppressed because it is too large Load Diff

12
Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
View File

@ -22,7 +22,7 @@ namespace ArdupilotMega.GCSViews
fd.ShowDialog();
if (File.Exists(fd.FileName))
{
UploadFlash(fd.FileName, ArduinoDetect.DetectBoard(MainV2.comportname));
UploadFlash(fd.FileName, ArduinoDetect.DetectBoard(MainV2.comPortName));
}
return true;
}
@ -312,7 +312,7 @@ namespace ArdupilotMega.GCSViews
MainV2.comPort.BaseStream.DtrEnable = false;
MainV2.comPort.Close();
System.Threading.Thread.Sleep(100);
MainV2.givecomport = true;
MainV2.giveComport = true;
try
{
@ -326,7 +326,7 @@ namespace ArdupilotMega.GCSViews
this.Refresh();
board = ArduinoDetect.DetectBoard(MainV2.comportname);
board = ArduinoDetect.DetectBoard(MainV2.comPortName);
if (board == "")
{
@ -338,7 +338,7 @@ namespace ArdupilotMega.GCSViews
try
{
apmformat_version = ArduinoDetect.decodeApVar(MainV2.comportname, board);
apmformat_version = ArduinoDetect.decodeApVar(MainV2.comPortName, board);
}
catch { }
@ -480,7 +480,7 @@ namespace ArdupilotMega.GCSViews
try
{
port.PortName = MainV2.comportname;
port.PortName = MainV2.comPortName;
port.Open();
@ -592,7 +592,7 @@ namespace ArdupilotMega.GCSViews
port.Close();
}
flashing = false;
MainV2.givecomport = false;
MainV2.giveComport = false;
}
void port_Progress(int progress,string status)

1
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs generated
View File

@ -1208,6 +1208,7 @@
this.CHK_autopan.Name = "CHK_autopan";
this.toolTip1.SetToolTip(this.CHK_autopan, resources.GetString("CHK_autopan.ToolTip"));
this.CHK_autopan.UseVisualStyleBackColor = true;
this.CHK_autopan.CheckedChanged += new System.EventHandler(this.CHK_autopan_CheckedChanged);
//
// CB_tuning
//

19
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
View File

@ -230,6 +230,9 @@ namespace ArdupilotMega.GCSViews
Zoomlevel.Minimum = gMapControl1.MinZoom;
Zoomlevel.Maximum = gMapControl1.MaxZoom + 1;
Zoomlevel.Value = Convert.ToDecimal(gMapControl1.Zoom);
if (MainV2.config["CHK_autopan"] != null)
CHK_autopan.Checked = bool.Parse(MainV2.config["CHK_autopan"].ToString());
}
private void mainloop()
@ -255,7 +258,7 @@ namespace ArdupilotMega.GCSViews
{
if (threadrun == 0) { return; }
if (MainV2.givecomport == true)
if (MainV2.giveComport == true)
{
System.Threading.Thread.Sleep(20);
continue;
@ -353,6 +356,9 @@ namespace ArdupilotMega.GCSViews
}
else
{
// ensure we know to stop
if (MainV2.comPort.logreadmode)
MainV2.comPort.logreadmode = false;
updatePlayPauseButton(false);
}
@ -911,15 +917,15 @@ namespace ArdupilotMega.GCSViews
try
{
MainV2.givecomport = true;
MainV2.giveComport = true;
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt,"Guided Mode");
MainV2.givecomport = false;
MainV2.giveComport = false;
}
catch (Exception ex) { MainV2.givecomport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); }
catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); }
}
@ -1765,5 +1771,10 @@ print 'Roll complete'
scr.runScript(tb.Text);
}
}
private void CHK_autopan_CheckedChanged(object sender, EventArgs e)
{
MainV2.config["CHK_autopan"] = CHK_autopan.Checked.ToString();
}
}
}

60
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.resx
View File

@ -208,7 +208,7 @@
<value>hud1</value>
</data>
<data name="&gt;&gt;hud1.Type" xml:space="preserve">
<value>hud.HUD, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>hud.HUD, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;hud1.Parent" xml:space="preserve">
<value>SubMainLeft.Panel1</value>
@ -247,7 +247,7 @@
<value>BUT_script</value>
</data>
<data name="&gt;&gt;BUT_script.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_script.Parent" xml:space="preserve">
<value>tabActions</value>
@ -280,7 +280,7 @@
<value>BUT_joystick</value>
</data>
<data name="&gt;&gt;BUT_joystick.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_joystick.Parent" xml:space="preserve">
<value>tabActions</value>
@ -310,7 +310,7 @@
<value>BUT_quickmanual</value>
</data>
<data name="&gt;&gt;BUT_quickmanual.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_quickmanual.Parent" xml:space="preserve">
<value>tabActions</value>
@ -340,7 +340,7 @@
<value>BUT_quickrtl</value>
</data>
<data name="&gt;&gt;BUT_quickrtl.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_quickrtl.Parent" xml:space="preserve">
<value>tabActions</value>
@ -370,7 +370,7 @@
<value>BUT_quickauto</value>
</data>
<data name="&gt;&gt;BUT_quickauto.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_quickauto.Parent" xml:space="preserve">
<value>tabActions</value>
@ -424,7 +424,7 @@
<value>BUT_setwp</value>
</data>
<data name="&gt;&gt;BUT_setwp.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_setwp.Parent" xml:space="preserve">
<value>tabActions</value>
@ -475,7 +475,7 @@
<value>BUT_setmode</value>
</data>
<data name="&gt;&gt;BUT_setmode.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_setmode.Parent" xml:space="preserve">
<value>tabActions</value>
@ -505,7 +505,7 @@
<value>BUT_clear_track</value>
</data>
<data name="&gt;&gt;BUT_clear_track.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_clear_track.Parent" xml:space="preserve">
<value>tabActions</value>
@ -556,7 +556,7 @@
<value>BUT_Homealt</value>
</data>
<data name="&gt;&gt;BUT_Homealt.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_Homealt.Parent" xml:space="preserve">
<value>tabActions</value>
@ -586,7 +586,7 @@
<value>BUT_RAWSensor</value>
</data>
<data name="&gt;&gt;BUT_RAWSensor.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_RAWSensor.Parent" xml:space="preserve">
<value>tabActions</value>
@ -616,7 +616,7 @@
<value>BUTrestartmission</value>
</data>
<data name="&gt;&gt;BUTrestartmission.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUTrestartmission.Parent" xml:space="preserve">
<value>tabActions</value>
@ -646,7 +646,7 @@
<value>BUTactiondo</value>
</data>
<data name="&gt;&gt;BUTactiondo.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUTactiondo.Parent" xml:space="preserve">
<value>tabActions</value>
@ -700,7 +700,7 @@
<value>Gvspeed</value>
</data>
<data name="&gt;&gt;Gvspeed.Type" xml:space="preserve">
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;Gvspeed.Parent" xml:space="preserve">
<value>tabGauges</value>
@ -730,7 +730,7 @@
<value>Gheading</value>
</data>
<data name="&gt;&gt;Gheading.Type" xml:space="preserve">
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;Gheading.Parent" xml:space="preserve">
<value>tabGauges</value>
@ -760,7 +760,7 @@
<value>Galt</value>
</data>
<data name="&gt;&gt;Galt.Type" xml:space="preserve">
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;Galt.Parent" xml:space="preserve">
<value>tabGauges</value>
@ -793,7 +793,7 @@
<value>Gspeed</value>
</data>
<data name="&gt;&gt;Gspeed.Type" xml:space="preserve">
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>AGaugeApp.AGauge, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;Gspeed.Parent" xml:space="preserve">
<value>tabGauges</value>
@ -874,7 +874,7 @@
<value>lbl_logpercent</value>
</data>
<data name="&gt;&gt;lbl_logpercent.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;lbl_logpercent.Parent" xml:space="preserve">
<value>tabTLogs</value>
@ -925,7 +925,7 @@
<value>BUT_log2kml</value>
</data>
<data name="&gt;&gt;BUT_log2kml.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_log2kml.Parent" xml:space="preserve">
<value>tabTLogs</value>
@ -976,7 +976,7 @@
<value>BUT_playlog</value>
</data>
<data name="&gt;&gt;BUT_playlog.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_playlog.Parent" xml:space="preserve">
<value>tabTLogs</value>
@ -1003,7 +1003,7 @@
<value>BUT_loadtelem</value>
</data>
<data name="&gt;&gt;BUT_loadtelem.Type" xml:space="preserve">
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;BUT_loadtelem.Parent" xml:space="preserve">
<value>tabTLogs</value>
@ -1189,7 +1189,7 @@
<value>lbl_winddir</value>
</data>
<data name="&gt;&gt;lbl_winddir.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;lbl_winddir.Parent" xml:space="preserve">
<value>splitContainer1.Panel2</value>
@ -1219,7 +1219,7 @@
<value>lbl_windvel</value>
</data>
<data name="&gt;&gt;lbl_windvel.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;lbl_windvel.Parent" xml:space="preserve">
<value>splitContainer1.Panel2</value>
@ -1391,7 +1391,7 @@
<value>gMapControl1</value>
</data>
<data name="&gt;&gt;gMapControl1.Type" xml:space="preserve">
<value>ArdupilotMega.myGMAP, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.myGMAP, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;gMapControl1.Parent" xml:space="preserve">
<value>splitContainer1.Panel2</value>
@ -1454,7 +1454,7 @@
<value>TXT_lat</value>
</data>
<data name="&gt;&gt;TXT_lat.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;TXT_lat.Parent" xml:space="preserve">
<value>panel1</value>
@ -1511,7 +1511,7 @@
<value>label1</value>
</data>
<data name="&gt;&gt;label1.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;label1.Parent" xml:space="preserve">
<value>panel1</value>
@ -1541,7 +1541,7 @@
<value>TXT_long</value>
</data>
<data name="&gt;&gt;TXT_long.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;TXT_long.Parent" xml:space="preserve">
<value>panel1</value>
@ -1571,7 +1571,7 @@
<value>TXT_alt</value>
</data>
<data name="&gt;&gt;TXT_alt.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;TXT_alt.Parent" xml:space="preserve">
<value>panel1</value>
@ -1772,7 +1772,7 @@
<value>label6</value>
</data>
<data name="&gt;&gt;label6.Type" xml:space="preserve">
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>ArdupilotMega.MyLabel, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
<data name="&gt;&gt;label6.Parent" xml:space="preserve">
<value>$this</value>
@ -1850,6 +1850,6 @@
<value>FlightData</value>
</data>
<data name="&gt;&gt;$this.Type" xml:space="preserve">
<value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
<value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
</data>
</root>

11
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
View File

@ -1012,7 +1012,6 @@ namespace ArdupilotMega.GCSViews
t1.Name = "Row number updater";
t1.IsBackground = true;
t1.Start();
MainV2.threads.Add(t1);
long temp = System.Diagnostics.Stopwatch.GetTimestamp();
@ -1225,7 +1224,7 @@ namespace ArdupilotMega.GCSViews
throw new Exception("Please Connect First!");
}
MainV2.givecomport = true;
MainV2.giveComport = true;
param = port.param;
@ -1262,7 +1261,7 @@ namespace ArdupilotMega.GCSViews
catch (Exception exx) { log.Info(exx.ToString()); }
}
MainV2.givecomport = false;
MainV2.giveComport = false;
BUT_read.Enabled = true;
@ -1334,7 +1333,7 @@ namespace ArdupilotMega.GCSViews
throw new Exception("Please Connect First!");
}
MainV2.givecomport = true;
MainV2.giveComport = true;
Locationwp home = new Locationwp();
@ -1414,9 +1413,9 @@ namespace ArdupilotMega.GCSViews
((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done.");
}
catch (Exception ex) { MainV2.givecomport = false; throw ex; }
catch (Exception ex) { MainV2.giveComport = false; throw ex; }
MainV2.givecomport = false;
MainV2.giveComport = false;
}
/// <summary>

1
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
View File

@ -336,7 +336,6 @@ namespace ArdupilotMega.GCSViews
IsBackground = true
};
t11.Start();
MainV2.threads.Add(t11);
timer_servo_graph.Start();
}
else

5
Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs
View File

@ -171,14 +171,14 @@ namespace ArdupilotMega.GCSViews
{
try
{
MainV2.givecomport = true;
MainV2.giveComport = true;
if (comPort.IsOpen)
comPort.Close();
comPort.ReadBufferSize = 1024 * 1024;
comPort.PortName = MainV2.comportname;
comPort.PortName = MainV2.comPortName;
comPort.Open();
@ -232,7 +232,6 @@ namespace ArdupilotMega.GCSViews
t11.IsBackground = true;
t11.Name = "Terminal serial thread";
t11.Start();
MainV2.threads.Add(t11);
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);

3
Tools/ArdupilotMegaPlanner/Log.cs
View File

@ -118,7 +118,6 @@ namespace ArdupilotMega
log.Info("Comport thread close");
}) {Name = "comport reader"};
t11.Start();
MainV2.threads.Add(t11);
// doesnt seem to work on mac
//comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
@ -728,7 +727,6 @@ namespace ArdupilotMega
System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadthread(1, logcount); });
t11.Name = "Log Download All thread";
t11.Start();
MainV2.threads.Add(t11);
}
}
@ -779,7 +777,6 @@ namespace ArdupilotMega
System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadsinglethread(); });
t11.Name = "Log download single thread";
t11.Start();
MainV2.threads.Add(t11);
}
}

137
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -172,7 +172,7 @@ namespace ArdupilotMega
try
{
MainV2.givecomport = true;
MainV2.giveComport = true;
BaseStream.ReadBufferSize = 4 * 1024;
@ -190,8 +190,8 @@ namespace ArdupilotMega
Thread.Sleep(1000);
}
byte[] buffer;
byte[] buffer1;
byte[] buffer = new byte[0];
byte[] buffer1 = new byte[0];
DateTime start = DateTime.Now;
DateTime deadline = start.AddSeconds(CONNECT_TIMEOUT_SECONDS);
@ -217,7 +217,7 @@ namespace ArdupilotMega
countDown.Stop();
if (BaseStream.IsOpen)
BaseStream.Close();
MainV2.givecomport = false;
MainV2.giveComport = false;
return;
}
@ -248,14 +248,18 @@ namespace ArdupilotMega
// incase we are in setup mode
BaseStream.WriteLine("planner\rgcs\r");
buffer = getHeartBeat();
// can see 2 heartbeat packets at any time, and will connect - was one after the other
if (buffer.Length == 0)
buffer = getHeartBeat();
// incase we are in setup mode
BaseStream.WriteLine("planner\rgcs\r");
System.Threading.Thread.Sleep(1);
buffer1 = getHeartBeat();
if (buffer1.Length == 0)
buffer1 = getHeartBeat();
try
{
@ -292,7 +296,7 @@ namespace ArdupilotMega
if (frmProgressReporter.doWorkArgs.CancelAcknowledged == true)
{
MainV2.givecomport = false;
MainV2.giveComport = false;
if (BaseStream.IsOpen)
BaseStream.Close();
return;
@ -305,7 +309,7 @@ namespace ArdupilotMega
BaseStream.Close();
}
catch { }
MainV2.givecomport = false;
MainV2.giveComport = false;
// if (Progress != null)
// Progress(-1, "Connect Failed\n" + e.Message);
if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage))
@ -313,10 +317,11 @@ namespace ArdupilotMega
throw e;
}
//frmProgressReporter.Close();
MainV2.givecomport = false;
MainV2.giveComport = false;
frmProgressReporter.UpdateProgressAndStatus(100, "Done.");
log.Info("Done open " + sysid + " " + compid);
packetslost = 0;
synclost = 0;
}
byte[] getHeartBeat()
@ -327,7 +332,7 @@ namespace ArdupilotMega
byte[] buffer = readPacket();
if (buffer.Length > 5)
{
log.Info("getHB packet received: " + buffer.Length + " btr " + BaseStream.BytesToRead + " type " + buffer[5] );
//log.Info("getHB packet received: " + buffer.Length + " btr " + BaseStream.BytesToRead + " type " + buffer[5] );
if (buffer[5] == MAVLINK_MSG_ID_HEARTBEAT)
{
return buffer;
@ -340,19 +345,19 @@ namespace ArdupilotMega
public void sendPacket(object indata)
{
bool run = false;
bool validPacket = false;
byte a = 0;
foreach (Type ty in mavstructs)
{
if (ty == indata.GetType())
{
run = true;
validPacket = true;
generatePacket(a, indata);
return;
}
a++;
}
if (!run)
if (!validPacket)
{
log.Info("Mavlink : NOT VALID PACKET sendPacket() " + indata.GetType().ToString());
}
@ -486,7 +491,7 @@ namespace ArdupilotMega
return false;
}
MainV2.givecomport = true;
MainV2.giveComport = true;
__mavlink_param_set_t req = new __mavlink_param_set_t();
req.target_system = sysid;
@ -522,7 +527,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
throw new Exception("Timeout on read - setParam " + paramname);
}
@ -552,7 +557,7 @@ namespace ArdupilotMega
param[st] = (par.param_value);
MainV2.givecomport = false;
MainV2.giveComport = false;
//System.Threading.Thread.Sleep(100);//(int)(8.5 * 5)); // 8.5ms per byte
return true;
}
@ -597,13 +602,13 @@ namespace ArdupilotMega
/// <returns></returns>
private Hashtable getParamListBG()
{
MainV2.givecomport = true;
MainV2.giveComport = true;
List<int> got = new List<int>();
// clear old
param = new Hashtable();
int retrys = 3;
int retrys = 6;
int param_count = 0;
int param_total = 5;
@ -618,18 +623,19 @@ namespace ArdupilotMega
DateTime start = DateTime.Now;
DateTime restart = DateTime.Now;
while (got.Count < param_total)
do
{
if (frmProgressReporter.doWorkArgs.CancelRequested)
{
frmProgressReporter.doWorkArgs.CancelAcknowledged = true;
MainV2.givecomport = false;
MainV2.giveComport = false;
frmProgressReporter.doWorkArgs.ErrorMessage = "User Canceled";
return param;
}
if (!(start.AddMilliseconds(5000) > DateTime.Now))
// 4 seconds between valid packets
if (!(start.AddMilliseconds(4000) > DateTime.Now))
{
if (retrys > 0)
{
@ -639,8 +645,8 @@ namespace ArdupilotMega
retrys--;
continue;
}
MainV2.givecomport = false;
throw new Exception("Timeout on read - getParamList " + param_count +" "+ param_total);
MainV2.giveComport = false;
throw new Exception("Timeout on read - getParamList " + got.Count + " " + param_total + "\n\nYour serial link isn't fast enough\n");
}
byte[] buffer = readPacket();
@ -656,9 +662,9 @@ namespace ArdupilotMega
__mavlink_param_value_t par = buffer.ByteArrayToStructure<__mavlink_param_value_t>(6);
// set new target
param_total = (par.param_count);
param_total = (par.param_count - 1);
string paramID = System.Text.ASCIIEncoding.ASCII.GetString(par.param_id);
int pos = paramID.IndexOf('\0');
@ -670,20 +676,25 @@ namespace ArdupilotMega
// check if we already have it
if (got.Contains(par.param_index))
{
//Console.WriteLine("Already got '"+paramID+"'");
log.Info("Already got "+(par.param_index) + " '" + paramID + "'");
this.frmProgressReporter.UpdateProgressAndStatus((got.Count * 100) / param_total, "Already Got param " + paramID);
continue;
}
log.Info(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (param_total - 1) + " name: " + paramID);
log.Info(DateTime.Now.Millisecond + " got param " + (par.param_index) + " of " + (par.param_count - 2) + " name: " + paramID);
modifyParamForDisplay(true, paramID, ref par.param_value);
param[paramID] = (par.param_value);
param_count++;
got.Add(par.param_index);
// if (Progress != null)
// Progress((param.Count * 100) / param_total, "Got param " + paramID);
// if (Progress != null)
// Progress((param.Count * 100) / param_total, "Got param " + paramID);
this.frmProgressReporter.UpdateProgressAndStatus((got.Count * 100) / param_total, "Got param " + paramID);
// we have them all - lets escape eq total = 176 index = 0-175
if (par.param_index == (param_total - 1))
break;
}
else
{
@ -692,7 +703,7 @@ namespace ArdupilotMega
//stopwatch.Stop();
//Console.WriteLine("Time elapsed: {0}", stopwatch.Elapsed);
}
}
} while (got.Count < param_total);
if (got.Count != param_total)
{
@ -704,7 +715,7 @@ namespace ArdupilotMega
}
throw new Exception("Missing Params");
}
MainV2.givecomport = false;
MainV2.giveComport = false;
return param;
}
@ -907,7 +918,7 @@ namespace ArdupilotMega
}
}
#else
MainV2.givecomport = true;
MainV2.giveComport = true;
byte[] buffer;
__mavlink_waypoint_set_current_t req = new __mavlink_waypoint_set_current_t();
@ -933,7 +944,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
throw new Exception("Timeout on read - setWPCurrent");
}
@ -942,7 +953,7 @@ namespace ArdupilotMega
{
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_CURRENT)
{
MainV2.givecomport = false;
MainV2.giveComport = false;
return true;
}
}
@ -951,7 +962,7 @@ namespace ArdupilotMega
public bool doAction(MAV_ACTION actionid)
{
MainV2.givecomport = true;
MainV2.giveComport = true;
byte[] buffer;
__mavlink_action_t req = new __mavlink_action_t();
@ -991,7 +1002,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
throw new Exception("Timeout on read - doAction");
}
@ -1002,12 +1013,12 @@ namespace ArdupilotMega
{
if (buffer[7] == 1)
{
MainV2.givecomport = false;
MainV2.giveComport = false;
return true;
}
else
{
MainV2.givecomport = false;
MainV2.giveComport = false;
return false;
}
}
@ -1054,9 +1065,18 @@ namespace ArdupilotMega
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA3:
if (packetspersecondbuild[MAVLINK_MSG_ID_DCM] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_DCM];
if (hzratecheck(pps, hzrate))
{
return;
}
break;
case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION:
// ac2 does not send rate position
if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
return;
if (packetspersecondbuild[MAVLINK_MSG_ID_GLOBAL_POSITION_INT] < DateTime.Now.AddSeconds(-2))
break;
pps = packetspersecond[MAVLINK_MSG_ID_GLOBAL_POSITION_INT];
@ -1145,7 +1165,6 @@ namespace ArdupilotMega
req.req_stream_id = id; // id
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
}
/// <summary>
@ -1154,7 +1173,7 @@ namespace ArdupilotMega
/// <returns></returns>
public byte getWPCount()
{
MainV2.givecomport = true;
MainV2.giveComport = true;
byte[] buffer;
#if MAVLINK10
__mavlink_mission_request_list_t req = new __mavlink_mission_request_list_t();
@ -1225,13 +1244,13 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport);
log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.giveComport);
generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
//return (byte)int.Parse(param["WP_TOTAL"].ToString());
throw new Exception("Timeout on read - getWPCount");
}
@ -1243,7 +1262,7 @@ namespace ArdupilotMega
{
log.Info("wpcount: " + buffer[9]);
MainV2.givecomport = false;
MainV2.giveComport = false;
return buffer[9]; // should be ushort, but apm has limited wp count < byte
}
else
@ -1262,7 +1281,7 @@ namespace ArdupilotMega
/// <returns>WP</returns>
public Locationwp getWP(ushort index)
{
MainV2.givecomport = true;
MainV2.giveComport = true;
Locationwp loc = new Locationwp();
#if MAVLINK10
__mavlink_mission_request_t req = new __mavlink_mission_request_t();
@ -1339,7 +1358,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
throw new Exception("Timeout on read - getWP");
}
//Console.WriteLine("getwp read " + DateTime.Now.Millisecond);
@ -1438,7 +1457,7 @@ namespace ArdupilotMega
}
}
}
MainV2.givecomport = false;
MainV2.giveComport = false;
return loc;
}
@ -1597,7 +1616,7 @@ namespace ArdupilotMega
}
}
#else
MainV2.givecomport = true;
MainV2.giveComport = true;
__mavlink_waypoint_count_t req = new __mavlink_waypoint_count_t();
req.target_system = sysid;
@ -1622,7 +1641,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
throw new Exception("Timeout on read - setWPTotal");
}
byte[] buffer = readPacket();
@ -1638,7 +1657,7 @@ namespace ArdupilotMega
param["WP_TOTAL"] = (float)wp_total - 1;
if (param["CMD_TOTAL"] != null)
param["CMD_TOTAL"] = (float)wp_total - 1;
MainV2.givecomport = false;
MainV2.giveComport = false;
return;
}
}
@ -1661,7 +1680,7 @@ namespace ArdupilotMega
/// <param name="current">0 = no , 2 = guided mode</param>
public void setWP(Locationwp loc, ushort index, MAV_FRAME frame, byte current)
{
MainV2.givecomport = true;
MainV2.giveComport = true;
#if MAVLINK10
__mavlink_mission_item_t req = new __mavlink_mission_item_t();
#else
@ -1767,7 +1786,7 @@ namespace ArdupilotMega
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
throw new Exception("Timeout on read - setWP");
}
byte[] buffer = readPacket();
@ -1820,7 +1839,7 @@ namespace ArdupilotMega
if (ans.seq == (index + 1))
{
log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
MainV2.givecomport = false;
MainV2.giveComport = false;
break;
}
else
@ -2079,7 +2098,7 @@ namespace ArdupilotMega
if (bpstime.Second != DateTime.Now.Second && !logreadmode)
{
// Console.Write("bps {0} loss {1} left {2} mem {3} \n", bps1, synclost, BaseStream.BytesToRead, System.GC.GetTotalMemory(false));
Console.Write("bps {0} loss {1} left {2} mem {3} \n", bps1, synclost, BaseStream.BytesToRead, System.GC.GetTotalMemory(false) / 1024 / 1024.0);
bps2 = bps1; // prev sec
bps1 = 0; // current sec
bpstime = DateTime.Now;
@ -2185,7 +2204,7 @@ namespace ArdupilotMega
logdata = logdata.Substring(0, ind);
log.Info(DateTime.Now + " " + logdata);
if (MainV2.talk != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True")
if (MainV2.speechEngine != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True")
{
//MainV2.talk.SpeakAsync(logdata);
}
@ -2257,7 +2276,7 @@ namespace ArdupilotMega
{
byte[] buffer;
MainV2.givecomport = true;
MainV2.giveComport = true;
PointLatLngAlt plla = new PointLatLngAlt();
__mavlink_fence_fetch_point_t req = new __mavlink_fence_fetch_point_t();
@ -2278,13 +2297,13 @@ namespace ArdupilotMega
{
if (retrys > 0)
{
log.Info("getFencePoint Retry " + retrys + " - giv com " + MainV2.givecomport);
log.Info("getFencePoint Retry " + retrys + " - giv com " + MainV2.giveComport);
generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req);
start = DateTime.Now;
retrys--;
continue;
}
MainV2.givecomport = false;
MainV2.giveComport = false;
throw new Exception("Timeout on read - getFencePoint");
}
@ -2293,7 +2312,7 @@ namespace ArdupilotMega
{
if (buffer[5] == MAVLINK_MSG_ID_FENCE_POINT)
{
MainV2.givecomport = false;
MainV2.giveComport = false;
__mavlink_fence_point_t fp = buffer.ByteArrayToStructure<__mavlink_fence_point_t>(6);

15
Tools/ArdupilotMegaPlanner/MagCalib.cs
View File

@ -38,10 +38,13 @@ namespace ArdupilotMega
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
try
{
double[] ans = getOffsets(openFileDialog1.FileName);
double[] ans = getOffsets(openFileDialog1.FileName);
SaveOffsets(ans);
SaveOffsets(ans);
}
catch (Exception ex) { log.Debug(ex.ToString()); }
}
}
@ -153,6 +156,12 @@ namespace ArdupilotMega
mine.logplaybackfile.Close();
mine.logplaybackfile = null;
if (data.Count < 10)
{
CustomMessageBox.Show("Log does not contain enough data");
throw new Exception("Not Enough Data");
}
double[] x = LeastSq(data);
System.Console.WriteLine("Old Method {0} {1} {2}", -(maxx + minx) / 2, -(maxy + miny) / 2, -(maxz + minz) / 2);

254
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -39,14 +39,14 @@ namespace ArdupilotMega
const int SW_HIDE = 0;
public static MAVLink comPort = new MAVLink();
public static string comportname = "";
public static string comPortName = "";
public static Hashtable config = new Hashtable();
public static bool givecomport = false;
public static bool giveComport = false;
public static Firmwares APMFirmware = Firmwares.ArduPlane;
public static bool MONO = false;
public static bool speechenable = false;
public static Speech talk = null;
public static bool speechEnable = false;
public static Speech speechEngine = null;
public static Joystick joystick = null;
DateTime lastjoystick = DateTime.Now;
@ -55,22 +55,14 @@ namespace ArdupilotMega
public static CurrentState cs = new CurrentState();
bool serialthread = false;
bool serialThread = false;
TcpListener listener;
DateTime heatbeatsend = DateTime.Now;
DateTime heatbeatSend = DateTime.Now;
public static List<System.Threading.Thread> threads = new List<System.Threading.Thread>();
public static MainV2 instance = null;
/*
* "PITCH_KP",
"PITCH_KI",
"PITCH_LIM",
*/
public enum Firmwares
{
ArduPlane,
@ -106,9 +98,7 @@ namespace ArdupilotMega
var t = Type.GetType("Mono.Runtime");
MONO = (t != null);
talk = new Speech();
//talk.SpeakAsync("Welcome to APM Planner");
speechEngine = new Speech();
MyRenderer.currentpressed = MenuFlightData;
@ -187,12 +177,14 @@ namespace ArdupilotMega
this.Location = startpos;
}
if (config["MainMaximised"] != null)
this.WindowState = (FormWindowState)Enum.Parse(typeof(FormWindowState), config["MainMaximised"].ToString());
if (config["MainHeight"] != null)
this.Height = int.Parse(config["MainHeight"].ToString());
if (config["MainWidth"] != null)
this.Width = int.Parse(config["MainWidth"].ToString());
if (config["MainMaximised"] != null)
this.WindowState = (FormWindowState)Enum.Parse(typeof(FormWindowState), config["MainMaximised"].ToString());
if (config["CMB_rateattitude"] != null)
MainV2.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString());
@ -202,10 +194,12 @@ namespace ArdupilotMega
MainV2.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString());
if (config["CMB_rateattitude"] != null)
MainV2.cs.raterc = byte.Parse(config["CMB_raterc"].ToString());
if (config["CMB_ratesensors"] != null)
MainV2.cs.raterc = byte.Parse(config["CMB_ratesensors"].ToString());
if (config["speechenable"] != null)
MainV2.speechenable = bool.Parse(config["speechenable"].ToString());
MainV2.speechEnable = bool.Parse(config["speechenable"].ToString());
//int fixme;
/*
MainV2.cs.rateattitude = 50;
@ -277,7 +271,7 @@ namespace ArdupilotMega
}
string[] ports = SerialPort.GetPortNames()
.Select(p=>p.TrimEnd())
.Select(p => p.TrimEnd())
.Select(FixBlueToothPortNameBug)
.ToArray();
@ -289,26 +283,26 @@ namespace ArdupilotMega
return allPorts;
}
// .NET bug: sometimes bluetooth ports are enumerated with bogus characters
// eg 'COM10' becomes 'COM10c' - one workaround is to remove the non numeric
// char. Annoyingly, sometimes a numeric char is added, which means this
// does not work in all cases.
// See http://connect.microsoft.com/VisualStudio/feedback/details/236183/system-io-ports-serialport-getportnames-error-with-bluetooth
private string FixBlueToothPortNameBug(string portName)
{
if (!portName.StartsWith("COM"))
return portName;
var newPortName = "COM"; // Start over with "COM"
foreach (var portChar in portName.Substring(3).ToCharArray()) // Remove "COM", put the rest in a character array
{
if (char.IsDigit(portChar))
newPortName += portChar.ToString(); // Good character, append to portName
else
log.WarnFormat("Bad (Non Numeric) character in port name '{0}' - removing", portName);
}
return newPortName;
}
// .NET bug: sometimes bluetooth ports are enumerated with bogus characters
// eg 'COM10' becomes 'COM10c' - one workaround is to remove the non numeric
// char. Annoyingly, sometimes a numeric char is added, which means this
// does not work in all cases.
// See http://connect.microsoft.com/VisualStudio/feedback/details/236183/system-io-ports-serialport-getportnames-error-with-bluetooth
private string FixBlueToothPortNameBug(string portName)
{
if (!portName.StartsWith("COM"))
return portName;
var newPortName = "COM"; // Start over with "COM"
foreach (var portChar in portName.Substring(3).ToCharArray()) // Remove "COM", put the rest in a character array
{
if (char.IsDigit(portChar))
newPortName += portChar.ToString(); // Good character, append to portName
else
log.WarnFormat("Bad (Non Numeric) character in port name '{0}' - removing", portName);
}
return newPortName;
}
internal void ScreenShot()
{
@ -457,7 +451,7 @@ namespace ArdupilotMega
MenuConnect_Click(sender, e);
}
givecomport = true;
giveComport = true;
MyView.Controls.Clear();
@ -489,7 +483,7 @@ namespace ArdupilotMega
private void MenuConnect_Click(object sender, EventArgs e)
{
givecomport = false;
giveComport = false;
if (comPort.BaseStream.IsOpen && cs.groundspeed > 4)
{
@ -505,8 +499,8 @@ namespace ArdupilotMega
{
try
{
if (talk != null) // cancel all pending speech
talk.SpeakAsyncCancelAll();
if (speechEngine != null) // cancel all pending speech
speechEngine.SpeakAsyncCancelAll();
}
catch { }
@ -544,11 +538,7 @@ namespace ArdupilotMega
comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1");
comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None");
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
comPort.BaseStream.toggleDTR();
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
try
{
@ -557,7 +547,7 @@ namespace ArdupilotMega
try
{
Directory.CreateDirectory(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs");
comPort.logfile = new BinaryWriter(File.Open(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm-ss") + ".tlog", FileMode.CreateNew,FileAccess.ReadWrite,FileShare.Read));
comPort.logfile = new BinaryWriter(File.Open(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd hh-mm-ss") + ".tlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.Read));
}
catch { CustomMessageBox.Show("Failed to create log - wont log this session"); } // soft fail
@ -639,13 +629,13 @@ namespace ArdupilotMega
private void CMB_serialport_SelectedIndexChanged(object sender, EventArgs e)
{
comportname = CMB_serialport.Text;
if (comportname == "UDP" || comportname == "TCP")
comPortName = CMB_serialport.Text;
if (comPortName == "UDP" || comPortName == "TCP")
{
CMB_baudrate.Enabled = false;
if (comportname == "TCP")
if (comPortName == "TCP")
MainV2.comPort.BaseStream = new TcpSerial();
if (comportname == "UDP")
if (comPortName == "UDP")
MainV2.comPort.BaseStream = new UdpSerial();
}
else
@ -679,7 +669,7 @@ namespace ArdupilotMega
GCSViews.FlightData.threadrun = 0;
GCSViews.Simulation.threadrun = 0;
serialthread = false;
serialThread = false;
try
{
@ -722,7 +712,7 @@ namespace ArdupilotMega
xmlwriter.WriteStartElement("Config");
xmlwriter.WriteElementString("comport", comportname);
xmlwriter.WriteElementString("comport", comPortName);
xmlwriter.WriteElementString("baudrate", CMB_baudrate.Text);
@ -776,7 +766,7 @@ namespace ArdupilotMega
CMB_serialport.Text = temp; // allows ports that dont exist - yet
}
comPort.BaseStream.PortName = temp;
comportname = temp;
comPortName = temp;
break;
case "baudrate":
string temp2 = xmlreader.ReadString();
@ -873,64 +863,68 @@ namespace ArdupilotMega
}
}
private void updateConnectIcon()
{
DateTime menuupdate = DateTime.Now;
if ((DateTime.Now - menuupdate).Milliseconds > 500)
{
// Console.WriteLine(DateTime.Now.Millisecond);
if (comPort.BaseStream.IsOpen)
{
if ((string)this.MenuConnect.BackgroundImage.Tag != "Disconnect")
{
this.Invoke((MethodInvoker)delegate
{
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
this.MenuConnect.BackgroundImage.Tag = "Disconnect";
CMB_baudrate.Enabled = false;
CMB_serialport.Enabled = false;
});
}
}
else
{
if ((string)this.MenuConnect.BackgroundImage.Tag != "Connect")
{
this.Invoke((MethodInvoker)delegate
{
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
this.MenuConnect.BackgroundImage.Tag = "Connect";
CMB_baudrate.Enabled = true;
CMB_serialport.Enabled = true;
});
}
}
menuupdate = DateTime.Now;
}
}
private void SerialReader()
{
if (serialthread == true)
if (serialThread == true)
return;
serialthread = true;
serialThread = true;
int minbytes = 10;
if (MONO)
minbytes = 0;
DateTime menuupdate = DateTime.Now;
DateTime speechcustomtime = DateTime.Now;
DateTime linkqualitytime = DateTime.Now;
while (serialthread)
while (serialThread)
{
try
{
System.Threading.Thread.Sleep(5);
if ((DateTime.Now - menuupdate).Milliseconds > 500)
{
// Console.WriteLine(DateTime.Now.Millisecond);
if (comPort.BaseStream.IsOpen)
{
if ((string)this.MenuConnect.BackgroundImage.Tag != "Disconnect")
{
this.Invoke((MethodInvoker)delegate
{
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
this.MenuConnect.BackgroundImage.Tag = "Disconnect";
CMB_baudrate.Enabled = false;
CMB_serialport.Enabled = false;
});
}
}
else
{
if ((string)this.MenuConnect.BackgroundImage.Tag != "Connect")
{
this.Invoke((MethodInvoker)delegate
{
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
this.MenuConnect.BackgroundImage.Tag = "Connect";
CMB_baudrate.Enabled = true;
CMB_serialport.Enabled = true;
});
}
}
menuupdate = DateTime.Now;
}
updateConnectIcon();
if (speechenable && talk != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
if (speechEnable && speechEngine != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
{
//speechbatteryvolt
float warnvolt = 0;
@ -938,12 +932,12 @@ namespace ArdupilotMega
if (MainV2.getConfig("speechbatteryenabled") == "True" && MainV2.cs.battery_voltage <= warnvolt)
{
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechbattery")));
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechbattery")));
}
if (MainV2.getConfig("speechcustomenabled") == "True")
{
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechcustom")));
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechcustom")));
}
speechcustomtime = DateTime.Now;
@ -967,7 +961,7 @@ namespace ArdupilotMega
GC.Collect();
}
if (speechenable && talk != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
if (speechEnable && speechEngine != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
{
float warnalt = float.MaxValue;
float.TryParse(MainV2.getConfig("speechaltheight"), out warnalt);
@ -975,20 +969,20 @@ namespace ArdupilotMega
{
if (MainV2.getConfig("speechaltenabled") == "True" && (MainV2.cs.alt - (int)double.Parse(MainV2.getConfig("TXT_homealt"))) <= warnalt)
{
if (MainV2.talk.State == SynthesizerState.Ready)
MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechalt")));
if (MainV2.speechEngine.State == SynthesizerState.Ready)
MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechalt")));
}
}
catch { } // silent fail
}
if (!comPort.BaseStream.IsOpen || givecomport == true)
if (!comPort.BaseStream.IsOpen || giveComport == true)
{
System.Threading.Thread.Sleep(100);
continue;
}
if (heatbeatsend.Second != DateTime.Now.Second)
if (heatbeatSend.Second != DateTime.Now.Second)
{
// Console.WriteLine("remote lost {0}", cs.packetdropremote);
@ -1005,22 +999,22 @@ namespace ArdupilotMega
#endif
comPort.sendPacket(htb);
heatbeatsend = DateTime.Now;
heatbeatSend = DateTime.Now;
}
// data loss warning
if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds > 10)
{
if (speechenable && talk != null)
if (speechEnable && speechEngine != null)
{
if (MainV2.talk.State == SynthesizerState.Ready)
MainV2.talk.SpeakAsync("WARNING No Data for " + (int)(DateTime.Now - comPort.lastvalidpacket).TotalSeconds + " Seconds");
if (MainV2.speechEngine.State == SynthesizerState.Ready)
MainV2.speechEngine.SpeakAsync("WARNING No Data for " + (int)(DateTime.Now - comPort.lastvalidpacket).TotalSeconds + " Seconds");
}
}
//Console.WriteLine(comPort.BaseStream.BytesToRead);
//Console.WriteLine(DateTime.Now.Millisecond + " " + comPort.BaseStream.BytesToRead);
while (comPort.BaseStream.BytesToRead > minbytes && givecomport == false)
while (comPort.BaseStream.BytesToRead > minbytes && giveComport == false)
comPort.readPacket();
}
catch (Exception e)
@ -1082,12 +1076,7 @@ namespace ArdupilotMega
private void MainV2_Load(object sender, EventArgs e)
{
// generate requestall for jani and sandro
comPort.sysid = 7;
comPort.compid = 1;
//comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL,3);
//
// init button depressed
MenuFlightData_Click(sender, e);
// for long running tasks using own threads.
@ -1096,13 +1085,11 @@ namespace ArdupilotMega
try
{
listener = new TcpListener(IPAddress.Any, 56781);
var t13 = new Thread(listernforclients)
new Thread(listernforclients)
{
Name = "motion jpg stream",
Name = "motion jpg stream-network kml",
IsBackground = true
};
// wait for tcp connections
t13.Start();
}.Start();
}
catch (Exception ex)
{
@ -1110,20 +1097,18 @@ namespace ArdupilotMega
CustomMessageBox.Show(ex.ToString());
}
var t12 = new Thread(new ThreadStart(joysticksend))
new Thread(new ThreadStart(joysticksend))
{
IsBackground = true,
Priority = ThreadPriority.AboveNormal,
Name = "Main joystick sender"
};
t12.Start();
}.Start();
var t11 = new Thread(SerialReader)
new Thread(SerialReader)
{
IsBackground = true,
Name = "Main Serial reader"
};
t11.Start();
}.Start();
if (Debugger.IsAttached)
{
@ -1466,12 +1451,12 @@ namespace ArdupilotMega
}
public static void updatecheck(ProgressReporterDialogue frmProgressReporter)
public static void updateCheckMain(ProgressReporterDialogue frmProgressReporter)
{
var baseurl = ConfigurationManager.AppSettings["UpdateLocation"];
try
{
bool update = updatecheck(frmProgressReporter, baseurl, "");
bool update = updateCheck(frmProgressReporter, baseurl, "");
var process = new Process();
string exePath = Path.GetDirectoryName(Application.ExecutablePath);
if (MONO)
@ -1503,7 +1488,8 @@ namespace ArdupilotMega
log.Info("Quitting existing process");
try
{
MainV2.instance.BeginInvoke((MethodInvoker)delegate() {
MainV2.instance.BeginInvoke((MethodInvoker)delegate()
{
Application.Exit();
});
}
@ -1614,20 +1600,20 @@ namespace ArdupilotMega
ThemeManager.ApplyThemeTo(frmProgressReporter);
frmProgressReporter.DoWork += new Controls.ProgressReporterDialogue.DoWorkEventHandler(frmProgressReporter_DoWork);
frmProgressReporter.DoWork += new Controls.ProgressReporterDialogue.DoWorkEventHandler(DoUpdateWorker_DoWork);
frmProgressReporter.UpdateProgressAndStatus(-1, "Checking for Updates");
frmProgressReporter.RunBackgroundOperationAsync();
}
static void frmProgressReporter_DoWork(object sender, Controls.ProgressWorkerEventArgs e)
static void DoUpdateWorker_DoWork(object sender, Controls.ProgressWorkerEventArgs e)
{
((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Getting Base URL");
MainV2.updatecheck((ProgressReporterDialogue)sender);
MainV2.updateCheckMain((ProgressReporterDialogue)sender);
}
private static bool updatecheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir)
private static bool updateCheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir)
{
bool update = false;
List<string> files = new List<string>();
@ -1688,7 +1674,7 @@ namespace ArdupilotMega
}
if (file.EndsWith("/"))
{
update = updatecheck(frmProgressReporter, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update;
update = updateCheck(frmProgressReporter, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update;
continue;
}
if (frmProgressReporter != null)
@ -1786,7 +1772,7 @@ namespace ArdupilotMega
((HttpWebRequest)request).AutomaticDecompression = DecompressionMethods.GZip | DecompressionMethods.Deflate;
request.Headers.Add("Accept-Encoding", "gzip,deflate");
request.Headers.Add("Accept-Encoding", "gzip,deflate");
// Get the response.
response = request.GetResponse();

10
Tools/ArdupilotMegaPlanner/MavlinkLog.cs
View File

@ -366,7 +366,11 @@ namespace ArdupilotMega
{
MAVLink mine = new MAVLink();
mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
try
{
mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex) { log.Debug(ex.ToString()); CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return; }
mine.logreadmode = true;
mine.packets.Initialize(); // clear
@ -399,8 +403,8 @@ namespace ArdupilotMega
try
{
if (MainV2.talk != null)
MainV2.talk.SpeakAsyncCancelAll();
if (MainV2.speechEngine != null)
MainV2.speechEngine.SpeakAsyncCancelAll();
}
catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting.

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
View File

@ -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("1.1.51")]
[assembly: AssemblyFileVersion("1.1.54")]
[assembly: NeutralResourcesLanguageAttribute("")]

8
Tools/ArdupilotMegaPlanner/SerialInput.cs
View File

@ -153,19 +153,19 @@ namespace ArdupilotMega
}
catch { }
if (MainV2.comPort.BaseStream.IsOpen && MainV2.givecomport == false)
if (MainV2.comPort.BaseStream.IsOpen && MainV2.giveComport == false)
{
try
{
MainV2.givecomport = true;
MainV2.giveComport = true;
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
GCSViews.FlightData.GuidedModeWP = new PointLatLngAlt(gotohere);
MainV2.givecomport = false;
MainV2.giveComport = false;
}
catch { MainV2.givecomport = false; }
catch { MainV2.giveComport = false; }
}
}
}

22
Tools/ArdupilotMegaPlanner/Setup/Setup.cs
View File

@ -510,7 +510,7 @@ namespace ArdupilotMega.Setup
if (tabControl1.SelectedTab == tabHeli)
{
if (MainV2.comPort.param["GYR_ENABLE_"] == null)
if (MainV2.comPort.param["GYR_ENABLE"] == null)
{
tabHeli.Enabled = false;
return;
@ -518,6 +518,12 @@ namespace ArdupilotMega.Setup
startup = true;
try
{
if (MainV2.comPort.param.ContainsKey("H1_ENABLE"))
{
CCPM.Checked = MainV2.comPort.param["H1_ENABLE"].ToString() == "0" ? true : false;
H1_ENABLE.Checked = !CCPM.Checked;
}
foreach (string value in MainV2.comPort.param.Keys)
{
if (value == "")
@ -915,7 +921,7 @@ namespace ArdupilotMega.Setup
}
catch { CustomMessageBox.Show("Set SYSID_SW_MREV Failed"); return; }
MainV2.givecomport = true;
MainV2.giveComport = true;
ICommsSerial comPortT = MainV2.comPort.BaseStream;
@ -931,7 +937,7 @@ namespace ArdupilotMega.Setup
comPortT.DtrEnable = true;
comPortT.Open();
}
catch (Exception ex) { MainV2.givecomport = false; CustomMessageBox.Show("Invalid Comport Settings : " + ex.Message); return; }
catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Invalid Comport Settings : " + ex.Message); return; }
BUT_reset.Text = "Rebooting (17 sec)";
BUT_reset.Refresh();
@ -951,7 +957,7 @@ namespace ArdupilotMega.Setup
comPortT.Close();
MainV2.givecomport = false;
MainV2.giveComport = false;
try
{
MainV2.comPort.Open(true);
@ -1087,9 +1093,9 @@ namespace ArdupilotMega.Setup
try
{
MainV2.comPort.setParam("COL_MID_", MainV2.cs.ch3in);
MainV2.comPort.setParam("COL_MID", MainV2.cs.ch3in);
COL_MID.Text = MainV2.comPort.param["COL_MID_"].ToString();
COL_MID.Text = MainV2.comPort.param["COL_MID"].ToString();
}
catch { CustomMessageBox.Show("Set COL_MID_ failed"); }
}
@ -1290,8 +1296,8 @@ namespace ArdupilotMega.Setup
{
if (MainV2.comPort.param["HSV_MAN"].ToString() == "1")
{
MainV2.comPort.setParam("COL_MIN_", int.Parse(COL_MIN.Text));
MainV2.comPort.setParam("COL_MAX_", int.Parse(COL_MAX.Text));
MainV2.comPort.setParam("COL_MIN", int.Parse(COL_MIN.Text));
MainV2.comPort.setParam("COL_MAX", int.Parse(COL_MAX.Text));
MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
BUT_swash_manual.Text = "Manual";

BIN
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb
View File

Binary file not shown.

16
Tools/ArdupilotMegaPlanner/temp.cs
View File

@ -151,7 +151,7 @@ namespace ArdupilotMega
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comportname;
port.PortName = ArdupilotMega.MainV2.comPortName;
try
{
port.Open();
@ -222,7 +222,7 @@ namespace ArdupilotMega
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comportname;
port.PortName = ArdupilotMega.MainV2.comPortName;
try
{
port.Open();
@ -285,7 +285,7 @@ namespace ArdupilotMega
port.Parity = Parity.None;
port.DtrEnable = true;
port.PortName = ArdupilotMega.MainV2.comportname;
port.PortName = ArdupilotMega.MainV2.comPortName;
try
{
port.Open();
@ -392,7 +392,7 @@ namespace ArdupilotMega
try
{
port.PortName = ArdupilotMega.MainV2.comportname;
port.PortName = ArdupilotMega.MainV2.comPortName;
port.Open();
@ -536,7 +536,7 @@ namespace ArdupilotMega
try
{
port.PortName = ArdupilotMega.MainV2.comportname;
port.PortName = ArdupilotMega.MainV2.comPortName;
log.Info("Open Port");
port.Open();
@ -587,7 +587,7 @@ namespace ArdupilotMega
try
{
port.PortName = ArdupilotMega.MainV2.comportname;
port.PortName = ArdupilotMega.MainV2.comPortName;
log.Info("Open Port");
port.Open();
@ -651,7 +651,7 @@ namespace ArdupilotMega
try
{
port.PortName = ArdupilotMega.MainV2.comportname;
port.PortName = ArdupilotMega.MainV2.comPortName;
log.Info("Open Port");
port.Open();
@ -728,7 +728,7 @@ namespace ArdupilotMega
try
{
port.PortName = ArdupilotMega.MainV2.comportname;
port.PortName = ArdupilotMega.MainV2.comPortName;
port.Open();

6
Tools/VARTest/VARTest.pde
View File

@ -18,6 +18,8 @@
#include <AP_DCM.h>
#include <AP_ADC.h>
#include <AP_Baro.h>
#include <Filter.h>
#include <GCS_MAVLink.h>
#include <AP_PeriodicProcess.h>
#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
#include <AP_IMU.h> // ArduPilot Mega IMU Library
@ -26,6 +28,10 @@
#include <config.h>
#include <Parameters.h>
#if 0
#include <AP_Declination.h>
#endif
static Parameters g;
static AP_ADC_ADS7844 adc;

38
libraries/AP_Baro/AP_Baro_BMP085.cpp
View File

@ -172,30 +172,6 @@ void AP_Baro_BMP085::ReadPress()
}
RawPress = (((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | ((uint32_t)buf[2])) >> (8 - OVERSAMPLING);
//if (_offset_press == 0){
// _offset_press = RawPress;
// RawPress = 0;
//} else{
// RawPress -= _offset_press;
//}
// filter
//_press_filter[_press_index++] = RawPress;
//if(_press_index >= PRESS_FILTER_SIZE)
// _press_index = 0;
//RawPress = 0;
// sum our filter
//for (uint8_t i = 0; i < PRESS_FILTER_SIZE; i++){
// RawPress += _press_filter[i];
//}
// grab result
//RawPress /= PRESS_FILTER_SIZE;
//RawPress += _offset_press;
}
// Send Command to Read Temperature
@ -225,25 +201,21 @@ void AP_Baro_BMP085::ReadTemp()
_temp_sensor = buf[0];
_temp_sensor = (_temp_sensor << 8) | buf[1];
if (RawTemp == 0){
RawTemp = _temp_sensor;
}else{
RawTemp = (float)_temp_sensor * .01 + (float)RawTemp * .99;
}
RawTemp = _temp_filter.apply(_temp_sensor);
}
// Calculate Temperature and Pressure in real units.
void AP_Baro_BMP085::Calculate()
{
long x1, x2, x3, b3, b5, b6, p;
unsigned long b4, b7;
int32_t x1, x2, x3, b3, b5, b6, p;
uint32_t b4, b7;
int32_t tmp;
// See Datasheet page 13 for this formulas
// Based also on Jee Labs BMP085 example code. Thanks for share.
// Temperature calculations
x1 = ((long)RawTemp - ac6) * ac5 >> 15;
x2 = ((long) mc << 11) / (x1 + md);
x1 = ((int32_t)RawTemp - ac6) * ac5 >> 15;
x2 = ((int32_t) mc << 11) / (x1 + md);
b5 = x1 + x2;
Temp = (b5 + 8) >> 4;

10
libraries/AP_Baro/AP_Baro_BMP085.h
View File

@ -5,14 +5,13 @@
#define PRESS_FILTER_SIZE 2
#include "AP_Baro.h"
#include <AverageFilter.h>
class AP_Baro_BMP085 : public AP_Baro
{
public:
AP_Baro_BMP085(bool apm2_hardware):
_apm2_hardware(apm2_hardware),
_temp_index(0),
_press_index(0){}; // Constructor
_apm2_hardware(apm2_hardware) {}; // Constructor
/* AP_Baro public interface: */
@ -27,7 +26,6 @@ class AP_Baro_BMP085 : public AP_Baro
private:
int32_t RawPress;
int32_t _offset_press;
int32_t RawTemp;
int16_t Temp;
uint32_t Press;
@ -40,10 +38,8 @@ class AP_Baro_BMP085 : public AP_Baro
int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
uint16_t ac4, ac5, ac6;
int32_t _press_filter[PRESS_FILTER_SIZE];
AverageFilterInt16_Size4 _temp_filter;
uint8_t _temp_index;
uint8_t _press_index;
uint32_t _retry_time;
void Command_ReadPress();

1
libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde
View File

@ -12,6 +12,7 @@
#include <AP_InertialSensor.h>
#include <AP_Math.h>
#include <AP_Common.h>
#include <AverageFilter.h>
#ifndef APM2_HARDWARE
# define APM2_HARDWARE 0

6
libraries/Desktop/support/main.cpp
View File

@ -83,6 +83,12 @@ int main(int argc, char * const argv[])
struct timeval tv;
fd_set fds;
int fd_high = 0;
#ifdef __CYGWIN__
// under windows if this loop is using alot of cpu,
// the alarm gets called at a slower rate.
sleep(5);
#endif
FD_ZERO(&fds);
loop();

11
libraries/Desktop/support/sitl.cpp
View File

@ -231,6 +231,17 @@ static void timer_handler(int signum)
if (kill(parent_pid, 0) != 0) {
exit(1);
}
#else
static uint16_t count = 0;
static uint32_t last_report;
count++;
if (millis() - last_report > 1000) {
printf("TH %u cps\n", count);
count = 0;
last_report = millis();
}
#endif
/* check for packet from flight sim */