From dc31d82f131139c0d4173970764f255b2f45dfe4 Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
Date: Fri, 16 Dec 2011 20:04:20 +0800
Subject: [PATCH] APM Planner 1.1.7 modify apvar dump detection remove
 reference to CLI and LOG/Setup mode add line feeds for logs/terminal fix
 flow_enabled check on form load

---
 Tools/ArdupilotMegaPlanner/ArduinoDetect.cs   | 94 +++++++++++++++++--
 .../ArdupilotMegaPlanner/ArdupilotMega.csproj |  6 ++
 .../ArdupilotMegaPlanner/GCSViews/Firmware.cs |  4 +-
 .../GCSViews/Firmware.resx                    | 24 ++---
 .../GCSViews/Simulation.cs                    | 15 +--
 .../ArdupilotMegaPlanner/GCSViews/Terminal.cs |  7 +-
 .../GCSViews/Terminal.resx                    | 15 ++-
 Tools/ArdupilotMegaPlanner/Log.cs             |  6 +-
 Tools/ArdupilotMegaPlanner/MainV2.cs          |  7 +-
 .../Properties/AssemblyInfo.cs                |  2 +-
 Tools/ArdupilotMegaPlanner/RAW_Sensor.cs      |  2 +-
 .../Resources/MAVParam.txt                    |  2 +-
 Tools/ArdupilotMegaPlanner/Setup/Setup.cs     |  4 +
 13 files changed, 134 insertions(+), 54 deletions(-)

diff --git a/Tools/ArdupilotMegaPlanner/ArduinoDetect.cs b/Tools/ArdupilotMegaPlanner/ArduinoDetect.cs
index 01a77d1430..320338126b 100644
--- a/Tools/ArdupilotMegaPlanner/ArduinoDetect.cs
+++ b/Tools/ArdupilotMegaPlanner/ArduinoDetect.cs
@@ -10,7 +10,7 @@ namespace ArdupilotMega
     class ArduinoDetect
     {
         /// <summary>
-        /// detects a 1280 or a 2560 board
+        /// detects STK version 1 or 2
         /// </summary>
         /// <param name="port">comportname</param>
         /// <returns>string either (1280/2560) or "" for none</returns>
@@ -62,6 +62,85 @@ namespace ArdupilotMega
 
             System.Threading.Thread.Sleep(100);
 
+            a = 0;
+            while (a < 4)
+            {
+                byte[] temp = new byte[] { 0x6, 0, 0, 0, 0 };
+                temp = ArduinoDetect.genstkv2packet(serialPort, temp);
+                a++;
+                System.Threading.Thread.Sleep(50);
+
+                try
+                {
+                    if (temp[0] == 6 && temp[1] == 0 && temp.Length == 2)
+                    {
+                        serialPort.Close();
+
+                        return "2560";
+
+                    }
+                }
+                catch { }
+            }
+
+            serialPort.Close();
+            Console.WriteLine("Not a 2560");
+            return "";
+        }
+
+        /// <summary>
+        /// Detects APM board version
+        /// </summary>
+        /// <param name="port"></param>
+        /// <returns> (1280/2560/2560-2)</returns>
+        public static string DetectBoard(string port)
+        {
+            SerialPort serialPort = new SerialPort();
+            serialPort.PortName = port;
+
+            if (serialPort.IsOpen)
+                serialPort.Close();
+
+            serialPort.DtrEnable = true;
+            serialPort.BaudRate = 57600;
+            serialPort.Open();
+
+            System.Threading.Thread.Sleep(100);
+
+            int a = 0;
+            while (a < 20) // 20 * 50 = 1 sec
+            {
+                //Console.WriteLine("write " + DateTime.Now.Millisecond);
+                serialPort.DiscardInBuffer();
+                serialPort.Write(new byte[] { (byte)'0', (byte)' ' }, 0, 2);
+                a++;
+                System.Threading.Thread.Sleep(50);
+
+                //Console.WriteLine("btr {0}", serialPort.BytesToRead);
+                if (serialPort.BytesToRead >= 2)
+                {
+                    byte b1 = (byte)serialPort.ReadByte();
+                    byte b2 = (byte)serialPort.ReadByte();
+                    if (b1 == 0x14 && b2 == 0x10)
+                    {
+                        serialPort.Close();
+                        return "1280";
+                    }
+                }
+            }
+
+            serialPort.Close();
+
+            Console.WriteLine("Not a 1280");
+
+            System.Threading.Thread.Sleep(500);
+
+            serialPort.DtrEnable = true;
+            serialPort.BaudRate = 115200;
+            serialPort.Open();
+
+            System.Threading.Thread.Sleep(100);
+
             a = 0;
             while (a < 4)
             {
@@ -101,7 +180,7 @@ namespace ArdupilotMega
                         }
                         else
                         {
-                            if (DialogResult.Yes == MessageBox.Show("APM 2.0", "Is this a APM 2?", MessageBoxButtons.YesNo))
+                            if (DialogResult.Yes == MessageBox.Show("Is this a APM 2?", "APM 2", MessageBoxButtons.YesNo))
                             {
                                 return "2560-2";
                             }
@@ -110,7 +189,7 @@ namespace ArdupilotMega
                                 return "2560";
                             }
                         }
-                        
+
                     }
                 }
                 catch { }
@@ -119,7 +198,8 @@ namespace ArdupilotMega
             serialPort.Close();
             Console.WriteLine("Not a 2560");
             return "";
-        }  
+        }
+
 
         public static int decodeApVar(string comport, string version)
         {
@@ -170,10 +250,10 @@ namespace ArdupilotMega
                         if (key == 0)
                         {
                             //Array.Reverse(buffer, pos, 2);
-                            return BitConverter.ToUInt16(buffer,pos);
+                            return BitConverter.ToUInt16(buffer, pos);
                         }
 
-                        
+
                         for (int i = 0; i <= size; i++)
                         {
                             Console.Write(" {0:X2}", buffer[pos]);
@@ -283,4 +363,4 @@ namespace ArdupilotMega
             return mes;
         }
     }
-}
+}
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
index b0f33aff2c..693b390139 100644
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
@@ -440,9 +440,11 @@
     </EmbeddedResource>
     <EmbeddedResource Include="RAW_Sensor.resx">
       <DependentUpon>RAW_Sensor.cs</DependentUpon>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="MavlinkLog.resx">
       <DependentUpon>MavlinkLog.cs</DependentUpon>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="GCSViews\Configuration.resx">
       <DependentUpon>Configuration.cs</DependentUpon>
@@ -490,6 +492,7 @@
     </EmbeddedResource>
     <EmbeddedResource Include="JoystickSetup.resx">
       <DependentUpon>JoystickSetup.cs</DependentUpon>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="JoystickSetup.zh-Hans.resx">
       <DependentUpon>JoystickSetup.cs</DependentUpon>
@@ -514,9 +517,11 @@
     </EmbeddedResource>
     <EmbeddedResource Include="Log.resx">
       <DependentUpon>Log.cs</DependentUpon>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="LogBrowse.resx">
       <DependentUpon>LogBrowse.cs</DependentUpon>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="Properties\Resources.resx">
       <Generator>PublicResXFileCodeGenerator</Generator>
@@ -533,6 +538,7 @@
     </EmbeddedResource>
     <EmbeddedResource Include="Setup\Setup.resx">
       <DependentUpon>Setup.cs</DependentUpon>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="Setup\Setup.zh-Hans.resx">
       <DependentUpon>Setup.cs</DependentUpon>
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
index 06e13f9c70..c8c07bb1c3 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
@@ -266,7 +266,7 @@ namespace ArdupilotMega.GCSViews
                 fd.ShowDialog();
                 if (File.Exists(fd.FileName))
                 {
-                    UploadFlash(fd.FileName, ArduinoDetect.DetectVersion(MainV2.comportname));
+                    UploadFlash(fd.FileName, ArduinoDetect.DetectBoard(MainV2.comportname));
                 }
                 return true;
             }
@@ -498,7 +498,7 @@ namespace ArdupilotMega.GCSViews
 
                 this.Refresh();
 
-                board = ArduinoDetect.DetectVersion(MainV2.comportname);
+                board = ArduinoDetect.DetectBoard(MainV2.comportname);
 
                 if (board == "")
                 {
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx
index ce57897e56..3e8d6b5151 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.resx
@@ -178,7 +178,7 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxQuad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>563, -10</value>
+    <value>399, -9</value>
   </data>
   <data name="pictureBoxQuad.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 190</value>
@@ -205,7 +205,7 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxHexa.Location" type="System.Drawing.Point, System.Drawing">
-    <value>770, -10</value>
+    <value>595, -8</value>
   </data>
   <data name="pictureBoxHexa.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 190</value>
@@ -232,7 +232,7 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxTri.Location" type="System.Drawing.Point, System.Drawing">
-    <value>563, 184</value>
+    <value>399, 185</value>
   </data>
   <data name="pictureBoxTri.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 190</value>
@@ -259,7 +259,7 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxY6.Location" type="System.Drawing.Point, System.Drawing">
-    <value>770, 184</value>
+    <value>595, 186</value>
   </data>
   <data name="pictureBoxY6.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 190</value>
@@ -430,7 +430,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_ACQuad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>560, 168</value>
+    <value>396, 169</value>
   </data>
   <data name="lbl_ACQuad.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 13</value>
@@ -460,7 +460,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_ACHexa.Location" type="System.Drawing.Point, System.Drawing">
-    <value>767, 168</value>
+    <value>592, 170</value>
   </data>
   <data name="lbl_ACHexa.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 13</value>
@@ -490,7 +490,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_ACTri.Location" type="System.Drawing.Point, System.Drawing">
-    <value>560, 361</value>
+    <value>396, 362</value>
   </data>
   <data name="lbl_ACTri.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 13</value>
@@ -520,7 +520,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_ACY6.Location" type="System.Drawing.Point, System.Drawing">
-    <value>767, 361</value>
+    <value>592, 363</value>
   </data>
   <data name="lbl_ACY6.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 13</value>
@@ -550,7 +550,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_Heli.Location" type="System.Drawing.Point, System.Drawing">
-    <value>310, 167</value>
+    <value>200, 167</value>
   </data>
   <data name="lbl_Heli.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 13</value>
@@ -580,7 +580,7 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxHeli.Location" type="System.Drawing.Point, System.Drawing">
-    <value>313, -9</value>
+    <value>203, -9</value>
   </data>
   <data name="pictureBoxHeli.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 190</value>
@@ -607,7 +607,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_ACHil.Location" type="System.Drawing.Point, System.Drawing">
-    <value>310, 361</value>
+    <value>200, 361</value>
   </data>
   <data name="lbl_ACHil.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 13</value>
@@ -637,7 +637,7 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxQuadHil.Location" type="System.Drawing.Point, System.Drawing">
-    <value>313, 184</value>
+    <value>203, 184</value>
   </data>
   <data name="pictureBoxQuadHil.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 190</value>
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
index 79e20164bd..3d60418cfd 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
@@ -1359,19 +1359,8 @@ namespace ArdupilotMega.GCSViews
                 throttle_out = ((float)MainV2.cs.hilch3 + 5000) / throttlegain;
                 rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
             }
-            /*
-            if ((roll_out == -1 || roll_out == 1) && (pitch_out == -1 || pitch_out == 1))
-            {
-                this.Invoke((MethodInvoker)delegate
-                {
-                    try
-                    {
-                        OutputLog.AppendText("Please check your radio setup - CLI -> setup -> radio!!!\n");
-                    }
-                    catch { }
-                });
-            }
-            */
+
+
             // Limit min and max
             roll_out = Constrain(roll_out, -1, 1);
             pitch_out = Constrain(pitch_out, -1, 1);
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs
index 7051ee6006..241f022370 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs
@@ -155,8 +155,6 @@ namespace ArdupilotMega.GCSViews
 
         private void Terminal_Load(object sender, EventArgs e)
         {
-            MessageBox.Show("Set your APM into LOG/SETUP mode!! (switch towards the servo header)");
-
             try
             {
                 MainV2.givecomport = true;
@@ -175,6 +173,11 @@ namespace ArdupilotMega.GCSViews
                 System.Threading.Thread t11 = new System.Threading.Thread(delegate()
                 {
                     threadrun = true;
+
+                    System.Threading.Thread.Sleep(2000);
+
+                    comPort.Write("\n\n\n\n\n");
+
                     while (threadrun)
                     {
                         try
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.resx b/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.resx
index 254f6c030c..4da6d80a1b 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.resx
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.resx
@@ -136,8 +136,7 @@
     <value>0</value>
   </data>
   <data name="TXT_terminal.Text" xml:space="preserve">
-    <value>NOTE: You must disconnect and move the slider switch when done to use other tabs
-</value>
+    <value />
   </data>
   <data name="&gt;&gt;TXT_terminal.Name" xml:space="preserve">
     <value>TXT_terminal</value>
@@ -167,7 +166,7 @@
     <value>BUTsetupshow</value>
   </data>
   <data name="&gt;&gt;BUTsetupshow.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.4199.27022, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUTsetupshow.Parent" xml:space="preserve">
     <value>$this</value>
@@ -191,7 +190,7 @@
     <value>BUTradiosetup</value>
   </data>
   <data name="&gt;&gt;BUTradiosetup.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.4199.27022, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUTradiosetup.Parent" xml:space="preserve">
     <value>$this</value>
@@ -215,7 +214,7 @@
     <value>BUTtests</value>
   </data>
   <data name="&gt;&gt;BUTtests.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.4199.27022, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUTtests.Parent" xml:space="preserve">
     <value>$this</value>
@@ -239,7 +238,7 @@
     <value>Logs</value>
   </data>
   <data name="&gt;&gt;Logs.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.4199.27022, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;Logs.Parent" xml:space="preserve">
     <value>$this</value>
@@ -263,7 +262,7 @@
     <value>BUT_logbrowse</value>
   </data>
   <data name="&gt;&gt;BUT_logbrowse.Type" xml:space="preserve">
-    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.4199.27022, Culture=neutral, PublicKeyToken=ff91852278f5092c</value>
+    <value>ArdupilotMega.MyButton, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
   <data name="&gt;&gt;BUT_logbrowse.Parent" xml:space="preserve">
     <value>$this</value>
@@ -284,6 +283,6 @@
     <value>Terminal</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.UserControl, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner, Version=1.0.0.0, Culture=neutral, PublicKeyToken=38326cb7e06851fc</value>
   </data>
 </root>
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/Log.cs b/Tools/ArdupilotMegaPlanner/Log.cs
index b45163c919..68e31dd776 100644
--- a/Tools/ArdupilotMegaPlanner/Log.cs
+++ b/Tools/ArdupilotMegaPlanner/Log.cs
@@ -87,6 +87,10 @@ namespace ArdupilotMega
 
                 threadrun = true;
 
+                System.Threading.Thread.Sleep(2000);
+
+                comPort.Write("\n\n\n\n");
+
                 while (threadrun)
                 {
                     try
@@ -175,7 +179,7 @@ namespace ArdupilotMega
                     {
                         case serialstatus.Connecting:
 
-                            if (line.Contains("reset to FLY") || line.Contains("interactive setup") || line.Contains("CLI:"))
+                            if (line.Contains("reset to FLY") || line.Contains("interactive setup") || line.Contains("CLI:") || line.Contains("Ardu"))
                             {
                                 comPort.Write("logs\r");
                             }
diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs
index dff779f139..4391fbd290 100644
--- a/Tools/ArdupilotMegaPlanner/MainV2.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.cs
@@ -686,11 +686,6 @@ namespace ArdupilotMega
                 if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
                     comPort.BaseStream.DtrEnable = true;
 
-                if (DialogResult.OK != Common.MessageShowAgain("Mavlink Connect", "Make sure your APM slider switch is in Flight Mode (away from RC pins)"))
-                {
-                    return;
-                }
-
                 try
                 {
                     if (comPort.logfile != null)
@@ -771,7 +766,7 @@ namespace ArdupilotMega
                         }
                     }
                     catch { }
-                    MessageBox.Show("Is your CLI switch in Flight position?\n(this is required for MAVlink comms)\n\n" + ex.ToString());
+                    MessageBox.Show("Can not establish a connection\n\n" + ex.ToString());
                     return;
                 }
             }
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index 76e6c3166b..bee2fdc106 100644
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.1.6")]
+[assembly: AssemblyFileVersion("1.1.7")]
 [assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/RAW_Sensor.cs b/Tools/ArdupilotMegaPlanner/RAW_Sensor.cs
index e1d0f2411e..2ca1c4ee9c 100644
--- a/Tools/ArdupilotMegaPlanner/RAW_Sensor.cs
+++ b/Tools/ArdupilotMegaPlanner/RAW_Sensor.cs
@@ -291,7 +291,7 @@ namespace ArdupilotMega
                     }
                     catch
                     {
-                        MessageBox.Show("Comport open failed - Please try again and make sure your not in CLI mode");
+                        MessageBox.Show("Comport open failed");
                         return;
                     }
                 timer1.Start();
diff --git a/Tools/ArdupilotMegaPlanner/Resources/MAVParam.txt b/Tools/ArdupilotMegaPlanner/Resources/MAVParam.txt
index 9a19416a3b..7cf9ad6228 100644
--- a/Tools/ArdupilotMegaPlanner/Resources/MAVParam.txt
+++ b/Tools/ArdupilotMegaPlanner/Resources/MAVParam.txt
@@ -116,7 +116,7 @@ It includes both fixed wing (APM) and rotary wing (!ArduCopter) parameters. Some
 ||LIM_PITCH_MIN||-6000||0||-2500||100||1||PITCH_MIN_DEGREE - The maximum commanded pitch down angle.  Note that this value must be negative.  The default is -25 degrees.  Care should be taken not to set this value too large as it may result in overspeeding the aircraft.||
 ||GND_ALT_CM||0||500000||0||100||1||GND_ALT_CM||
 ||GND_ABS_PRESS|| || ||0|| || ||GND_ABS_PRESS||
-||COMPASS_DEC||-1.57075||1.57075||0||1|| ||COMPASS_DEC - Compass Declination||
+||COMPASS_DEC||-1.57075||1.57075||0||1|| ||COMPASS_DEC - Compass Declination in RADIANS||
 ||SR0_EXT_STAT||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS||
 ||SR0_EXTRA1||0||50||10||1||1||TELEMETRY_ENABLE Port 0 - Enable MSG_ATTITUDE||
 ||SR0_EXTRA2||0||50||3||1||1||TELEMETRY_ENABLE Port 0 - Enable MSG_VFR_HUD||
diff --git a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
index 1019e1b9d9..91d69bc42e 100644
--- a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
+++ b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
@@ -377,6 +377,7 @@ namespace ArdupilotMega.Setup
             if (tabControl1.SelectedTab == tabHardware)
             {
                 startup = true;
+
                 if (MainV2.comPort.param["ARSPD_ENABLE"] != null)
                     CHK_enableairspeed.Checked = MainV2.comPort.param["ARSPD_ENABLE"].ToString() == "1" ? true : false;
 
@@ -391,6 +392,9 @@ namespace ArdupilotMega.Setup
 
                 if (MainV2.comPort.param["SONAR_TYPE"] != null)
                     CMB_sonartype.SelectedIndex = int.Parse(MainV2.comPort.param["SONAR_TYPE"].ToString());
+
+                if (MainV2.comPort.param["FLOW_ENABLE"] != null)
+                    CHK_enableoptflow.Checked = MainV2.comPort.param["FLOW_ENABLE"].ToString() == "1" ? true : false;
                 
 
                 startup = false;