apm planner 1.1.8

fix large firmware issue
change apm2 detect
add tot = time over target
modify firmware screen
override jsbsim ports.
remove crossthread calls

Tools/ArdupilotMegaPlanner/ArduinoDetect.cs

@@ -163,16 +163,11 @@ namespace ArdupilotMega
                             {
                                 //Console.WriteLine("Dependant : " + obj2["Dependent"]);
 
+                                // all apm 1-1.4 use a ftdi on the imu board.
+
                                 if (obj2["Dependent"].ToString().Contains(@"USB\\VID_2341&PID_0010"))
                                 {
-                                    if (DialogResult.Yes == MessageBox.Show("Is this a APM 2?", "APM 2", MessageBoxButtons.YesNo))
-                                    {
                                         return "2560-2";
-                                    }
-                                    else
-                                    {
-                                        return "2560";
-                                    }
                                 }
                             }
 

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -207,7 +207,7 @@
     </Reference>
   </ItemGroup>
   <ItemGroup>
-    <Compile Include="AGauge.cs">
+    <Compile Include="Controls\AGauge.cs">
       <SubType>UserControl</SubType>
     </Compile>
     <Compile Include="ArduinoDetect.cs" />
@@ -225,6 +225,12 @@
     </Compile>
     <Compile Include="CommsTCPSerial.cs" />
     <Compile Include="CommsUdpSerial.cs" />
+    <Compile Include="Controls\ImageLabel.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="Controls\ImageLabel.Designer.cs">
+      <DependentUpon>ImageLabel.cs</DependentUpon>
+    </Compile>
     <Compile Include="ResEdit.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -267,14 +273,14 @@
     </Compile>
     <Compile Include="MAVLinkTypes.cs" />
     <Compile Include="MAVLinkTypesenum.cs" />
-    <Compile Include="MyButton.cs">
+    <Compile Include="Controls\MyButton.cs">
       <SubType>Component</SubType>
     </Compile>
     <Compile Include="Common.cs">
       <SubType>Component</SubType>
     </Compile>
     <Compile Include="ArduinoComms.cs" />
-    <Compile Include="MyLabel.cs">
+    <Compile Include="Controls\MyLabel.cs">
       <SubType>Component</SubType>
     </Compile>
     <Compile Include="MyUserControl.cs">
@@ -337,7 +343,7 @@
     <Compile Include="GCSViews\Simulation.Designer.cs">
       <DependentUpon>Simulation.cs</DependentUpon>
     </Compile>
-    <Compile Include="MyTrackBar.cs">
+    <Compile Include="Controls\MyTrackBar.cs">
       <SubType>Component</SubType>
     </Compile>
     <Compile Include="CurrentState.cs" />
@@ -392,13 +398,16 @@
     <Compile Include="temp.Designer.cs">
       <DependentUpon>temp.cs</DependentUpon>
     </Compile>
-    <EmbeddedResource Include="AGauge.resx">
+    <EmbeddedResource Include="Controls\AGauge.resx">
       <DependentUpon>AGauge.cs</DependentUpon>
       <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="Camera.resx">
       <DependentUpon>Camera.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="Controls\ImageLabel.resx">
+      <DependentUpon>ImageLabel.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="georefimage.resx">
       <DependentUpon>georefimage.cs</DependentUpon>
     </EmbeddedResource>
@@ -590,6 +599,12 @@
     <Content Include="mavcmd.xml">
       <CopyToOutputDirectory>Always</CopyToOutputDirectory>
     </Content>
+    <None Include="Resources\new frames-13.png" />
+    <None Include="Resources\new frames-12.png" />
+    <None Include="Resources\new frames-11.png" />
+    <None Include="Resources\new frames-10.png" />
+    <None Include="Resources\new frames-06.png" />
+    <None Include="Resources\new frames-05.png" />
     <None Include="Resources\BR-0016-01-3T.jpg" />
     <Content Include="Resources\MAVCmd.zh-Hans.txt" />
     <None Include="Resources\MAVParam.txt" />

Tools/ArdupilotMegaPlanner/Common.cs

@@ -102,7 +102,7 @@ namespace ArdupilotMega
         const float rad2deg = (float)(180 / Math.PI);
         const float deg2rad = (float)(1.0 / rad2deg);
 
-        static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::ArdupilotMega.Properties.Resources.planetracker.Width, global::ArdupilotMega.Properties.Resources.planetracker.Height);
+        static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::ArdupilotMega.Properties.Resources.planeicon.Width, global::ArdupilotMega.Properties.Resources.planeicon.Height);
         float heading = 0;
         float cog = -1;
         float target = -1;
@@ -131,7 +131,7 @@ namespace ArdupilotMega
             g.DrawLine(new Pen(Color.Orange, 2), 0.0f, 0.0f, (float)Math.Cos((target - 90) * deg2rad) * length, (float)Math.Sin((target - 90) * deg2rad) * length);
 
             g.RotateTransform(heading);
-            g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.planetracker, global::ArdupilotMega.Properties.Resources.planetracker.Width / -2, global::ArdupilotMega.Properties.Resources.planetracker.Height / -2);
+            g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.planeicon, global::ArdupilotMega.Properties.Resources.planeicon.Width / -2, global::ArdupilotMega.Properties.Resources.planeicon.Height / -2);
 
             g.Transform = temp;
         }
@@ -143,7 +143,7 @@ namespace ArdupilotMega
         const float rad2deg = (float)(180 / Math.PI);
         const float deg2rad = (float)(1.0 / rad2deg);
 
-        static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::ArdupilotMega.Properties.Resources.quad2.Width, global::ArdupilotMega.Properties.Resources.quad2.Height);
+        static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::ArdupilotMega.Properties.Resources.quadicon.Width, global::ArdupilotMega.Properties.Resources.quadicon.Height);
         float heading = 0;
         float cog = -1;
         float target = -1;
@@ -171,7 +171,7 @@ namespace ArdupilotMega
 
 
             g.RotateTransform(heading);
-            g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.quad2, global::ArdupilotMega.Properties.Resources.quad2.Width / -2 + 2, global::ArdupilotMega.Properties.Resources.quad2.Height / -2);
+            g.DrawImageUnscaled(global::ArdupilotMega.Properties.Resources.quadicon, global::ArdupilotMega.Properties.Resources.quadicon.Width / -2 + 2, global::ArdupilotMega.Properties.Resources.quadicon.Height / -2);
 
             g.Transform = temp;
         }

Tools/ArdupilotMegaPlanner/Controls/AGauge.resx

@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>

Tools/ArdupilotMegaPlanner/Controls/ImageLabel.Designer.cs

@@ -0,0 +1,76 @@
+namespace ArdupilotMega
+{
+    partial class ImageLabel
+    {
+        /// <summary> 
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary> 
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Component Designer generated code
+
+        /// <summary> 
+        /// Required method for Designer support - do not modify 
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.pictureBox1 = new System.Windows.Forms.PictureBox();
+            this.label1 = new System.Windows.Forms.Label();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
+            this.SuspendLayout();
+            // 
+            // pictureBox1
+            // 
+            this.pictureBox1.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.pictureBox1.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBox1.Location = new System.Drawing.Point(0, 0);
+            this.pictureBox1.Name = "pictureBox1";
+            this.pictureBox1.Size = new System.Drawing.Size(170, 155);
+            this.pictureBox1.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
+            this.pictureBox1.TabIndex = 0;
+            this.pictureBox1.TabStop = false;
+            this.pictureBox1.Click += new System.EventHandler(this.pictureBox1_Click);
+            // 
+            // label1
+            // 
+            this.label1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.label1.Location = new System.Drawing.Point(0, 157);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(170, 13);
+            this.label1.TabIndex = 1;
+            this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // ImageLabel
+            // 
+            this.Controls.Add(this.label1);
+            this.Controls.Add(this.pictureBox1);
+            this.Name = "ImageLabel";
+            this.Size = new System.Drawing.Size(170, 170);
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.PictureBox pictureBox1;
+        private System.Windows.Forms.Label label1;
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/ImageLabel.cs

@@ -0,0 +1,51 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Data;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+
+namespace ArdupilotMega
+{
+    public partial class ImageLabel : UserControl
+    {
+        public new event EventHandler Click;
+
+        private Image picture;
+        private string text;
+
+        public ImageLabel()
+        {
+            InitializeComponent();
+        }
+
+        public void setImageandText(Image image, string text)
+        {
+            pictureBox1.Image = image;
+            label1.Text = text;
+        }
+
+        [System.ComponentModel.Browsable(true)]
+        public Image Image {
+            get { return picture; }
+            set { picture = value; pictureBox1.Image = picture; }
+        }
+
+        [System.ComponentModel.Browsable(true)]
+        public override string Text
+        {
+            get { return text; }
+            set { text = value; label1.Text = text; }
+        }
+
+        private void pictureBox1_Click(object sender, EventArgs e)
+        {
+            if (Click != null)
+            {
+                Click(sender,new EventArgs());
+            }
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/ImageLabel.resx

@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>

Tools/ArdupilotMegaPlanner/Controls/MyButton.cs

@@ -0,0 +1,106 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Data;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+
+
+using System.Drawing.Drawing2D;
+
+namespace ArdupilotMega
+{
+    class MyButton : Button
+    {
+        bool mouseover = false;
+        bool mousedown = false;
+
+        protected override void OnPaint(PaintEventArgs pevent)
+        {
+            //base.OnPaint(pevent);
+
+            Graphics gr = pevent.Graphics;
+
+            Rectangle outside = new Rectangle(0,0,this.Width,this.Height);
+
+            LinearGradientBrush linear = new LinearGradientBrush(outside,Color.FromArgb(0x94,0xc1,0x1f),Color.FromArgb(0xcd,0xe2,0x96),LinearGradientMode.Vertical);
+
+            Pen mypen = new Pen(Color.FromArgb(0x79,0x94,0x29),2);
+
+            gr.FillRectangle(linear,outside);
+
+            gr.DrawRectangle(mypen,outside);
+
+            SolidBrush mybrush = new SolidBrush(Color.FromArgb(0x40,0x57,0x04));
+
+            if (mouseover)
+            {
+                SolidBrush brush = new SolidBrush(Color.FromArgb(73, 0x2b, 0x3a, 0x03));
+
+                gr.FillRectangle(brush, 0, 0, this.Width, this.Height);
+            } 
+            if (mousedown)
+            {
+                SolidBrush brush = new SolidBrush(Color.FromArgb(73, 0x2b, 0x3a, 0x03));
+
+                gr.FillRectangle(brush, 0, 0, this.Width, this.Height);
+            } 
+
+            if (!this.Enabled)
+            {
+                SolidBrush brush = new SolidBrush(Color.FromArgb(150, 0x2b, 0x3a, 0x03));
+
+                gr.FillRectangle(brush, 0, 0, this.Width, this.Height);
+            }
+
+
+            StringFormat stringFormat = new StringFormat();
+            stringFormat.Alignment = StringAlignment.Center;
+            stringFormat.LineAlignment = StringAlignment.Center;
+
+            string display = this.Text;
+            int amppos = display.IndexOf('&');
+            if (amppos != -1)
+                display = display.Remove(amppos,1);
+
+            gr.DrawString(display, this.Font, mybrush, outside, stringFormat);
+
+        }
+
+        protected override void OnClick(EventArgs e)
+        {
+            base.OnClick(e);
+        }
+
+        protected override void OnPaintBackground(PaintEventArgs pevent)
+        {
+            //base.OnPaintBackground(pevent);
+        }
+
+        protected override void OnMouseEnter(EventArgs e)
+        {
+            mouseover = true;
+            base.OnMouseEnter(e);
+        }
+
+        protected override void OnMouseLeave(EventArgs e)
+        {
+            mouseover = false;
+            base.OnMouseLeave(e);
+        }
+
+        protected override void OnMouseDown(MouseEventArgs mevent)
+        {
+            mousedown = true;
+            base.OnMouseDown(mevent);
+        }
+
+        protected override void OnMouseUp(MouseEventArgs mevent)
+        {
+            mousedown = false;
+            base.OnMouseUp(mevent);
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/MyLabel.cs

@@ -0,0 +1,88 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Data;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+
+namespace ArdupilotMega
+{
+    /// <summary>
+    /// profiling showed that the built in Label function was using alot ot call time.
+    /// </summary>
+    public partial class MyLabel : Control //: Label
+    {
+        string label = "";
+        int noofchars = 0;
+        bool autosize = false;
+
+        [System.ComponentModel.Browsable(true)]
+        public bool resize { get { return autosize; } set { autosize = value; } }
+
+        public MyLabel()
+        {
+        }
+        
+        public override string Text
+        {
+            get
+            {
+                return label;
+            }
+            set
+            {
+                if (value == null)
+                    return;
+
+                if (label == value)
+                    return;
+
+                label = value;
+
+                if (noofchars != label.Length && resize)
+                {
+                    noofchars = label.Length;
+                    Size textSize = TextRenderer.MeasureText(value, this.Font);
+                    this.Width = textSize.Width;
+                }   
+           
+                this.Invalidate();
+            }
+        }
+
+        SolidBrush s = new SolidBrush(Color.White);
+        SolidBrush b = new SolidBrush(Color.Black);
+
+        StringFormat stringFormat = new StringFormat();
+
+        protected override void OnPaint(PaintEventArgs e)
+        {
+            stringFormat.Alignment = StringAlignment.Near;
+            stringFormat.LineAlignment = StringAlignment.Center;
+
+            s = new SolidBrush(ForeColor);
+
+            e.Graphics.DrawString(label, this.Font, s, new PointF(0, this.Height / 2.0f), stringFormat);
+        }
+
+        protected override void OnPaintBackground(PaintEventArgs pevent)
+        {
+            b = new SolidBrush(BackColor);
+
+            pevent.Graphics.FillRectangle(b, this.ClientRectangle);
+
+            base.OnPaintBackground(pevent);
+        }
+        
+        protected override void WndProc(ref Message m) // seems to crash here on linux... so try ignore it
+        {
+            try
+            {
+                base.WndProc(ref m);
+            }
+            catch { }
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/MyTrackBar.cs

@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+
+namespace ArdupilotMega
+{
+    class MyTrackBar : TrackBar
+    {
+        public new double Maximum { get { return base.Maximum / 100.0; } set { base.Maximum = (int)(value * 100); } }
+        public new double Minimum { get { return base.Minimum / 100.0; } set { base.Minimum = (int)(value * 100); } }
+        public new double Value   { get { return base.Value / 100.0; }   set { base.Value = (int)(value * 100);   } }
+    }
+}

Tools/ArdupilotMegaPlanner/CurrentState.cs

@@ -20,6 +20,11 @@ namespace ArdupilotMega
         public float groundcourse { get { return _groundcourse; } set { if (value < 0) { _groundcourse = value + 360; } else { _groundcourse = value; } } }
         private float _groundcourse = 0;
 
+        /// <summary>
+        /// time over target in seconds
+        /// </summary>
+        public int tot { get { if (groundspeed <= 0) return 0; return (int)(wp_dist / groundspeed); } }
+
         // speeds
         public float airspeed { get { return _airspeed * multiplierspeed; } set { _airspeed = value; } }
         public float groundspeed { get { return _groundspeed * multiplierspeed; } set { _groundspeed = value; } }

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -17,58 +17,46 @@ namespace ArdupilotMega.GCSViews
 {
     class Firmware : MyUserControl
     {
-        private System.Windows.Forms.PictureBox pictureBoxAPM;
+        private ImageLabel pictureBoxAPM;
-        private System.Windows.Forms.PictureBox pictureBoxAPMHIL;
+        private ImageLabel pictureBoxQuad;
-        private System.Windows.Forms.PictureBox pictureBoxQuad;
+        private ImageLabel pictureBoxHexa;
-        private System.Windows.Forms.PictureBox pictureBoxHexa;
+        private ImageLabel pictureBoxTri;
-        private System.Windows.Forms.PictureBox pictureBoxTri;
+        private ImageLabel pictureBoxY6;
-        private System.Windows.Forms.PictureBox pictureBoxY6;
         private System.Windows.Forms.Label lbl_status;
         private System.Windows.Forms.ProgressBar progress;
-        private System.Windows.Forms.Label lbl_AP;
         private System.Windows.Forms.Label label2;
-        private System.Windows.Forms.Label lbl_APHil;
+        private ImageLabel pictureBoxHeli;
-        private System.Windows.Forms.Label lbl_ACQuad;
-        private System.Windows.Forms.Label lbl_ACHexa;
-        private System.Windows.Forms.Label lbl_ACTri;
-        private Label lbl_Heli;
-        private PictureBox pictureBoxHeli;
         private MyButton BUT_setup;
-        private Label lbl_ACHil;
+        private PictureBox pictureBoxHilimage;
-        private PictureBox pictureBoxQuadHil;
+        private PictureBox pictureBoxAPHil;
-        private System.Windows.Forms.Label lbl_ACY6;
+        private PictureBox pictureBoxACHil;
+        private PictureBox pictureBoxACHHil;
+        private ImageLabel pictureBoxOcta;
+        private ImageLabel pictureBoxOctav;
 
         private void InitializeComponent()
         {
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Firmware));
-            this.pictureBoxAPM = new System.Windows.Forms.PictureBox();
+            this.pictureBoxAPM = new ArdupilotMega.ImageLabel();
-            this.pictureBoxAPMHIL = new System.Windows.Forms.PictureBox();
+            this.pictureBoxQuad = new ArdupilotMega.ImageLabel();
-            this.pictureBoxQuad = new System.Windows.Forms.PictureBox();
+            this.pictureBoxHexa = new ArdupilotMega.ImageLabel();
-            this.pictureBoxHexa = new System.Windows.Forms.PictureBox();
+            this.pictureBoxTri = new ArdupilotMega.ImageLabel();
-            this.pictureBoxTri = new System.Windows.Forms.PictureBox();
+            this.pictureBoxY6 = new ArdupilotMega.ImageLabel();
-            this.pictureBoxY6 = new System.Windows.Forms.PictureBox();
             this.lbl_status = new System.Windows.Forms.Label();
             this.progress = new System.Windows.Forms.ProgressBar();
-            this.lbl_AP = new System.Windows.Forms.Label();
             this.label2 = new System.Windows.Forms.Label();
-            this.lbl_APHil = new System.Windows.Forms.Label();
+            this.pictureBoxHeli = new ArdupilotMega.ImageLabel();
-            this.lbl_ACQuad = new System.Windows.Forms.Label();
-            this.lbl_ACHexa = new System.Windows.Forms.Label();
-            this.lbl_ACTri = new System.Windows.Forms.Label();
-            this.lbl_ACY6 = new System.Windows.Forms.Label();
-            this.lbl_Heli = new System.Windows.Forms.Label();
-            this.pictureBoxHeli = new System.Windows.Forms.PictureBox();
-            this.lbl_ACHil = new System.Windows.Forms.Label();
-            this.pictureBoxQuadHil = new System.Windows.Forms.PictureBox();
             this.BUT_setup = new ArdupilotMega.MyButton();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPM)).BeginInit();
+            this.pictureBoxHilimage = new System.Windows.Forms.PictureBox();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPMHIL)).BeginInit();
+            this.pictureBoxAPHil = new System.Windows.Forms.PictureBox();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuad)).BeginInit();
+            this.pictureBoxACHil = new System.Windows.Forms.PictureBox();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHexa)).BeginInit();
+            this.pictureBoxACHHil = new System.Windows.Forms.PictureBox();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxTri)).BeginInit();
+            this.pictureBoxOcta = new ArdupilotMega.ImageLabel();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxY6)).BeginInit();
+            this.pictureBoxOctav = new ArdupilotMega.ImageLabel();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHeli)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).BeginInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuadHil)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).BeginInit();
             this.SuspendLayout();
             // 
             // pictureBoxAPM
@@ -80,19 +68,10 @@ namespace ArdupilotMega.GCSViews
             this.pictureBoxAPM.TabStop = false;
             this.pictureBoxAPM.Click += new System.EventHandler(this.pictureBoxAPM_Click);
             // 
-            // pictureBoxAPMHIL
-            // 
-            this.pictureBoxAPMHIL.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxAPMHIL.Image = global::ArdupilotMega.Properties.Resources.APM_airframes_002;
-            resources.ApplyResources(this.pictureBoxAPMHIL, "pictureBoxAPMHIL");
-            this.pictureBoxAPMHIL.Name = "pictureBoxAPMHIL";
-            this.pictureBoxAPMHIL.TabStop = false;
-            this.pictureBoxAPMHIL.Click += new System.EventHandler(this.pictureBoxAPMHIL_Click);
-            // 
             // pictureBoxQuad
             // 
             this.pictureBoxQuad.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxQuad.Image = global::ArdupilotMega.Properties.Resources.frames_03;
+            this.pictureBoxQuad.Image = ((System.Drawing.Image)(resources.GetObject("pictureBoxQuad.Image")));
             resources.ApplyResources(this.pictureBoxQuad, "pictureBoxQuad");
             this.pictureBoxQuad.Name = "pictureBoxQuad";
             this.pictureBoxQuad.TabStop = false;
@@ -101,7 +80,7 @@ namespace ArdupilotMega.GCSViews
             // pictureBoxHexa
             // 
             this.pictureBoxHexa.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxHexa.Image = global::ArdupilotMega.Properties.Resources.frames_07;
+            this.pictureBoxHexa.Image = global::ArdupilotMega.Properties.Resources.hexa;
             resources.ApplyResources(this.pictureBoxHexa, "pictureBoxHexa");
             this.pictureBoxHexa.Name = "pictureBoxHexa";
             this.pictureBoxHexa.TabStop = false;
@@ -110,7 +89,7 @@ namespace ArdupilotMega.GCSViews
             // pictureBoxTri
             // 
             this.pictureBoxTri.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxTri.Image = global::ArdupilotMega.Properties.Resources.frames_05;
+            this.pictureBoxTri.Image = global::ArdupilotMega.Properties.Resources.tri;
             resources.ApplyResources(this.pictureBoxTri, "pictureBoxTri");
             this.pictureBoxTri.Name = "pictureBoxTri";
             this.pictureBoxTri.TabStop = false;
@@ -119,7 +98,7 @@ namespace ArdupilotMega.GCSViews
             // pictureBoxY6
             // 
             this.pictureBoxY6.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxY6.Image = global::ArdupilotMega.Properties.Resources.frames_08;
+            this.pictureBoxY6.Image = global::ArdupilotMega.Properties.Resources.y6;
             resources.ApplyResources(this.pictureBoxY6, "pictureBoxY6");
             this.pictureBoxY6.Name = "pictureBoxY6";
             this.pictureBoxY6.TabStop = false;
@@ -136,46 +115,11 @@ namespace ArdupilotMega.GCSViews
             this.progress.Name = "progress";
             this.progress.Step = 1;
             // 
-            // lbl_AP
-            // 
-            resources.ApplyResources(this.lbl_AP, "lbl_AP");
-            this.lbl_AP.Name = "lbl_AP";
-            // 
             // label2
             // 
             resources.ApplyResources(this.label2, "label2");
             this.label2.Name = "label2";
             // 
-            // lbl_APHil
-            // 
-            resources.ApplyResources(this.lbl_APHil, "lbl_APHil");
-            this.lbl_APHil.Name = "lbl_APHil";
-            // 
-            // lbl_ACQuad
-            // 
-            resources.ApplyResources(this.lbl_ACQuad, "lbl_ACQuad");
-            this.lbl_ACQuad.Name = "lbl_ACQuad";
-            // 
-            // lbl_ACHexa
-            // 
-            resources.ApplyResources(this.lbl_ACHexa, "lbl_ACHexa");
-            this.lbl_ACHexa.Name = "lbl_ACHexa";
-            // 
-            // lbl_ACTri
-            // 
-            resources.ApplyResources(this.lbl_ACTri, "lbl_ACTri");
-            this.lbl_ACTri.Name = "lbl_ACTri";
-            // 
-            // lbl_ACY6
-            // 
-            resources.ApplyResources(this.lbl_ACY6, "lbl_ACY6");
-            this.lbl_ACY6.Name = "lbl_ACY6";
-            // 
-            // lbl_Heli
-            // 
-            resources.ApplyResources(this.lbl_Heli, "lbl_Heli");
-            this.lbl_Heli.Name = "lbl_Heli";
-            // 
             // pictureBoxHeli
             // 
             this.pictureBoxHeli.Cursor = System.Windows.Forms.Cursors.Hand;
@@ -185,20 +129,6 @@ namespace ArdupilotMega.GCSViews
             this.pictureBoxHeli.TabStop = false;
             this.pictureBoxHeli.Click += new System.EventHandler(this.pictureBoxHeli_Click);
             // 
-            // lbl_ACHil
-            // 
-            resources.ApplyResources(this.lbl_ACHil, "lbl_ACHil");
-            this.lbl_ACHil.Name = "lbl_ACHil";
-            // 
-            // pictureBoxQuadHil
-            // 
-            this.pictureBoxQuadHil.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxQuadHil.Image = global::ArdupilotMega.Properties.Resources.new_frames_09;
-            resources.ApplyResources(this.pictureBoxQuadHil, "pictureBoxQuadHil");
-            this.pictureBoxQuadHil.Name = "pictureBoxQuadHil";
-            this.pictureBoxQuadHil.TabStop = false;
-            this.pictureBoxQuadHil.Click += new System.EventHandler(this.pictureBoxQuadHil_Click);
-            // 
             // BUT_setup
             // 
             resources.ApplyResources(this.BUT_setup, "BUT_setup");
@@ -206,41 +136,83 @@ namespace ArdupilotMega.GCSViews
             this.BUT_setup.UseVisualStyleBackColor = true;
             this.BUT_setup.Click += new System.EventHandler(this.BUT_setup_Click);
             // 
+            // pictureBoxHilimage
+            // 
+            this.pictureBoxHilimage.Image = global::ArdupilotMega.Properties.Resources.hil;
+            resources.ApplyResources(this.pictureBoxHilimage, "pictureBoxHilimage");
+            this.pictureBoxHilimage.Name = "pictureBoxHilimage";
+            this.pictureBoxHilimage.TabStop = false;
+            // 
+            // pictureBoxAPHil
+            // 
+            this.pictureBoxAPHil.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxAPHil.Image = global::ArdupilotMega.Properties.Resources.hilplane;
+            resources.ApplyResources(this.pictureBoxAPHil, "pictureBoxAPHil");
+            this.pictureBoxAPHil.Name = "pictureBoxAPHil";
+            this.pictureBoxAPHil.TabStop = false;
+            this.pictureBoxAPHil.Click += new System.EventHandler(this.pictureBoxAPHil_Click);
+            // 
+            // pictureBoxACHil
+            // 
+            this.pictureBoxACHil.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxACHil.Image = global::ArdupilotMega.Properties.Resources.hilquad;
+            resources.ApplyResources(this.pictureBoxACHil, "pictureBoxACHil");
+            this.pictureBoxACHil.Name = "pictureBoxACHil";
+            this.pictureBoxACHil.TabStop = false;
+            this.pictureBoxACHil.Click += new System.EventHandler(this.pictureBoxACHil_Click);
+            // 
+            // pictureBoxACHHil
+            // 
+            this.pictureBoxACHHil.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.pictureBoxACHHil.Image = global::ArdupilotMega.Properties.Resources.hilheli;
+            resources.ApplyResources(this.pictureBoxACHHil, "pictureBoxACHHil");
+            this.pictureBoxACHHil.Name = "pictureBoxACHHil";
+            this.pictureBoxACHHil.TabStop = false;
+            this.pictureBoxACHHil.Click += new System.EventHandler(this.pictureBoxACHHil_Click);
+            // 
+            // pictureBoxOcta
+            // 
+            this.pictureBoxOcta.Image = global::ArdupilotMega.Properties.Resources.octo;
+            resources.ApplyResources(this.pictureBoxOcta, "pictureBoxOcta");
+            this.pictureBoxOcta.Name = "pictureBoxOcta";
+            this.pictureBoxOcta.TabStop = false;
+            this.pictureBoxOcta.Click += new System.EventHandler(this.pictureBoxOcta_Click);
+            // 
+            // pictureBoxOctav
+            // 
+            this.pictureBoxOctav.Image = global::ArdupilotMega.Properties.Resources.octov;
+            resources.ApplyResources(this.pictureBoxOctav, "pictureBoxOctav");
+            this.pictureBoxOctav.Name = "pictureBoxOctav";
+            this.pictureBoxOctav.TabStop = false;
+            this.pictureBoxOctav.Click += new System.EventHandler(this.pictureBoxOctav_Click);
+            // 
             // Firmware
             // 
             resources.ApplyResources(this, "$this");
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.Controls.Add(this.lbl_ACHil);
+            this.Controls.Add(this.pictureBoxOctav);
-            this.Controls.Add(this.pictureBoxQuadHil);
+            this.Controls.Add(this.pictureBoxOcta);
+            this.Controls.Add(this.pictureBoxACHHil);
+            this.Controls.Add(this.pictureBoxACHil);
+            this.Controls.Add(this.pictureBoxAPHil);
+            this.Controls.Add(this.pictureBoxHilimage);
             this.Controls.Add(this.BUT_setup);
-            this.Controls.Add(this.lbl_Heli);
             this.Controls.Add(this.pictureBoxHeli);
-            this.Controls.Add(this.lbl_ACY6);
-            this.Controls.Add(this.lbl_ACTri);
-            this.Controls.Add(this.lbl_ACHexa);
-            this.Controls.Add(this.lbl_ACQuad);
-            this.Controls.Add(this.lbl_APHil);
             this.Controls.Add(this.label2);
-            this.Controls.Add(this.lbl_AP);
             this.Controls.Add(this.lbl_status);
             this.Controls.Add(this.progress);
             this.Controls.Add(this.pictureBoxY6);
             this.Controls.Add(this.pictureBoxTri);
             this.Controls.Add(this.pictureBoxHexa);
             this.Controls.Add(this.pictureBoxQuad);
-            this.Controls.Add(this.pictureBoxAPMHIL);
             this.Controls.Add(this.pictureBoxAPM);
             this.MinimumSize = new System.Drawing.Size(1008, 461);
             this.Name = "Firmware";
             this.Load += new System.EventHandler(this.FirmwareVisual_Load);
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPM)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHilimage)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPMHIL)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxAPHil)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuad)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHil)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHexa)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxACHHil)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxTri)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxY6)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxHeli)).EndInit();
-            ((System.ComponentModel.ISupportInitialize)(this.pictureBoxQuadHil)).EndInit();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -384,39 +356,47 @@ namespace ArdupilotMega.GCSViews
         {
             if (temp.url.ToLower().Contains("firmware/AP-1".ToLower()))
             {
-                lbl_AP.Text = temp.name;
+                pictureBoxAPM.Text = temp.name;
             }
             else if (temp.url.ToLower().Contains("firmware/APHIL-".ToLower()))
             {
-                lbl_APHil.Text = temp.name;
+                pictureBoxAPHil.Text = temp.name;
             }
             else if (temp.url.ToLower().Contains("firmware/ac2-quad-".ToLower()))
             {
-                lbl_ACQuad.Text = temp.name;
+                pictureBoxQuad.Text = temp.name;
             }
             else if (temp.url.ToLower().Contains("firmware/ac2-tri".ToLower()))
             {
-                lbl_ACTri.Text = temp.name;
+                pictureBoxTri.Text = temp.name;
             }
             else if (temp.url.ToLower().Contains("firmware/ac2-hexa".ToLower()))
             {
-                lbl_ACHexa.Text = temp.name;
+                pictureBoxHexa.Text = temp.name;
             }
             else if (temp.url.ToLower().Contains("firmware/ac2-y6".ToLower()))
             {
-                lbl_ACY6.Text = temp.name;
+                pictureBoxY6.Text = temp.name;
             }
             else if (temp.url.ToLower().Contains("firmware/ac2-heli-1".ToLower()))
             {
-                lbl_Heli.Text = temp.name;
+                pictureBoxHeli.Text = temp.name;
             }
             else if (temp.url.ToLower().Contains("firmware/ac2-quadhil".ToLower()))
             {
-                lbl_ACHil.Text = temp.name;
+                pictureBoxACHil.Text = temp.name;
+            }
+            else if (temp.url.ToLower().Contains("firmware/ac2-octav-".ToLower()))
+            {
+                pictureBoxOctav.Text = temp.name;
+            }
+            else if (temp.url.ToLower().Contains("firmware/ac2-octa-".ToLower()))
+            {
+                pictureBoxOcta.Text = temp.name;
             }
             else
             {
-                Console.WriteLine("No Home "+ temp.name + " " + temp.url);
+                Console.WriteLine("No Home " + temp.name + " " + temp.url);
             }
         }
 
@@ -546,7 +526,7 @@ namespace ArdupilotMega.GCSViews
                     return;
                 }
 
-                Console.WriteLine("Using "+baseurl);
+                Console.WriteLine("Using " + baseurl);
 
                 // Create a request using a URL that can receive a post. 
                 WebRequest request = WebRequest.Create(baseurl);
@@ -736,7 +716,7 @@ namespace ArdupilotMega.GCSViews
 
         byte[] readIntelHEXv2(StreamReader sr)
         {
-            byte[] FLASH = new byte[sr.BaseStream.Length / 2];
+            byte[] FLASH = new byte[1024 * 1024];
 
             int optionoffset = 0;
             int total = 0;
@@ -770,7 +750,7 @@ namespace ArdupilotMega.GCSViews
                     }
                     else if (option == 2)
                     {
-                        optionoffset += (int)Convert.ToUInt16(line.Substring(9, 4), 16) << 4;
+                        optionoffset = (int)Convert.ToUInt16(line.Substring(9, 4), 16) << 4;
                     }
                     else if (option == 1)
                     {
@@ -779,8 +759,8 @@ namespace ArdupilotMega.GCSViews
                     int checksum = Convert.ToInt32(line.Substring(line.Length - 2, 2), 16);
 
                     byte checksumact = 0;
-                    for (int z = 0; z < ((line.Length - 1 - 2) / 2) ; z++) // minus 1 for : then mins 2 for checksum itself
+                    for (int z = 0; z < ((line.Length - 1 - 2) / 2); z++) // minus 1 for : then mins 2 for checksum itself
-                    { 
+                    {
                         checksumact += Convert.ToByte(line.Substring(z * 2 + 1, 2), 16);
                     }
                     checksumact = (byte)(0x100 - checksumact);
@@ -820,5 +800,30 @@ namespace ArdupilotMega.GCSViews
             MainV2.fixtheme(temp);
             temp.ShowDialog();
         }
+
+        private void pictureBoxOctav_Click(object sender, EventArgs e)
+        {
+            findfirmware("AC2-Octav-");
+        }
+
+        private void pictureBoxOcta_Click(object sender, EventArgs e)
+        {
+            findfirmware("AC2-Octa-");
+        }
+
+        private void pictureBoxAPHil_Click(object sender, EventArgs e)
+        {
+            findfirmware("Firmware/APHIL-");
+        }
+
+        private void pictureBoxACHil_Click(object sender, EventArgs e)
+        {
+            findfirmware("AC2-QUADHIL-");
+        }
+
+        private void pictureBoxACHHil_Click(object sender, EventArgs e)
+        {
+            findfirmware("AC2-HELHIL-");
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -79,6 +79,7 @@ namespace ArdupilotMega.GCSViews
 
         protected override void Dispose(bool disposing)
         {
+            threadrun = 0;
             MainV2.config["FlightSplitter"] = MainH.SplitterDistance.ToString();
             base.Dispose(disposing);
         }
@@ -91,7 +92,8 @@ namespace ArdupilotMega.GCSViews
             myhud = hud1;
             MainHcopy = MainH;
 
-            Control.CheckForIllegalCrossThreadCalls = false; // so can update display from another thread
+            int checkme;
+            //Control.CheckForIllegalCrossThreadCalls = false; // so can update display from another thread
 
             // setup default tuning graph
             if (MainV2.config["Tuning_Graph_Selected"] != null)
@@ -292,7 +294,10 @@ namespace ArdupilotMega.GCSViews
 
                 if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
                 {
-                    BUT_playlog.Text = "Pause";
+                    this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
+{
+    BUT_playlog.Text = "Pause";
+});
 
                     if (comPort.BaseStream.IsOpen)
                         MainV2.comPort.logreadmode = false;
@@ -311,12 +316,12 @@ namespace ArdupilotMega.GCSViews
                     if (act > 9999 || act < 0)
                         act = 1;
 
-                    int ts = 1;
+                    int ts = 0;
                     try
                     {
                         ts = (int)(act / (double)NUM_playbackspeed.Value);
                     }
-                    catch { } // cross thread
+                    catch { }
                     if (ts > 0)
                         System.Threading.Thread.Sleep(ts);
 
@@ -336,7 +341,15 @@ namespace ArdupilotMega.GCSViews
                 }
                 else
                 {
-                    BUT_playlog.Text = "Play";
+                    if (threadrun == 0) { return; }
+                    try
+                    {
+                        this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
+    {
+        BUT_playlog.Text = "Play";
+    });
+                    }
+                    catch { }
                 }
 
                 try

Tools/ArdupilotMegaPlanner/GCSViews/Help.cs

@@ -14,6 +14,12 @@ namespace ArdupilotMega.GCSViews
         public Help()
         {
             InitializeComponent();
+
+            try
+            {
+                CHK_showconsole.Checked = MainV2.config["showconsole"].ToString() == "True";
+            }
+            catch { }
         }
 
         private void BUT_updatecheck_Click(object sender, EventArgs e)

Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs

@@ -238,6 +238,12 @@ namespace ArdupilotMega.GCSViews
                 {
                     quad = new HIL.QuadCopter();
 
+                    if (RAD_JSBSim.Checked)
+                    {
+                        simPort = 5124;
+                        recvPort = 5123;
+                    }
+
                     SetupUDPRecv();
 
                     if (RAD_softXplanes.Checked)
@@ -1002,11 +1008,11 @@ namespace ArdupilotMega.GCSViews
 				#else
 				imu.usec = ((ulong)DateTime.Now.ToBinary());
 				#endif
-                imu.xgyro = (short)(fdm.phidot * 1150); // roll - yes
+                imu.xgyro = (short)(fdm.phidot); // roll - yes
                 //imu.xmag = (short)(Math.Sin(head * deg2rad) * 1000);
-                imu.ygyro = (short)(fdm.thetadot * 1150); // pitch - yes
+                imu.ygyro = (short)(fdm.thetadot); // pitch - yes
                 //imu.ymag = (short)(Math.Cos(head * deg2rad) * 1000);
-                imu.zgyro = (short)(fdm.psidot * 1150);
+                imu.zgyro = (short)(fdm.psidot);
                 imu.zmag = 0;
 
                 imu.xacc = (Int16)Math.Min(Int16.MaxValue, Math.Max(Int16.MinValue, (fdm.A_X_pilot * 9808 / 32.2))); // pitch
@@ -1906,22 +1912,18 @@ namespace ArdupilotMega.GCSViews
             if (File.Exists(@"C:\Program Files (x86)\FlightGear\bin\Win32\fgfs.exe"))
             {
                 ofd.InitialDirectory = @"C:\Program Files (x86)\FlightGear\bin\Win32\";
-                extra = " --fg-root=\"C:\\Program Files (x86)\\FlightGear\\data\"";
             }
             else if (File.Exists(@"C:\Program Files\FlightGear\bin\Win32\fgfs.exe"))
             {
                 ofd.InitialDirectory = @"C:\Program Files\FlightGear\bin\Win32\";
-                extra = " --fg-root=\"C:\\Program Files\\FlightGear\\data\"";
             }
             else if (File.Exists(@"C:\Program Files\FlightGear 2.4.0\bin\Win32\fgfs.exe"))
             {
                 ofd.InitialDirectory = @"C:\Program Files\FlightGear 2.4.0\bin\Win32\";
-                extra = " --fg-root=\"C:\\Program Files\\FlightGear 2.4.0\\data\"";
             }
             else if (File.Exists(@"C:\Program Files (x86)\FlightGear 2.4.0\bin\Win32\fgfs.exe"))
             {
                 ofd.InitialDirectory = @"C:\Program Files (x86)\FlightGear 2.4.0\bin\Win32\";
-                extra = " --fg-root=\"C:\\Program Files (x86)\\FlightGear 2.4.0\\data\"";
             }
             else if (File.Exists(@"/usr/games/fgfs"))
             {
@@ -1939,6 +1941,11 @@ namespace ArdupilotMega.GCSViews
                     ofd.FileName = MainV2.config["fgexe"].ToString();
                 }
 
+                if (!MainV2.MONO)
+                {
+                    extra = " --fg-root=\"" + Path.GetDirectoryName(ofd.FileName.ToLower().Replace("bin\\win32\\","")) + "\\data\"";
+                }
+                    
                 System.Diagnostics.Process P = new System.Diagnostics.Process();
                 P.StartInfo.FileName = ofd.FileName;
                 P.StartInfo.Arguments = extra + @" --geometry=400x300         --native-fdm=socket,out,50,127.0.0.1,49005,udp 	--generic=socket,in,50,127.0.0.1,49000,udp,MAVLink		   --roll=0       --pitch=0       --wind=0@0       --turbulence=0.0       --prop:/sim/frame-rate-throttle-hz=30       --timeofday=noon       --shading-flat       --fog-disable       --disable-specular-highlight       --disable-skyblend       --disable-random-objects       --disable-panel       --disable-horizon-effect       --disable-clouds       --disable-anti-alias-hud ";

Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs

@@ -27,8 +27,6 @@ namespace ArdupilotMega.GCSViews
                 threadrun = false;
 
             InitializeComponent();
-
-            Control.CheckForIllegalCrossThreadCalls = false; // so can update display from another thread
         }
 
         void comPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
@@ -39,21 +37,33 @@ namespace ArdupilotMega.GCSViews
             {
                 lock (thisLock)
                 {
-                    TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
                     string data = comPort.ReadExisting();
-                    data = data.TrimEnd('\r'); // else added \n all by itself
+                    //Console.Write(data);
-                    TXT_terminal.AppendText(data);
+
-                    if (data.Contains("\b"))
+                    addText(data);
-                    {
-                        TXT_terminal.Text = TXT_terminal.Text.Remove(TXT_terminal.Text.IndexOf('\b'));
-                        TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
-                    }
-                    inputStartPos = TXT_terminal.SelectionStart;
                 }
             }
             catch (Exception) { if (!threadrun) return; TXT_terminal.AppendText("Error reading com port\r\n"); }
         }
 
+        void addText(string data)
+        {
+            this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
+            {
+                TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
+
+                data = data.TrimEnd('\r'); // else added \n all by itself
+                data = data.Replace("\0", " ");
+                TXT_terminal.AppendText(data);
+                if (data.Contains("\b"))
+                {
+                    TXT_terminal.Text = TXT_terminal.Text.Remove(TXT_terminal.Text.IndexOf('\b'));
+                    TXT_terminal.SelectionStart = TXT_terminal.Text.Length;
+                }
+                inputStartPos = TXT_terminal.SelectionStart;
+            });
+        }
+
         private void TXT_terminal_Click(object sender, EventArgs e)
         {
             // auto scroll
@@ -174,9 +184,17 @@ namespace ArdupilotMega.GCSViews
                 {
                     threadrun = true;
 
-                    System.Threading.Thread.Sleep(2000);
+                    DateTime start = DateTime.Now;
 
-                    comPort.Write("\n\n\n\n\n");
+                    while ((DateTime.Now - start).TotalMilliseconds < 2000)
+                    {
+                        if (comPort.BytesToRead > 0)
+                        {
+                            comPort_DataReceived((object)null, (SerialDataReceivedEventArgs)null);
+                        }
+                    }
+
+                        comPort.Write("\n\n\n");
 
                     while (threadrun)
                     {
@@ -194,6 +212,9 @@ namespace ArdupilotMega.GCSViews
                         }
                         catch { }
                     }
+
+                    comPort.DtrEnable = false;
+
                     if (threadrun == false)
                     {
                         comPort.Close();

Tools/ArdupilotMegaPlanner/Joystick.cs

@@ -322,7 +322,7 @@ namespace ArdupilotMega
                     {
                         if (but.buttonno != -1 && getButtonState(but.buttonno))
                         {
-                            MainV2.instance.Invoke((System.Windows.Forms.MethodInvoker)delegate()
+                            MainV2.instance.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
                             {
                                 try
                                 {
@@ -470,7 +470,7 @@ namespace ArdupilotMega
         {
             byte[] buts = state.GetButtons();
 
-            if (buts == null)
+            if (buts == null || JoyButtons[buttonno].buttonno < 0)
                 return false;
 
             return buts[JoyButtons[buttonno].buttonno] > 0;
@@ -483,7 +483,7 @@ namespace ArdupilotMega
                 state = joystick.CurrentJoystickState;
 
                 ushort ans = pickchannel(channel, JoyChannels[channel].axis, JoyChannels[channel].reverse, JoyChannels[channel].expo);
-
+                Console.WriteLine("{0} = {1} = {2}",channel,ans, state.X);
                 return ans;
         }
 

Tools/ArdupilotMegaPlanner/JoystickSetup.cs

@@ -241,6 +241,8 @@ namespace ArdupilotMega
 
                         joy.AcquireJoystick(CMB_joysticks.Text);
 
+                        joy.name = CMB_joysticks.Text;
+
                         noButtons = joy.getNumButtons();
 
                         for (int f = 0; f < noButtons; f++)
@@ -289,10 +291,11 @@ namespace ArdupilotMega
                 for (int f = 0; f < noButtons; f++)
                 {
                     string name = (f + 1).ToString();
-                    ((HorizontalProgressBar)this.Controls.Find("hbar" + name, false)[0]).Value = MainV2.joystick.isButtonPressed(f) ? 100 : 0;
+
+                        ((HorizontalProgressBar)this.Controls.Find("hbar" + name, false)[0]).Value = MainV2.joystick.isButtonPressed(f) ? 100 : 0;
                 }
             }
-            catch { }
+            catch (Exception ex) {  }
 
         }
 

Tools/ArdupilotMegaPlanner/Log.cs

@@ -57,8 +57,6 @@ namespace ArdupilotMega
         public Log()
         {
             InitializeComponent();
-
-            Control.CheckForIllegalCrossThreadCalls = false; // so can update display from another thread
         }
 
         private void Log_Load(object sender, EventArgs e)
@@ -140,7 +138,10 @@ namespace ArdupilotMega
         {
             if (start.Second != DateTime.Now.Second)
             {
-                TXT_status.Text = status.ToString() + " " + receivedbytes + " " + comPort.BytesToRead;
+                this.BeginInvoke((System.Windows.Forms.MethodInvoker)delegate()
+{
+    TXT_status.Text = status.ToString() + " " + receivedbytes + " " + comPort.BytesToRead;
+});
                 start = DateTime.Now;
             }
         }
@@ -206,7 +207,10 @@ namespace ArdupilotMega
 
                             MainV2.cs.firmware = MainV2.Firmwares.ArduPlane;
 
-                            TXT_seriallog.AppendText("Createing KML for " + logfile);
+                            this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
+{
+    TXT_seriallog.AppendText("Createing KML for " + logfile);
+});
 
                             while (tr.Peek() != -1)
                             {
@@ -230,7 +234,10 @@ namespace ArdupilotMega
                             status = serialstatus.Waiting;
                             lock (thisLock)
                             {
-                                TXT_seriallog.Clear();
+                                this.Invoke((System.Windows.Forms.MethodInvoker)delegate()
+{
+    TXT_seriallog.Clear();
+});
                             }
                             //if (line.Contains("Dumping Log"))
                             {
@@ -257,7 +264,7 @@ namespace ArdupilotMega
                     }
                     lock (thisLock)
                     {
-                        this.BeginInvoke((System.Threading.ThreadStart)delegate()
+                        this.BeginInvoke((MethodInvoker)delegate()
                         {
 
                             Console.Write(line);

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -254,7 +254,8 @@ namespace ArdupilotMega
 
             if (MONO)
             {
-                devs = Directory.GetFiles("/dev/", "*ACM*");
+                if (Directory.Exists("/dev/"))
+                    devs = Directory.GetFiles("/dev/", "*ACM*");
             }
 
             string[] ports = SerialPort.GetPortNames();
@@ -1298,7 +1299,12 @@ namespace ArdupilotMega
                     // makesure we have valid image
                     GCSViews.FlightData.mymap.streamjpgenable = true;
                     GCSViews.FlightData.myhud.streamjpgenable = true;
-                    GCSViews.FlightData.mymap.Refresh();
+
+                    MethodInvoker m = delegate()
+                    {
+                        GCSViews.FlightData.mymap.Refresh();
+                    };
+                    this.Invoke(m);
 
                     NetworkStream stream = client.GetStream();
 

Tools/ArdupilotMegaPlanner/MavlinkLog.cs

@@ -33,8 +33,6 @@ namespace ArdupilotMega
         public MavlinkLog()
         {
             InitializeComponent();
-
-            Control.CheckForIllegalCrossThreadCalls = false; // so can update display from another thread
         }
 
         private void writeKML(string filename)
@@ -371,10 +369,13 @@ namespace ArdupilotMega
 
                     float oldlatlngalt = 0;
 
+                    DateTime appui = DateTime.Now;
+
                     while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
                     {
                         // bar moves to 50 % in this step
                         progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 2.0f);
+                        progressBar1.Invalidate();
                         progressBar1.Refresh();
 
                         byte[] packet = mine.readPacket();
@@ -383,9 +384,11 @@ namespace ArdupilotMega
 
                         cs.UpdateCurrentSettings(null, true, mine);
 
-                        if (cs.datetime.Second % 5 == 0)
+                        if (appui != DateTime.Now)
                         {
-                            //Application.DoEvents();
+                            // cant do entire app as mixes with flightdata timer
+                            this.Refresh();
+                            appui = DateTime.Now;
                         }
 
                         try
@@ -411,6 +414,7 @@ namespace ArdupilotMega
                     mine.logplaybackfile.Close();
                     mine.logplaybackfile = null;
 
+                    Application.DoEvents();
 
                     writeKML(logfile + ".kml");
 

Tools/ArdupilotMegaPlanner/Program.cs

@@ -28,7 +28,13 @@ namespace ArdupilotMega
 
             Application.EnableVisualStyles();
             Application.SetCompatibleTextRenderingDefault(false);
-            Application.Run(new MainV2());
+            try
+            {
+
+                Application.Run(new MainV2());
+
+            }
+            catch (Exception ex) { Console.WriteLine(ex.ToString()); }
         }
 
         static void Application_Idle(object sender, EventArgs e)

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("1.1.7")]
+[assembly: AssemblyFileVersion("1.1.8")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Properties/Resources.Designer.cs

@@ -109,13 +109,6 @@ namespace ArdupilotMega.Properties {
             }
         }
         
-        public static System.Drawing.Bitmap BR_0016_01_3T {
-            get {
-                object obj = ResourceManager.GetObject("BR_0016_01_3T", resourceCulture);
-                return ((System.Drawing.Bitmap)(obj));
-            }
-        }
-        
         public static System.Drawing.Bitmap compass {
             get {
                 object obj = ResourceManager.GetObject("compass", resourceCulture);
@@ -165,27 +158,6 @@ namespace ArdupilotMega.Properties {
             }
         }
         
-        public static System.Drawing.Bitmap frames_03 {
-            get {
-                object obj = ResourceManager.GetObject("frames_03", resourceCulture);
-                return ((System.Drawing.Bitmap)(obj));
-            }
-        }
-        
-        public static System.Drawing.Bitmap frames_04 {
-            get {
-                object obj = ResourceManager.GetObject("frames_04", resourceCulture);
-                return ((System.Drawing.Bitmap)(obj));
-            }
-        }
-        
-        public static System.Drawing.Bitmap frames_05 {
-            get {
-                object obj = ResourceManager.GetObject("frames_05", resourceCulture);
-                return ((System.Drawing.Bitmap)(obj));
-            }
-        }
-        
         public static System.Drawing.Bitmap frames_06 {
             get {
                 object obj = ResourceManager.GetObject("frames_06", resourceCulture);
@@ -193,20 +165,6 @@ namespace ArdupilotMega.Properties {
             }
         }
         
-        public static System.Drawing.Bitmap frames_07 {
-            get {
-                object obj = ResourceManager.GetObject("frames_07", resourceCulture);
-                return ((System.Drawing.Bitmap)(obj));
-            }
-        }
-        
-        public static System.Drawing.Bitmap frames_08 {
-            get {
-                object obj = ResourceManager.GetObject("frames_08", resourceCulture);
-                return ((System.Drawing.Bitmap)(obj));
-            }
-        }
-        
         public static System.Drawing.Bitmap Gaugebg {
             get {
                 object obj = ResourceManager.GetObject("Gaugebg", resourceCulture);
@@ -221,23 +179,65 @@ namespace ArdupilotMega.Properties {
             }
         }
         
-        public static System.Drawing.Bitmap new_frames_09 {
+        public static System.Drawing.Bitmap hexa {
             get {
-                object obj = ResourceManager.GetObject("new_frames_09", resourceCulture);
+                object obj = ResourceManager.GetObject("hexa", resourceCulture);
                 return ((System.Drawing.Bitmap)(obj));
             }
         }
         
-        public static System.Drawing.Bitmap plane2 {
+        public static System.Drawing.Bitmap hil {
             get {
-                object obj = ResourceManager.GetObject("plane2", resourceCulture);
+                object obj = ResourceManager.GetObject("hil", resourceCulture);
                 return ((System.Drawing.Bitmap)(obj));
             }
         }
         
-        public static System.Drawing.Bitmap planetracker {
+        public static System.Drawing.Bitmap hilheli {
             get {
-                object obj = ResourceManager.GetObject("planetracker", resourceCulture);
+                object obj = ResourceManager.GetObject("hilheli", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        public static System.Drawing.Bitmap hilplane {
+            get {
+                object obj = ResourceManager.GetObject("hilplane", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        public static System.Drawing.Bitmap hilquad {
+            get {
+                object obj = ResourceManager.GetObject("hilquad", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        public static System.Drawing.Bitmap octo {
+            get {
+                object obj = ResourceManager.GetObject("octo", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        public static System.Drawing.Bitmap octov {
+            get {
+                object obj = ResourceManager.GetObject("octov", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        public static System.Drawing.Bitmap opticalflow {
+            get {
+                object obj = ResourceManager.GetObject("opticalflow", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        public static System.Drawing.Bitmap planeicon {
+            get {
+                object obj = ResourceManager.GetObject("planeicon", resourceCulture);
                 return ((System.Drawing.Bitmap)(obj));
             }
         }
@@ -256,9 +256,16 @@ namespace ArdupilotMega.Properties {
             }
         }
         
-        public static System.Drawing.Bitmap quad2 {
+        public static System.Drawing.Bitmap quadicon {
             get {
-                object obj = ResourceManager.GetObject("quad2", resourceCulture);
+                object obj = ResourceManager.GetObject("quadicon", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        public static System.Drawing.Bitmap quadx {
+            get {
+                object obj = ResourceManager.GetObject("quadx", resourceCulture);
                 return ((System.Drawing.Bitmap)(obj));
             }
         }
@@ -284,11 +291,25 @@ namespace ArdupilotMega.Properties {
             }
         }
         
+        public static System.Drawing.Bitmap tri {
+            get {
+                object obj = ResourceManager.GetObject("tri", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
         public static System.Drawing.Bitmap up {
             get {
                 object obj = ResourceManager.GetObject("up", resourceCulture);
                 return ((System.Drawing.Bitmap)(obj));
             }
         }
+        
+        public static System.Drawing.Bitmap y6 {
+            get {
+                object obj = ResourceManager.GetObject("y6", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
     }
 }

Tools/ArdupilotMegaPlanner/Properties/Resources.resx

@@ -166,25 +166,25 @@
   <data name="APM_airframes_08" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\APM_airframes-08.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="frames_03" type="System.Resources.ResXFileRef, System.Windows.Forms">
+  <data name="quad" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\frames-03.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="frames_04" type="System.Resources.ResXFileRef, System.Windows.Forms">
+  <data name="quadx" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\frames-04.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="frames_05" type="System.Resources.ResXFileRef, System.Windows.Forms">
+  <data name="tri" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\frames-05.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
   <data name="frames_06" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\frames-06.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="frames_07" type="System.Resources.ResXFileRef, System.Windows.Forms">
+  <data name="hexa" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\frames-07.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="frames_08" type="System.Resources.ResXFileRef, System.Windows.Forms">
+  <data name="y6" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\frames-08.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="planetracker" type="System.Resources.ResXFileRef, System.Windows.Forms">
+  <data name="planeicon" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\planetracker.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
@@ -1195,20 +1195,29 @@
   <data name="sonar" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\AC-0004-11-2.jpg;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="quad" type="System.Resources.ResXFileRef, System.Windows.Forms">
+  <data name="quadicon" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\quad.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
-  </data>
-  <data name="plane2" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\plane2.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
-  </data>
-  <data name="quad2" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\quad2.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="new_frames_09" type="System.Resources.ResXFileRef, System.Windows.Forms">
+  <data name="opticalflow" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\new frames-09.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
-  </data>
-  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
-  <data name="BR_0016_01_3T" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\BR-0016-01-3T.jpg;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="hil" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\new frames-10.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="hilheli" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\new frames-13.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="hilplane" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\new frames-11.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="hilquad" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\new frames-12.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="octo" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\new frames-05.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="octov" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\new frames-06.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
 </root>

Tools/ArdupilotMegaPlanner/RAW_Sensor.cs

@@ -31,9 +31,7 @@ namespace ArdupilotMega
         {
             InitializeComponent();
 
-            Control.CheckForIllegalCrossThreadCalls = false; // so can update display from another thread
+            CreateChart(zg1, "Raw Sensors", "Time", "Raw Data");
-
-                CreateChart(zg1, "Raw Sensors", "Time", "Raw Data");
         }
 
         public struct plot

Tools/ArdupilotMegaPlanner/Script.cs

@@ -18,7 +18,13 @@ namespace ArdupilotMega
 
         public Script()
         {
-            engine = Python.CreateEngine();
+            Dictionary<string, object> options = new Dictionary<string, object>();
+            options["Debug"] = true;
+
+            if (engine != null)
+                engine.Runtime.Shutdown();
+
+            engine = Python.CreateEngine(options); 
             scope = engine.CreateScope();
 
             scope.SetVariable("cs", MainV2.cs);

Tools/ArdupilotMegaPlanner/Setup/Setup.Designer.cs

@@ -700,7 +700,7 @@
             // pictureBox2
             // 
             this.pictureBox2.BackColor = System.Drawing.Color.White;
-            this.pictureBox2.BackgroundImage = global::ArdupilotMega.Properties.Resources.BR_0016_01_3T;
+            this.pictureBox2.BackgroundImage = global::ArdupilotMega.Properties.Resources.opticalflow;
             resources.ApplyResources(this.pictureBox2, "pictureBox2");
             this.pictureBox2.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
             this.pictureBox2.Name = "pictureBox2";
@@ -936,7 +936,7 @@
             // pictureBoxQuadX
             // 
             this.pictureBoxQuadX.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxQuadX.Image = global::ArdupilotMega.Properties.Resources.frames_04;
+            this.pictureBoxQuadX.Image = global::ArdupilotMega.Properties.Resources.quadx;
             resources.ApplyResources(this.pictureBoxQuadX, "pictureBoxQuadX");
             this.pictureBoxQuadX.Name = "pictureBoxQuadX";
             this.pictureBoxQuadX.TabStop = false;
@@ -945,7 +945,7 @@
             // pictureBoxQuad
             // 
             this.pictureBoxQuad.Cursor = System.Windows.Forms.Cursors.Hand;
-            this.pictureBoxQuad.Image = global::ArdupilotMega.Properties.Resources.frames_03;
+            this.pictureBoxQuad.Image = global::ArdupilotMega.Properties.Resources.quad;
             resources.ApplyResources(this.pictureBoxQuad, "pictureBoxQuad");
             this.pictureBoxQuad.Name = "pictureBoxQuad";
             this.pictureBoxQuad.TabStop = false;

Tools/ArdupilotMegaPlanner/m3u/networklink.kml

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:gx="http://www.google.com/kml/ext/2.2" xmlns:kml="http://www.opengis.net/kml/2.2" xmlns:atom="http://www.w3.org/2005/Atom">
+<Folder>
+	<name>Network Links</name>
+	<open>1</open>
+	<NetworkLink>
+		<name>View Centered Placemark</name>
+		<open>1</open>
+		<refreshVisibility>0</refreshVisibility>
+		<flyToView>1</flyToView>
+		<Link>
+			<href>http://127.0.0.1:56781/network.kml</href>
+			<refreshMode>onInterval</refreshMode>
+			<refreshInterval>1</refreshInterval>
+			<viewRefreshTime>1</viewRefreshTime>
+		</Link>
+	</NetworkLink>
+</Folder>
+</kml>