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APM Planner 1.1.36

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add guided mode wp
fix setup setting save (if closed without switching tabs)
This commit is contained in:
Michael Oborne 2012-02-14 22:13:11 +08:00
parent c93dedc955
commit eaf041dd8c
11 changed files with 101 additions and 48 deletions
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15
Tools/ArdupilotMegaPlanner/Common.cs
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@ -299,21 +299,6 @@ namespace ArdupilotMega
OF_LOITER = 10
}
int fixme;
public enum bitmask
{
None = 0,
sonar_enable = 1,
compass_enabled = 2,
optflow_enabled = 4,
super_simple = 8,
waypoint_mode = 16,
esc_calibrate = 32,
heli_ext_gyro_enabled = 64,
heli_servo_averaging = 128,
heli_servo_manual = 256,
}
public static void linearRegression()
{
double[] values = { 4.8, 4.8, 4.5, 3.9, 4.4, 3.6, 3.6, 2.9, 3.5, 3.0, 2.5, 2.2, 2.6, 2.1, 2.2 };

8
Tools/ArdupilotMegaPlanner/Controls/AGauge.cs
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@ -221,13 +221,13 @@ namespace AGaugeApp
#region properties
[System.ComponentModel.Browsable(true)]
public Single Value0 { get { return m_value[0]; } set { m_NeedIdx = 0; Value = value; this.Invalidate(); } }
public Single Value0 { get { return m_value[0]; } set { m_NeedIdx = 0; m_value[0] = value; this.Invalidate(); } }
[System.ComponentModel.Browsable(true)]
public Single Value1 { get { return m_value[1]; } set { m_NeedIdx = 1; Value = value; this.Invalidate(); } }
public Single Value1 { get { return m_value[1]; } set { m_NeedIdx = 1; m_value[1] = value; this.Invalidate(); } }
[System.ComponentModel.Browsable(true)]
public Single Value2 { get { return m_value[2]; } set { m_NeedIdx = 2; Value = value; this.Invalidate(); } }
public Single Value2 { get { return m_value[2]; } set { m_NeedIdx = 2; m_value[2] = value; this.Invalidate(); } }
[System.ComponentModel.Browsable(true)]
public Single Value3 { get { return m_value[3]; } set { m_NeedIdx = 3; Value = value; this.Invalidate(); } }
public Single Value3 { get { return m_value[3]; } set { m_NeedIdx = 3; m_value[3] = value; this.Invalidate(); } }
[System.ComponentModel.Browsable(true),
System.ComponentModel.Category("AGauge"),

7
Tools/ArdupilotMegaPlanner/Controls/MyLabel.cs
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@ -24,7 +24,7 @@ namespace ArdupilotMega
public MyLabel()
{
}
public override string Text
{
get
@ -33,6 +33,7 @@ namespace ArdupilotMega
}
set
{
if (value == null)
return;
@ -46,8 +47,8 @@ namespace ArdupilotMega
noofchars = label.Length;
Size textSize = TextRenderer.MeasureText(value, this.Font);
this.Width = textSize.Width;
}
}
this.Invalidate();
}
}

65
Tools/ArdupilotMegaPlanner/CurrentState.cs
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@ -186,6 +186,59 @@ namespace ArdupilotMega
public ushort rcoverridech7 { get; set; }
public ushort rcoverridech8 { get; set; }
internal PointLatLngAlt HomeLocation = new PointLatLngAlt();
public float DistToMAV
{
get
{
// shrinking factor for longitude going to poles direction
double rads = Math.Abs(HomeLocation.Lat) * 0.0174532925;
double scaleLongDown = Math.Cos(rads);
double scaleLongUp = 1.0f / Math.Cos(rads);
//DST to Home
double dstlat = Math.Abs(HomeLocation.Lat - lat) * 111319.5;
double dstlon = Math.Abs(HomeLocation.Lng - lng) * 111319.5 * scaleLongDown;
return (float)Math.Sqrt((dstlat * dstlat) + (dstlon * dstlon));
}
}
public float ELToMAV
{
get
{
float dist = DistToMAV;
float altdiff = (float)(alt - HomeLocation.Alt);
float angle = (float)Math.Atan(altdiff / dist) * rad2deg;
return angle;
}
}
public float AZToMAV
{
get
{
// shrinking factor for longitude going to poles direction
double rads = Math.Abs(HomeLocation.Lat) * 0.0174532925;
double scaleLongDown = Math.Cos(rads);
double scaleLongUp = 1.0f / Math.Cos(rads);
//DIR to Home
double dstlon = (HomeLocation.Lng - lng); //OffSet_X
double dstlat = (HomeLocation.Lat - lat) * scaleLongUp; //OffSet Y
double bearing = 90 + (Math.Atan2(dstlat, -dstlon) * 57.295775); //absolut home direction
if (bearing < 0) bearing += 360;//normalization
//bearing = bearing - 180;//absolut return direction
//if (bearing < 0) bearing += 360;//normalization
return (float)bearing;
}
}
// current firmware
public MainV2.Firmwares firmware = MainV2.Firmwares.ArduPlane;
public float freemem { get; set; }
@ -658,6 +711,7 @@ namespace ArdupilotMega
groundspeed = gps.v;
groundcourse = gps.hdg;
//MAVLink.packets[MAVLink.MAVLINK_MSG_ID_GPS_RAW] = null;
}
#endif
@ -853,7 +907,16 @@ namespace ArdupilotMega
airspeed = vfr.airspeed;
alt = vfr.alt; // this might include baro
/*
if (vfr.throttle > 150 || vfr.throttle < 0)
{
Console.WriteLine(0);
}
else
{
Console.WriteLine(vfr.throttle);
}
*/
//climbrate = vfr.climb;
if ((DateTime.Now - lastalt).TotalSeconds >= 0.1 && oldalt != alt)

20
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
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@ -74,6 +74,9 @@ namespace ArdupilotMega.GCSViews
public static hud.HUD myhud = null;
public static GMapControl mymap = null;
PointLatLngAlt GuidedModeWP = new PointLatLngAlt();
AviWriter aviwriter;
public SplitContainer MainHcopy = null;
@ -440,7 +443,7 @@ namespace ArdupilotMega.GCSViews
{
if (plla == null || plla.Lng == 0 || plla.Lat == 0)
break;
addpolygonmarker(plla.Tag, plla.Lng, plla.Lat, (int)plla.Alt,plla.color);
addpolygonmarker(plla.Tag, plla.Lng, plla.Lat, (int)plla.Alt,plla.color,polygons);
}
RegeneratePolygon();
@ -448,6 +451,11 @@ namespace ArdupilotMega.GCSViews
waypoints = DateTime.Now;
}
if (MainV2.cs.mode.ToLower() == "guided" && GuidedModeWP != null && GuidedModeWP.Lat != 0)
{
addpolygonmarker("Guided Mode", GuidedModeWP.Lng, GuidedModeWP.Lat, (int)GuidedModeWP.Alt, Color.Blue, routes);
}
//routes.Polygons.Add(poly);
if (trackPoints.Count > 0)
@ -482,8 +490,6 @@ namespace ArdupilotMega.GCSViews
gMapControl1.Invalidate();
Application.DoEvents();
GC.Collect();
}
tracklast = DateTime.Now;
@ -533,7 +539,7 @@ namespace ArdupilotMega.GCSViews
});
}
private void addpolygonmarker(string tag, double lng, double lat, int alt, Color? color)
private void addpolygonmarker(string tag, double lng, double lat, int alt, Color? color, GMapOverlay overlay)
{
try
{
@ -559,8 +565,8 @@ namespace ArdupilotMega.GCSViews
}
}
polygons.Markers.Add(m);
polygons.Markers.Add(mBorders);
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
}
catch (Exception) { }
}
@ -861,6 +867,8 @@ namespace ArdupilotMega.GCSViews
MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt,"Guided Mode");
MainV2.givecomport = false;
}
catch (Exception ex) { MainV2.givecomport = false; MessageBox.Show("Error sending command : " + ex.Message); }

15
Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
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@ -41,7 +41,6 @@ namespace ArdupilotMega.GCSViews
private Dictionary<string, string[]> cmdParamNames = new Dictionary<string, string[]>();
/// <summary>
/// Reads defines.h for all valid commands and eeprom positions
/// </summary>
@ -645,13 +644,13 @@ namespace ArdupilotMega.GCSViews
config(false);
if (MainV2.HomeLocation.Lat != 0 && MainV2.HomeLocation.Lng != 0)
if (MainV2.cs.HomeLocation.Lat != 0 && MainV2.cs.HomeLocation.Lng != 0)
{
TXT_homelat.Text = MainV2.HomeLocation.Lat.ToString();
TXT_homelat.Text = MainV2.cs.HomeLocation.Lat.ToString();
TXT_homelng.Text = MainV2.HomeLocation.Lng.ToString();
TXT_homelng.Text = MainV2.cs.HomeLocation.Lng.ToString();
TXT_homealt.Text = MainV2.HomeLocation.Alt.ToString();
TXT_homealt.Text = MainV2.cs.HomeLocation.Alt.ToString();
}
@ -1685,7 +1684,7 @@ namespace ArdupilotMega.GCSViews
sethome = false;
try
{
MainV2.HomeLocation.Lat = double.Parse(TXT_homelat.Text);
MainV2.cs.HomeLocation.Lat = double.Parse(TXT_homelat.Text);
}
catch { }
writeKML();
@ -1697,7 +1696,7 @@ namespace ArdupilotMega.GCSViews
sethome = false;
try
{
MainV2.HomeLocation.Lng = double.Parse(TXT_homelng.Text);
MainV2.cs.HomeLocation.Lng = double.Parse(TXT_homelng.Text);
}
catch { }
writeKML();
@ -1708,7 +1707,7 @@ namespace ArdupilotMega.GCSViews
sethome = false;
try
{
MainV2.HomeLocation.Alt = double.Parse(TXT_homealt.Text);
MainV2.cs.HomeLocation.Alt = double.Parse(TXT_homealt.Text);
}
catch { }
writeKML();

4
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
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@ -648,8 +648,8 @@ namespace ArdupilotMega.GCSViews
//JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/h-agl-ft 0\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/lat-gc-deg " + MainV2.HomeLocation.Lat + "\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/long-gc-deg " + MainV2.HomeLocation.Lng + "\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/lat-gc-deg " + MainV2.cs.HomeLocation.Lat + "\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set position/long-gc-deg " + MainV2.cs.HomeLocation.Lng + "\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set attitude/phi-rad 0\r\n"));
JSBSimSEND.Client.Send(System.Text.Encoding.ASCII.GetBytes("set attitude/theta-rad 0\r\n"));

11
Tools/ArdupilotMegaPlanner/MainV2.cs
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@ -33,11 +33,6 @@ namespace ArdupilotMega
const int SW_SHOWNORMAL = 1;
const int SW_HIDE = 0;
/// <summary>
/// Home Location
/// </summary>
public static PointLatLngAlt HomeLocation = new PointLatLngAlt();
public static MAVLink comPort = new MAVLink();
public static string comportname = "";
public static Hashtable config = new Hashtable();
@ -208,13 +203,13 @@ namespace ArdupilotMega
try
{
if (config["TXT_homelat"] != null)
HomeLocation.Lat = double.Parse(config["TXT_homelat"].ToString());
cs.HomeLocation.Lat = double.Parse(config["TXT_homelat"].ToString());
if (config["TXT_homelng"] != null)
HomeLocation.Lng = double.Parse(config["TXT_homelng"].ToString());
cs.HomeLocation.Lng = double.Parse(config["TXT_homelng"].ToString());
if (config["TXT_homealt"] != null)
HomeLocation.Alt = double.Parse(config["TXT_homealt"].ToString());
cs.HomeLocation.Alt = double.Parse(config["TXT_homealt"].ToString());
}
catch { }

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
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@ -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("1.1.35")]
[assembly: AssemblyFileVersion("1.1.36")]
[assembly: NeutralResourcesLanguageAttribute("")]

2
Tools/ArdupilotMegaPlanner/Setup/Setup.cs
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@ -1401,6 +1401,8 @@ namespace ArdupilotMega.Setup
{
timer.Stop();
timer.Dispose();
tabControl1.SelectedIndex = 0;
}
private void CHK_enableoptflow_CheckedChanged(object sender, EventArgs e)

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