Mission Planner 1.2.21

Antenna Tracker mod from William Bryan
Scaling mods
battery screen mods
failsafe screen pwm checking
remove reverse radio options when we are using a quad
config menu reorganise
add Ateryx stuff

Tools/ArdupilotMegaPlanner/3DRRadio/3DRRadio.csproj

@@ -87,13 +87,13 @@
     <Compile Include="..\Attributes\PrivateAttribute.cs">
       <Link>Linked\PrivateAttribute.cs</Link>
     </Compile>
-    <Compile Include="..\Comms\CommsSerialInterface.cs">
-      <Link>Linked\CommsSerialInterface.cs</Link>
-    </Compile>
     <Compile Include="..\Comms\CommsSerialPort.cs">
       <Link>Linked\CommsSerialPort.cs</Link>
       <SubType>Component</SubType>
     </Compile>
+    <Compile Include="..\Comms\ICommsSerial.cs">
+      <Link>Linked\ICommsSerial.cs</Link>
+    </Compile>
     <Compile Include="..\Controls\BackstageView\BackstageView.cs">
       <Link>Linked\BackstageView.cs</Link>
       <SubType>UserControl</SubType>

Tools/ArdupilotMegaPlanner/Antenna/ArduTracker.cs

@@ -23,6 +23,8 @@ namespace ArdupilotMega.Antenna
         public int TiltEndRange { get; set; }
         public int PanPWMRange { get; set; }
         public int TiltPWMRange { get; set; }
+        public int PanPWMCenter { get; set; }
+        public int TiltPWMCenter { get; set; }
 
         public bool PanReverse { get { return _panreverse == 1; } set { _panreverse = value == true ? -1 : 1; } }
         public bool TiltReverse { get { return _tiltreverse == 1; } set { _tiltreverse = value == true ? -1 : 1; } }
@@ -88,7 +90,7 @@ namespace ArdupilotMega.Antenna
             // get relative center based on tracking center
             double rangeleft = PanStartRange - TrimPan;
             double rangeright = PanEndRange - TrimPan;
-            double centerpos = 1500;
+            double centerpos = PanPWMCenter;
 
             // get the output angle the tracker needs to point and constrain the output to the allowed options
             short PointAtAngle = Constrain(wrap_180(Angle - TrimPan), PanStartRange, PanEndRange);
@@ -109,7 +111,7 @@ namespace ArdupilotMega.Antenna
 
             short PointAtAngle = Constrain((Angle - TrimTilt), TiltStartRange, TiltEndRange);
 
-            int target = (int)((((PointAtAngle / range) * 2.0) * (TiltPWMRange / 2) * _tiltreverse + 1500));
+            int target = (int)((((PointAtAngle / range) * 2.0) * (TiltPWMRange / 2) * _tiltreverse + TiltPWMCenter));
 
             // Console.WriteLine("T " + Angle + " " + target + " " + PointAtAngle);
 

Tools/ArdupilotMegaPlanner/Antenna/DegreeTracker.cs

@@ -23,6 +23,8 @@ namespace ArdupilotMega.Antenna
         public int TiltEndRange { get; set; }
         public int PanPWMRange { get; set; }
         public int TiltPWMRange { get; set; }
+        public int PanPWMCenter { get; set; }
+        public int TiltPWMCenter { get; set; }
 
         public bool PanReverse { get { return _panreverse == 1; } set { _panreverse = value == true ? -1 : 1; } }
         public bool TiltReverse { get { return _tiltreverse == 1; } set { _tiltreverse = value == true ? -1 : 1; } }

Tools/ArdupilotMegaPlanner/Antenna/ITrackerOutput.cs

@@ -18,6 +18,8 @@ namespace ArdupilotMega.Antenna
         int TiltEndRange { get; set; }
         int PanPWMRange { get; set; }
         int TiltPWMRange { get; set; }
+        int PanPWMCenter { get; set; }
+        int TiltPWMCenter { get; set; }
 
         bool PanReverse { get; set; }
         bool TiltReverse { get; set; }

Tools/ArdupilotMegaPlanner/Antenna/Maestro.cs

@@ -2,6 +2,7 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using System.Windows.Forms;
 
 namespace ArdupilotMega.Antenna
 {
@@ -23,6 +24,8 @@ namespace ArdupilotMega.Antenna
         public int TiltEndRange { get; set; }
         public int PanPWMRange { get; set; }
         public int TiltPWMRange { get; set; }
+        public int PanPWMCenter { get; set; }
+        public int TiltPWMCenter { get; set; }
 
         public bool PanReverse { get { return _panreverse == -1; } set { _panreverse = value == true ? -1 : 1; } }
         public bool TiltReverse { get { return _tiltreverse == -1; } set { _tiltreverse = value == true ? -1 : 1; } }
@@ -33,6 +36,14 @@ namespace ArdupilotMega.Antenna
         byte PanAddress = 0;
         byte TiltAddress = 1;
 
+        private const byte SetTarget = 0x84;
+        private const byte SetSpeed = 0x87;
+        private const byte SetAccel = 0x89;
+        private const byte GetPos = 0x90;
+        private const byte GetState = 0x93;
+        private const byte GetErrors = 0xA1;
+        private const byte GoHome = 0xA2;
+
         public bool Init()
         {
 
@@ -56,27 +67,41 @@ namespace ArdupilotMega.Antenna
 
             return true;
         }
+
         public bool Setup()
         {
             int target = 100;
             // speed
-            var buffer = new byte[] { 0x87, PanAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) };
+            SendCompactMaestroCommand(SetSpeed, 0, PanAddress, target);
-            ComPort.Write(buffer, 0, buffer.Length);
+            SendCompactMaestroCommand(SetSpeed, 0, TiltAddress, target);
-
-            buffer = new byte[] { 0x87, TiltAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) };
-            ComPort.Write(buffer, 0, buffer.Length);
 
             // accel
             target = 5;
-            buffer = new byte[] { 0x89, PanAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) };
+            SendCompactMaestroCommand(SetAccel, 0, PanAddress, target);
-            ComPort.Write(buffer, 0, buffer.Length);
+            SendCompactMaestroCommand(SetAccel, 0, TiltAddress, target);
 
-            buffer = new byte[] { 0x89, TiltAddress, (byte)(target & 0x7F), (byte)((target >> 7) & 0x7F) };
+            //getCenterPWs();
-            ComPort.Write(buffer, 0, buffer.Length);
 
             return true;
         }
 
+        void getCenterPWs()
+        {
+            byte[] buffer;
+            // set all to home (center)
+            SendCompactMaestroCommand(GoHome);
+
+            while (SendCompactMaestroCommand(GetState, 1)[0] == 0x01) { }
+
+            // get center position -- pan
+            buffer = SendCompactMaestroCommand(GetPos, 2, PanAddress);
+            this.PanPWMCenter = (int)((buffer[1] >> 8) | buffer[0]);
+
+            // get center position -- tilt
+            buffer = SendCompactMaestroCommand(GetPos, 2, TiltAddress);
+            this.TiltPWMCenter = (int)((buffer[1] >> 8) | buffer[0]);
+        }
+
         double wrap_180(double input)
         {
             if (input > 180)
@@ -86,51 +111,29 @@ namespace ArdupilotMega.Antenna
             return input;
         }
 
-        double wrap_range(double input, double range)
-        {
-            if (input > range)
-                return input - 360;
-            if (input < -range)
-                return input + 360;
-            return input;
-        }
-
         public bool Pan(double Angle)
         {
-            double range = Math.Abs(PanStartRange - PanEndRange);
+            double angleRange = Math.Abs(this.PanStartRange - this.PanEndRange);
 
-            // get relative center based on tracking center
+            double pulseWidth = ((((double)this.PanPWMRange) / angleRange) * wrap_180(Angle- TrimPan) * _panreverse) + (double)this.PanPWMCenter;
-            double rangeleft = PanStartRange - TrimPan;
-            double rangeright = PanEndRange - TrimPan;
-            double centerpos = 127;
             
-            // get the output angle the tracker needs to point and constrain the output to the allowed options
+            short target = Constrain(pulseWidth, this.PanPWMCenter - (this.PanPWMRange / 2), this.PanPWMCenter + (this.PanPWMRange / 2));
-            short PointAtAngle = Constrain(wrap_180(Angle - TrimPan), PanStartRange, PanEndRange);
+            target *= 4;
-
-            // conver the angle into a 0-255 value
-            byte target = (byte)((((PointAtAngle / range) * 2.0) * 127 + centerpos) * _panreverse);
-
-           // Console.WriteLine("P " + Angle + " " + target + " " + PointAtAngle);
-
-            var buffer = new byte[] { 0xff, PanAddress, target };
-            ComPort.Write(buffer, 0, buffer.Length);
 
+            SendCompactMaestroCommand(SetTarget, 0, PanAddress, target);
             return true;
         }
 
         public bool Tilt(double Angle)
         {
-            double range = Math.Abs(TiltStartRange - TiltEndRange);
+            double angleRange = Math.Abs(this.TiltStartRange - this.TiltEndRange);
 
-            short PointAtAngle = Constrain((Angle - TrimTilt), TiltStartRange, TiltEndRange);
+            double pulseWidth = ((((double)this.TiltPWMRange) / angleRange) * (Angle - TrimTilt) * _tiltreverse) + (double)this.TiltPWMCenter;
 
-            byte target = (byte)((((PointAtAngle / range) * 2) * 127 + 127) * _tiltreverse);
+            short target = Constrain(pulseWidth, this.TiltPWMCenter - (this.TiltPWMRange / 2), this.TiltPWMCenter + (this.TiltPWMRange / 2));
-
+            target *= 4;
-            //Console.WriteLine("T " + Angle + " " + target + " " + PointAtAngle);
-
-            var buffer = new byte[] { 0xff, TiltAddress, target };
-            ComPort.Write(buffer, 0, buffer.Length);
 
+            SendCompactMaestroCommand(SetTarget, 0, TiltAddress, target);
             return true;
         }
 
@@ -160,5 +163,25 @@ namespace ArdupilotMega.Antenna
                 return (short)max;
             return (short)input;
         }
+
+        byte[] SendCompactMaestroCommand(byte cmd, int respByteCount = 0, byte addr = 0xFF, int data = -1)
+        {
+            byte[] buffer;
+            if (addr == 0xFF)
+                buffer = new byte[] { cmd };
+            else if (data < 0)
+                buffer = new byte[] { cmd, addr };
+            else
+                buffer = new byte[] { cmd, addr, (byte)(data & 0x7F), (byte)((data >> 7) & 0x7F) };
+            ComPort.DiscardInBuffer();
+            ComPort.Write(buffer, 0, buffer.Length);
+            if (respByteCount > 0)
+            {
+                buffer = new byte[respByteCount];
+                while (ComPort.BytesToRead < respByteCount) { }
+                ComPort.Read(buffer, 0, respByteCount);
+            }
+            return buffer;
+        }
     }
 }

Tools/ArdupilotMegaPlanner/Antenna/Tracker.Designer.cs

@@ -56,6 +56,10 @@
             this.LBL_pantrim = new System.Windows.Forms.Label();
             this.LBL_tilttrim = new System.Windows.Forms.Label();
             this.BUT_find = new ArdupilotMega.Controls.MyButton();
+            this.TXT_centerpan = new System.Windows.Forms.TextBox();
+            this.TXT_centertilt = new System.Windows.Forms.TextBox();
+            this.label13 = new System.Windows.Forms.Label();
+            this.label14 = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.TRK_pantrim)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.TRK_tilttrim)).BeginInit();
             this.SuspendLayout();
@@ -68,6 +72,7 @@
             resources.GetString("CMB_interface.Items1")});
             resources.ApplyResources(this.CMB_interface, "CMB_interface");
             this.CMB_interface.Name = "CMB_interface";
+            this.CMB_interface.SelectedIndexChanged += new System.EventHandler(this.CMB_interface_SelectedIndexChanged);
             // 
             // label1
             // 
@@ -230,10 +235,36 @@
             this.BUT_find.UseVisualStyleBackColor = true;
             this.BUT_find.Click += new System.EventHandler(this.BUT_find_Click);
             // 
+            // TXT_centerpan
+            // 
+            resources.ApplyResources(this.TXT_centerpan, "TXT_centerpan");
+            this.TXT_centerpan.Name = "TXT_centerpan";
+            this.TXT_centerpan.TextChanged += new System.EventHandler(this.TXT_centerpan_TextChanged);
+            // 
+            // TXT_centertilt
+            // 
+            resources.ApplyResources(this.TXT_centertilt, "TXT_centertilt");
+            this.TXT_centertilt.Name = "TXT_centertilt";
+            this.TXT_centertilt.TextChanged += new System.EventHandler(this.TXT_centertilt_TextChanged);
+            // 
+            // label13
+            // 
+            resources.ApplyResources(this.label13, "label13");
+            this.label13.Name = "label13";
+            // 
+            // label14
+            // 
+            resources.ApplyResources(this.label14, "label14");
+            this.label14.Name = "label14";
+            // 
             // Tracker
             // 
             resources.ApplyResources(this, "$this");
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.label14);
+            this.Controls.Add(this.label13);
+            this.Controls.Add(this.TXT_centertilt);
+            this.Controls.Add(this.TXT_centerpan);
             this.Controls.Add(this.BUT_find);
             this.Controls.Add(this.LBL_tilttrim);
             this.Controls.Add(this.LBL_pantrim);
@@ -298,5 +329,9 @@
         private System.Windows.Forms.Label LBL_pantrim;
         private System.Windows.Forms.Label LBL_tilttrim;
         private Controls.MyButton BUT_find;
+        private System.Windows.Forms.TextBox TXT_centerpan;
+        private System.Windows.Forms.TextBox TXT_centertilt;
+        private System.Windows.Forms.Label label13;
+        private System.Windows.Forms.Label label14;
     }
 }

Tools/ArdupilotMegaPlanner/Antenna/Tracker.cs

@@ -99,6 +99,16 @@ namespace ArdupilotMega.Antenna
                 threadrun = false;
                 BUT_connect.Text = "Connect";
                 tracker.Close();
+                foreach (Control ctl in Controls)
+                {
+                    if (ctl.Name.StartsWith("TXT_"))
+                        ctl.Enabled = true;
+
+                    if (ctl.Name.StartsWith("CMB_"))
+                        ctl.Enabled = true;
+                }
+                BUT_find.Enabled = true;
+                //CustomMessageBox.Show("Disconnected!");
                 return;
             }
 
@@ -107,11 +117,11 @@ namespace ArdupilotMega.Antenna
                 tracker.ComPort.Close();
             }
 
-            if (CMB_interface.Text == "Maestro")
+            if (CMB_interface.Text == interfaces.Maestro.ToString())
                 tracker = new ArdupilotMega.Antenna.Maestro();
-            if (CMB_interface.Text == "ArduTracker")
+            if (CMB_interface.Text == interfaces.ArduTracker.ToString())
                 tracker = new ArdupilotMega.Antenna.ArduTracker();
-            if (CMB_interface.Text == "DegreeTracker")
+            if (CMB_interface.Text == interfaces.DegreeTracker.ToString())
                 tracker = new ArdupilotMega.Antenna.DegreeTracker();
 
             try
@@ -140,6 +150,9 @@ namespace ArdupilotMega.Antenna
                 tracker.PanPWMRange = int.Parse(TXT_pwmrangepan.Text);
                 tracker.TiltPWMRange = int.Parse(TXT_pwmrangetilt.Text);
 
+                tracker.PanPWMCenter = int.Parse(TXT_centerpan.Text);
+                tracker.TiltPWMCenter = int.Parse(TXT_centertilt.Text);
+
             }
             catch (Exception ex) { CustomMessageBox.Show("Bad User input " + ex.Message); return; }
 
@@ -147,8 +160,24 @@ namespace ArdupilotMega.Antenna
             {
                 if (tracker.Setup())
                 {
+                    if (TXT_centerpan.Text != tracker.PanPWMCenter.ToString())
+                        TXT_centerpan.Text = tracker.PanPWMCenter.ToString();
+
+                    if (TXT_centertilt.Text != tracker.TiltPWMCenter.ToString())
+                        TXT_centertilt.Text = tracker.TiltPWMCenter.ToString();
+     
                     tracker.PanAndTilt(0, 0);
 
+                    foreach (Control ctl in Controls)
+                    {
+                        if(ctl.Name.StartsWith("TXT_"))
+                            ctl.Enabled = false;
+
+                        if (ctl.Name.StartsWith("CMB_"))
+                            ctl.Enabled = false;
+                    }
+                    //BUT_find.Enabled = false;
+
                     t12 = new System.Threading.Thread(new System.Threading.ThreadStart(mainloop))
                     {
                         IsBackground = true,
@@ -196,8 +225,8 @@ namespace ArdupilotMega.Antenna
 
             int.TryParse(TXT_panrange.Text, out range);
 
-            TRK_pantrim.Minimum = range / 1 * -1;
+            TRK_pantrim.Minimum = range / 2 * -1;
-            TRK_pantrim.Maximum = range / 1;
+            TRK_pantrim.Maximum = range / 2;
         }
 
         private void TXT_tiltrange_TextChanged(object sender, EventArgs e)
@@ -206,8 +235,8 @@ namespace ArdupilotMega.Antenna
 
             int.TryParse(TXT_tiltrange.Text, out range);
 
-            TRK_tilttrim.Minimum = range / 1 * -1;
+            TRK_tilttrim.Minimum = range / 2 * -1;
-            TRK_tilttrim.Maximum = range / 1;
+            TRK_tilttrim.Maximum = range / 2;
         }
 
         private void CHK_revpan_CheckedChanged(object sender, EventArgs e)
@@ -246,7 +275,7 @@ namespace ArdupilotMega.Antenna
             });
 
 
-            // scan entire range withing 30 degrees
+            // scan half range within 30 degrees
             float ans = checkpos((pan - float.Parse(TXT_panrange.Text) / 4), (pan + float.Parse(TXT_panrange.Text) / 4) - 1, 30);
             
             // scan new range within 30 - little overlap
@@ -257,7 +286,6 @@ namespace ArdupilotMega.Antenna
 
             setpan(ans);
 
-
         }
 
         void setpan(float no)
@@ -300,5 +328,20 @@ namespace ArdupilotMega.Antenna
 
             return best;
         }
+
+        private void CMB_interface_SelectedIndexChanged(object sender, EventArgs e)
+        {
+
+        }
+
+        private void TXT_centerpan_TextChanged(object sender, EventArgs e)
+        {
+
+        }
+
+        private void TXT_centertilt_TextChanged(object sender, EventArgs e)
+        {
+
+        }
     }
 }

Tools/ArdupilotMegaPlanner/Antenna/Tracker.resx

@@ -147,7 +147,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CMB_interface.ZOrder" xml:space="preserve">
-    <value>26</value>
+    <value>30</value>
   </data>
   <data name="label1.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -174,7 +174,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label1.ZOrder" xml:space="preserve">
-    <value>25</value>
+    <value>29</value>
   </data>
   <data name="CMB_baudrate.Items" xml:space="preserve">
     <value>4800</value>
@@ -219,7 +219,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CMB_baudrate.ZOrder" xml:space="preserve">
-    <value>22</value>
+    <value>26</value>
   </data>
   <data name="CMB_serialport.Location" type="System.Drawing.Point, System.Drawing">
     <value>210, 10</value>
@@ -240,10 +240,10 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CMB_serialport.ZOrder" xml:space="preserve">
-    <value>24</value>
+    <value>28</value>
   </data>
   <data name="TRK_pantrim.Location" type="System.Drawing.Point, System.Drawing">
-    <value>153, 81</value>
+    <value>153, 96</value>
   </data>
   <data name="TRK_pantrim.Size" type="System.Drawing.Size, System.Drawing">
     <value>375, 45</value>
@@ -261,7 +261,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;TRK_pantrim.ZOrder" xml:space="preserve">
-    <value>21</value>
+    <value>25</value>
   </data>
   <data name="TXT_panrange.Location" type="System.Drawing.Point, System.Drawing">
     <value>83, 81</value>
@@ -285,13 +285,13 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;TXT_panrange.ZOrder" xml:space="preserve">
-    <value>20</value>
+    <value>24</value>
   </data>
   <data name="label3.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <data name="label3.Location" type="System.Drawing.Point, System.Drawing">
-    <value>326, 65</value>
+    <value>326, 80</value>
   </data>
   <data name="label3.Size" type="System.Drawing.Size, System.Drawing">
     <value>27, 13</value>
@@ -312,7 +312,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label3.ZOrder" xml:space="preserve">
-    <value>19</value>
+    <value>23</value>
   </data>
   <data name="label4.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -339,13 +339,13 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label4.ZOrder" xml:space="preserve">
-    <value>18</value>
+    <value>22</value>
   </data>
   <data name="label5.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <data name="label5.Location" type="System.Drawing.Point, System.Drawing">
-    <value>83, 141</value>
+    <value>83, 161</value>
   </data>
   <data name="label5.Size" type="System.Drawing.Size, System.Drawing">
     <value>39, 13</value>
@@ -366,13 +366,13 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label5.ZOrder" xml:space="preserve">
-    <value>14</value>
+    <value>18</value>
   </data>
   <data name="label6.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <data name="label6.Location" type="System.Drawing.Point, System.Drawing">
-    <value>326, 141</value>
+    <value>326, 175</value>
   </data>
   <data name="label6.Size" type="System.Drawing.Size, System.Drawing">
     <value>27, 13</value>
@@ -393,10 +393,10 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label6.ZOrder" xml:space="preserve">
-    <value>15</value>
+    <value>19</value>
   </data>
   <data name="TXT_tiltrange.Location" type="System.Drawing.Point, System.Drawing">
-    <value>83, 157</value>
+    <value>83, 177</value>
   </data>
   <data name="TXT_tiltrange.Size" type="System.Drawing.Size, System.Drawing">
     <value>64, 20</value>
@@ -417,10 +417,10 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;TXT_tiltrange.ZOrder" xml:space="preserve">
-    <value>16</value>
+    <value>20</value>
   </data>
   <data name="TRK_tilttrim.Location" type="System.Drawing.Point, System.Drawing">
-    <value>153, 157</value>
+    <value>153, 191</value>
   </data>
   <data name="TRK_tilttrim.Size" type="System.Drawing.Size, System.Drawing">
     <value>375, 45</value>
@@ -438,7 +438,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;TRK_tilttrim.ZOrder" xml:space="preserve">
-    <value>17</value>
+    <value>21</value>
   </data>
   <data name="label2.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -465,13 +465,13 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label2.ZOrder" xml:space="preserve">
-    <value>13</value>
+    <value>17</value>
   </data>
   <data name="label7.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <data name="label7.Location" type="System.Drawing.Point, System.Drawing">
-    <value>12, 141</value>
+    <value>12, 161</value>
   </data>
   <data name="label7.Size" type="System.Drawing.Size, System.Drawing">
     <value>21, 13</value>
@@ -492,13 +492,13 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label7.ZOrder" xml:space="preserve">
-    <value>12</value>
+    <value>16</value>
   </data>
   <data name="CHK_revpan.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <data name="CHK_revpan.Location" type="System.Drawing.Point, System.Drawing">
-    <value>534, 83</value>
+    <value>534, 98</value>
   </data>
   <data name="CHK_revpan.Size" type="System.Drawing.Size, System.Drawing">
     <value>46, 17</value>
@@ -519,13 +519,13 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHK_revpan.ZOrder" xml:space="preserve">
-    <value>11</value>
+    <value>15</value>
   </data>
   <data name="CHK_revtilt.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <data name="CHK_revtilt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>534, 159</value>
+    <value>534, 193</value>
   </data>
   <data name="CHK_revtilt.Size" type="System.Drawing.Size, System.Drawing">
     <value>46, 17</value>
@@ -546,7 +546,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHK_revtilt.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>14</value>
   </data>
   <data name="TXT_pwmrangepan.Location" type="System.Drawing.Point, System.Drawing">
     <value>83, 107</value>
@@ -570,10 +570,10 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;TXT_pwmrangepan.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>13</value>
   </data>
   <data name="TXT_pwmrangetilt.Location" type="System.Drawing.Point, System.Drawing">
-    <value>83, 183</value>
+    <value>83, 203</value>
   </data>
   <data name="TXT_pwmrangetilt.Size" type="System.Drawing.Size, System.Drawing">
     <value>64, 20</value>
@@ -594,7 +594,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;TXT_pwmrangetilt.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>12</value>
   </data>
   <data name="label8.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -621,13 +621,13 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label8.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>11</value>
   </data>
   <data name="label9.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <data name="label9.Location" type="System.Drawing.Point, System.Drawing">
-    <value>43, 186</value>
+    <value>43, 206</value>
   </data>
   <data name="label9.Size" type="System.Drawing.Size, System.Drawing">
     <value>34, 13</value>
@@ -648,13 +648,13 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label9.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>10</value>
   </data>
   <data name="label10.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <data name="label10.Location" type="System.Drawing.Point, System.Drawing">
-    <value>45, 160</value>
+    <value>45, 180</value>
   </data>
   <data name="label10.Size" type="System.Drawing.Size, System.Drawing">
     <value>34, 13</value>
@@ -675,7 +675,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label10.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>8</value>
   </data>
   <data name="label11.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -702,7 +702,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label11.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>9</value>
   </data>
   <data name="label12.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -732,7 +732,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label12.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>7</value>
   </data>
   <data name="BUT_connect.Location" type="System.Drawing.Point, System.Drawing">
     <value>476, 9</value>
@@ -750,19 +750,19 @@
     <value>BUT_connect</value>
   </data>
   <data name="&gt;&gt;BUT_connect.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4605.34402, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4711.34225, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_connect.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_connect.ZOrder" xml:space="preserve">
-    <value>23</value>
+    <value>27</value>
   </data>
   <data name="LBL_pantrim.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <data name="LBL_pantrim.Location" type="System.Drawing.Point, System.Drawing">
-    <value>326, 113</value>
+    <value>326, 128</value>
   </data>
   <data name="LBL_pantrim.Size" type="System.Drawing.Size, System.Drawing">
     <value>34, 13</value>
@@ -783,13 +783,13 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;LBL_pantrim.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>6</value>
   </data>
   <data name="LBL_tilttrim.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <data name="LBL_tilttrim.Location" type="System.Drawing.Point, System.Drawing">
-    <value>326, 190</value>
+    <value>326, 224</value>
   </data>
   <data name="LBL_tilttrim.Size" type="System.Drawing.Size, System.Drawing">
     <value>34, 13</value>
@@ -810,30 +810,139 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;LBL_tilttrim.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>5</value>
   </data>
   <data name="BUT_find.Location" type="System.Drawing.Point, System.Drawing">
-    <value>509, 51</value>
+    <value>497, 51</value>
   </data>
   <data name="BUT_find.Size" type="System.Drawing.Size, System.Drawing">
-    <value>71, 28</value>
+    <value>83, 28</value>
   </data>
   <data name="BUT_find.TabIndex" type="System.Int32, mscorlib">
     <value>31</value>
   </data>
   <data name="BUT_find.Text" xml:space="preserve">
-    <value>Find Trim (3DR Radio)</value>
+    <value>Find Trim Pan (3DR Radio)</value>
   </data>
   <data name="&gt;&gt;BUT_find.Name" xml:space="preserve">
     <value>BUT_find</value>
   </data>
   <data name="&gt;&gt;BUT_find.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4605.34402, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4711.34225, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_find.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_find.ZOrder" xml:space="preserve">
+    <value>4</value>
+  </data>
+  <data name="TXT_centerpan.Location" type="System.Drawing.Point, System.Drawing">
+    <value>83, 133</value>
+  </data>
+  <data name="TXT_centerpan.Size" type="System.Drawing.Size, System.Drawing">
+    <value>64, 20</value>
+  </data>
+  <data name="TXT_centerpan.TabIndex" type="System.Int32, mscorlib">
+    <value>3</value>
+  </data>
+  <data name="TXT_centerpan.Text" xml:space="preserve">
+    <value>1500</value>
+  </data>
+  <data name="&gt;&gt;TXT_centerpan.Name" xml:space="preserve">
+    <value>TXT_centerpan</value>
+  </data>
+  <data name="&gt;&gt;TXT_centerpan.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;TXT_centerpan.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;TXT_centerpan.ZOrder" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="TXT_centertilt.Location" type="System.Drawing.Point, System.Drawing">
+    <value>83, 229</value>
+  </data>
+  <data name="TXT_centertilt.Size" type="System.Drawing.Size, System.Drawing">
+    <value>64, 20</value>
+  </data>
+  <data name="TXT_centertilt.TabIndex" type="System.Int32, mscorlib">
+    <value>1</value>
+  </data>
+  <data name="TXT_centertilt.Text" xml:space="preserve">
+    <value>1500</value>
+  </data>
+  <data name="&gt;&gt;TXT_centertilt.Name" xml:space="preserve">
+    <value>TXT_centertilt</value>
+  </data>
+  <data name="&gt;&gt;TXT_centertilt.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;TXT_centertilt.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;TXT_centertilt.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="label13.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="label13.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="label13.Location" type="System.Drawing.Point, System.Drawing">
+    <value>9, 136</value>
+  </data>
+  <data name="label13.Size" type="System.Drawing.Size, System.Drawing">
+    <value>68, 13</value>
+  </data>
+  <data name="label13.TabIndex" type="System.Int32, mscorlib">
+    <value>32</value>
+  </data>
+  <data name="label13.Text" xml:space="preserve">
+    <value>Center PWM</value>
+  </data>
+  <data name="&gt;&gt;label13.Name" xml:space="preserve">
+    <value>label13</value>
+  </data>
+  <data name="&gt;&gt;label13.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label13.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;label13.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="label14.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="label14.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="label14.Location" type="System.Drawing.Point, System.Drawing">
+    <value>9, 232</value>
+  </data>
+  <data name="label14.Size" type="System.Drawing.Size, System.Drawing">
+    <value>68, 13</value>
+  </data>
+  <data name="label14.TabIndex" type="System.Int32, mscorlib">
+    <value>33</value>
+  </data>
+  <data name="label14.Text" xml:space="preserve">
+    <value>Center PWM</value>
+  </data>
+  <data name="&gt;&gt;label14.Name" xml:space="preserve">
+    <value>label14</value>
+  </data>
+  <data name="&gt;&gt;label14.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label14.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;label14.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
   <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
@@ -843,7 +952,7 @@
     <value>6, 13</value>
   </data>
   <data name="$this.Size" type="System.Drawing.Size, System.Drawing">
-    <value>587, 212</value>
+    <value>587, 265</value>
   </data>
   <data name="&gt;&gt;$this.Name" xml:space="preserve">
     <value>Tracker</value>

Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj

@@ -157,7 +157,7 @@
     </Reference>
     <Reference Include="Microsoft.DirectX.DirectInput, Version=1.0.2902.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35">
       <SpecificVersion>False</SpecificVersion>
-      <Private>True</Private>
+      <Private>False</Private>
     </Reference>
     <Reference Include="Microsoft.Dynamic">
     </Reference>
@@ -249,7 +249,7 @@
     <Compile Include="Attributes\PrivateAttribute.cs" />
     <Compile Include="CodeGen.cs" />
     <Compile Include="Comms\CommsFile.cs" />
-    <Compile Include="Comms\CommsSerialInterface.cs" />
+    <Compile Include="Comms\ICommsSerial.cs" />
     <Compile Include="Comms\CommsSerialPort.cs">
       <SubType>Component</SubType>
     </Compile>
@@ -394,8 +394,21 @@
     <Compile Include="GCSViews\ConfigurationView\ConfigFailSafe.Designer.cs">
       <DependentUpon>ConfigFailSafe.cs</DependentUpon>
     </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigAteryx.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigAteryx.Designer.cs">
+      <DependentUpon>ConfigAteryx.cs</DependentUpon>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigAteryxSensors.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="GCSViews\ConfigurationView\ConfigAteryxSensors.Designer.cs">
+      <DependentUpon>ConfigAteryxSensors.cs</DependentUpon>
+    </Compile>
     <Compile Include="HIL\Hil.cs" />
     <None Include="HIL\JSBSim.cs" />
+    <Compile Include="HIL\Wind.cs" />
     <Compile Include="HIL\XPlane.cs" />
     <Compile Include="OpenGLtest.cs">
       <SubType>UserControl</SubType>
@@ -828,6 +841,39 @@
     <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigTradHeli.de-DE.resx">
       <DependentUpon>ConfigTradHeli.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigAteryx.de-DE.resx">
+      <DependentUpon>ConfigAteryx.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigAteryx.fr.resx">
+      <DependentUpon>ConfigAteryx.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigAteryx.resx">
+      <DependentUpon>ConfigAteryx.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigAteryxSensors.de-DE.resx">
+      <DependentUpon>ConfigAteryxSensors.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigAteryxSensors.es-ES.resx">
+      <DependentUpon>ConfigAteryxSensors.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigAteryxSensors.fr.resx">
+      <DependentUpon>ConfigAteryxSensors.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigAteryxSensors.it-IT.resx">
+      <DependentUpon>ConfigAteryxSensors.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigAteryxSensors.pl.resx">
+      <DependentUpon>ConfigAteryxSensors.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigAteryxSensors.resx">
+      <DependentUpon>ConfigAteryxSensors.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigAteryxSensors.zh-Hans.resx">
+      <DependentUpon>ConfigAteryxSensors.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="GCSViews\ConfigurationView\ConfigAteryxSensors.zh-TW.resx">
+      <DependentUpon>ConfigAteryxSensors.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="GCSViews\Firmware.de-DE.resx">
       <DependentUpon>Firmware.cs</DependentUpon>
     </EmbeddedResource>

Tools/ArdupilotMegaPlanner/ChangeLog.txt

@@ -1,4 +1,38 @@
-* Mission Planner 1.2.15
+* Mission Planner 1.2.20
+fix airspeed error scale and min ground speed
+modify mount options
+add german lang
+fix terminal baud rate issue
+msi mod- single msi for x86 and x64 and all win os's
+
+* Mission Planner 1.2.19
+check for serial port name hang. and disable
+add more failsafe screen status items
+fix mavlink log graph bug
+
+* Mission Planner 1.2.18
+fix mono crash
+add rxrssi
+fix altitude mis label on mouse over in flight planner
+add trigger camera now action.
+new win8 msi
+
+* Mission Planner 1.2.17
+add nested config page
+add friendly comport names
+add some exception handlers
+add new old firmware hashs
+remove more crom.controls stuff
+enabled change speed
+
+* Mission Planner 1.2.16
+workaround for global_pos_int problem
+fix 3dr iv sensor pin selection
+add ability to disable dist to home on flight data screen
+remove traces of crom.controls (mono)
+fix arm/disarm button
+
+* Mission Planner 1.2.15
 fix hud battery text overlaying
 tweak hud resize
 tweak main switcher

Tools/ArdupilotMegaPlanner/Comms/ICommsSerial.cs

@@ -0,0 +1,58 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+using System.IO.Ports;
+using System.IO;
+using System.Reflection;
+
+namespace ArdupilotMega.Comms
+{
+    public interface ICommsSerial
+    {
+        // from serialport class
+        // Methods
+         void Close();
+         void DiscardInBuffer();
+         //void DiscardOutBuffer();
+         void Open();
+         int Read(byte[] buffer, int offset, int count);
+         //int Read(char[] buffer, int offset, int count);
+         int ReadByte();
+         int ReadChar();
+         string ReadExisting();
+         string ReadLine();
+         //string ReadTo(string value);
+         void Write(string text);
+         void Write(byte[] buffer, int offset, int count);
+         //void Write(char[] buffer, int offset, int count);
+         void WriteLine(string text);
+
+         void toggleDTR();
+
+        // Properties
+         Stream BaseStream { get; }
+         int BaudRate { get; set; }
+         //bool BreakState { get; set; }
+         int BytesToRead { get; }
+         int BytesToWrite { get; }
+         //bool CDHolding { get; }
+         //bool CtsHolding { get; }
+         int DataBits { get; set; }
+         //bool DiscardNull { get; set; }
+         //bool DsrHolding { get; }
+         bool DtrEnable { get; set; }
+         //Encoding Encoding { get; set; }
+         //Handshake Handshake { get; set; }
+         bool IsOpen { get; }
+         //string NewLine { get; set; }
+         Parity Parity { get; set; }
+         //byte ParityReplace { get; set; }
+         string PortName { get; set; }
+         int ReadBufferSize { get; set; }
+         int ReadTimeout { get; set; }
+         bool RtsEnable { get; set; }
+         StopBits StopBits { get; set; }
+         int WriteBufferSize { get; set; }
+         int WriteTimeout { get; set; }
+    }
+}

Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.cs

@@ -13,7 +13,7 @@ using ArdupilotMega.Utilities;
 
 namespace ArdupilotMega.Controls
 {
-    public partial class ConfigPanel : UserControl
+    public partial class ConfigPanel : UserControl, IActivate
     {
         /// <summary>
         /// store temp pending changes
@@ -44,10 +44,16 @@ namespace ArdupilotMega.Controls
                 {
                     try
                     {
+                        float numbervalue = (float)MainV2.comPort.param[value];
+
+                        MAVLink.modifyParamForDisplay(true, value, ref numbervalue);
+
                         NumericUpDown thisctl = ((NumericUpDown)ctl);
-                        thisctl.Value = (decimal)(float)MainV2.comPort.param[value];
+                        thisctl.Validated -= thisctl_Validated;
+                        thisctl.ValueChanged -= thisctl_Validated;
+                        thisctl.Value = (decimal)numbervalue;
                         thisctl.Enabled = true;
-                        thisctl.Validated += new EventHandler(thisctl_Validated);
+                        thisctl.Validated += thisctl_Validated;
                         thisctl.ValueChanged += thisctl_Validated;
                     }
                     catch (Exception ex) { Console.WriteLine(ex.ToString()); }
@@ -63,7 +69,9 @@ namespace ArdupilotMega.Controls
 
             foreach (string item in (List<string>)_linkedParams[param])
             {
-                _changed[item] = (float)((NumericUpDown)sender).Value;
+                float value = (float)((NumericUpDown)sender).Value;
+                MAVLink.modifyParamForDisplay(false, param, ref value);
+                _changed[item] = value;
             }
         }
 
@@ -322,5 +330,10 @@ namespace ArdupilotMega.Controls
         {
             PopulateData();
         }
+
+        public void Activate()
+        {
+            PopulateData();
+        }
     }
 }

Tools/ArdupilotMegaPlanner/Controls/QuickView.Designer.cs

@@ -65,7 +65,7 @@
             // labelWithPseudoOpacity2
             // 
             this.labelWithPseudoOpacity2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.labelWithPseudoOpacity2.DoubleBuffered = true;
+            this.labelWithPseudoOpacity2.DoubleBuffered = false;
             this.labelWithPseudoOpacity2.Font = new System.Drawing.Font("Microsoft Sans Serif", 21.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.labelWithPseudoOpacity2.Location = new System.Drawing.Point(3, 20);
             this.labelWithPseudoOpacity2.Name = "labelWithPseudoOpacity2";

Tools/ArdupilotMegaPlanner/Controls/RangeControl.cs

@@ -18,16 +18,46 @@ namespace ArdupilotMega.Controls
       public string DescriptionText { get { return label1.Text; } set { label1.Text = value; } }
       public string LabelText { get { return myLabel1.Text; } set { myLabel1.Text = value; } }
       public TrackBar TrackBarControl { get { return trackBar1; } set { trackBar1 = value; } }
-      public int Scaler { get; set; }
+      public float Increment
+      {
+          get
+          {
+              return _increment;
+          }
+          set
+          {
+              _increment = value;
+              tbscale = (1 / _increment);
+              trackBar1.TickFrequency = 1;
+              numericUpDown1.Increment = (decimal)_increment;
+              numericUpDown1.DecimalPlaces = _increment.ToString(CultureInfo.InvariantCulture).Length - 1;
+          }
+      }
+      public float DisplayScale { get; set; }
+      public float MinRange { get { return _minrange; } set { _minrange = value; numericUpDown1.Minimum = (decimal)(value / DisplayScale); trackBar1.Minimum = (int)(value / _increment); } }
+      public float MaxRange { get { return _maxrange; } set { _maxrange = value; numericUpDown1.Maximum = (decimal)(value / DisplayScale); trackBar1.Maximum = (int)(value / _increment); } }
+      float _minrange = 0;
+      float _maxrange = 10;
+      float _increment = 1;
+      float tbscale = 1;
 
       #region Interface Properties
 
       public string Value
       {
-         get { return numericUpDown1.Value.ToString(CultureInfo.InvariantCulture); } 
+          get { return ((float)numericUpDown1.Value * DisplayScale).ToString(CultureInfo.InvariantCulture); } 
          set
          {
-            numericUpDown1.Value = decimal.Parse(value);
+             float back1 = _minrange;
+             float back2 = _maxrange;
+
+             MinRange = (float)Math.Min(MinRange, double.Parse(value));
+             MaxRange = (float)Math.Max(MaxRange, double.Parse(value));
+
+             _minrange = back1;
+             _maxrange = back2;
+
+             numericUpDown1.Value = (decimal)((float)decimal.Parse(value) / DisplayScale);
             numericUpDown1_ValueChanged(null, null);
          }
       }
@@ -41,6 +71,22 @@ namespace ArdupilotMega.Controls
       public RangeControl()
       {
          InitializeComponent();
+         DisplayScale = 1;
+      }
+
+
+      public RangeControl(string param, String Desc, string Label, float increment, float Displayscale, float minrange, float maxrange, string value)
+      {
+          InitializeComponent();
+          this.DisplayScale = Displayscale;
+
+          Name = param;
+          Increment = increment;
+          DescriptionText = Desc;
+          LabelText = Label;
+          MinRange = minrange;
+          MaxRange = maxrange;
+          this.Value = value;
       }
 
       #endregion
@@ -59,13 +105,21 @@ namespace ArdupilotMega.Controls
 
       protected void numericUpDown1_ValueChanged(object sender, EventArgs e)
       {
-         trackBar1.Value = (Scaler > 0) ? (int)(numericUpDown1.Value * Scaler) : (int)numericUpDown1.Value;
+         trackBar1.Value =  (int)((float)numericUpDown1.Value * DisplayScale * tbscale) ;
+
+         numericUpDown1.BackColor = Color.Green;
+
+         if ((float)numericUpDown1.Value < (MinRange))
+             numericUpDown1.BackColor = Color.Orange;
+
+         if ((float)numericUpDown1.Value > (MaxRange))
+             numericUpDown1.BackColor = Color.Orange;
       }
 
       protected void trackBar1_ValueChanged(object sender, EventArgs e)
       {
-         numericUpDown1.Value = (Scaler > 0) ? (trackBar1.Value / (decimal)Scaler) : trackBar1.Value;
+          numericUpDown1.Value = (decimal)((float)trackBar1.Value / DisplayScale / tbscale);
-         numericUpDown1.Text = numericUpDown1.Value.ToString();
+         numericUpDown1.Text = ((float)numericUpDown1.Value).ToString();
       }
 
       #endregion

Tools/ArdupilotMegaPlanner/CurrentState.cs

@@ -346,6 +346,7 @@ namespace ArdupilotMega
         private object locker = new object();
         bool useLocation = false;
         bool gotwind = false;
+        internal bool batterymonitoring = false;
 
         public CurrentState()
         {

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationPlane.cs

@@ -66,11 +66,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         {
             try
             {           
-#if MAVLINK10              
                             MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,0,1,0,0,0,0);
-#else
-                MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
-#endif
                 BUT_levelplane.Text = "Complete";
             }
             catch

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationQuad.cs

@@ -23,13 +23,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         {
             try
             {
-#if MAVLINK10
                 Log.Info("Sending level command (mavlink 1.0)");                
                 MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,0,0,0,1,0,0);
-#else
-                Log.Info("Sending level command (mavlink 0.9)");
-                MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
-#endif
 
                 BUT_levelac2.Text = "Complete";
             }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.cs

@@ -180,10 +180,14 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                         if (ctl.GetType() == typeof(NumericUpDown))
                         {
 
+                            float numbervalue = (float)MainV2.comPort.param[value];
+
+                            MAVLink.modifyParamForDisplay(true, value, ref numbervalue);
+
                             NumericUpDown thisctl = ((NumericUpDown)ctl);
                             thisctl.Maximum = 9000;
                             thisctl.Minimum = -9000;
-                            thisctl.Value = (decimal)(float)MainV2.comPort.param[value];
+                            thisctl.Value = (decimal)numbervalue;
                             thisctl.Increment = (decimal)0.001;
                             if (thisctl.Name.EndsWith("_P") || thisctl.Name.EndsWith("_I") || thisctl.Name.EndsWith("_D")
                                 || thisctl.Name.EndsWith("_LOW") || thisctl.Name.EndsWith("_HIGH") || thisctl.Value == 0
@@ -197,16 +201,14 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                                 thisctl.DecimalPlaces = 1;
                             }
 
-                            if (thisctl.Name.EndsWith("_IMAX"))
-                            {
-                                thisctl.Maximum = 180;
-                                thisctl.Minimum = -180;
-                            }
-
                             if (thisctl.Name.ToUpper().EndsWith("THR_RATE_IMAX"))
                             {
                                 thisctl.Maximum = 1000; // is a pwm
                                 thisctl.Minimum = 0;
+                            } else if (thisctl.Name.EndsWith("_IMAX"))
+                            {
+                                thisctl.Maximum = 180;
+                                thisctl.Minimum = -180;
                             }
 
                             thisctl.Enabled = true;
@@ -271,6 +273,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 if (sender.GetType() == typeof(NumericUpDown))
                 {
                     value = float.Parse(((Control)sender).Text);
+                    MAVLink.modifyParamForDisplay(false, ((Control)sender).Name, ref value);
                     changes[name] = value;
                 }
                 else if (sender.GetType() == typeof(ComboBox))

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArduplane.cs

@@ -167,10 +167,14 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                         if (ctl.GetType() == typeof(NumericUpDown))
                         {
 
+                            float numbervalue = (float)MainV2.comPort.param[value];
+
+                            MAVLink.modifyParamForDisplay(true, value,ref numbervalue);
+
                             NumericUpDown thisctl = ((NumericUpDown)ctl);
                             thisctl.Maximum = 9000;
                             thisctl.Minimum = -9000;
-                            thisctl.Value = (decimal)(float)MainV2.comPort.param[value];
+                            thisctl.Value = (decimal)numbervalue;
                             thisctl.Increment = (decimal)0.001;
                             if (thisctl.Name.EndsWith("_P") || thisctl.Name.EndsWith("_I") || thisctl.Name.EndsWith("_D")
                                 || thisctl.Name.EndsWith("_LOW") || thisctl.Name.EndsWith("_HIGH") || thisctl.Value == 0
@@ -247,6 +251,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 if (sender.GetType() == typeof(NumericUpDown))
                 {
                     value = float.Parse(((Control)sender).Text);
+                    MAVLink.modifyParamForDisplay(false, ((Control)sender).Name, ref value);
                     changes[name] = value;
                 }
                 else if (sender.GetType() == typeof(ComboBox))

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArdurover.cs

@@ -167,10 +167,14 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                         if (ctl.GetType() == typeof(NumericUpDown))
                         {
 
+                            float numbervalue = (float)MainV2.comPort.param[value];
+
+                            MAVLink.modifyParamForDisplay(true, value, ref numbervalue);
+
                             NumericUpDown thisctl = ((NumericUpDown)ctl);
                             thisctl.Maximum = 9000;
                             thisctl.Minimum = -9000;
-                            thisctl.Value = (decimal)(float)MainV2.comPort.param[value];
+                            thisctl.Value = (decimal)numbervalue;
                             thisctl.Increment = (decimal)0.001;
                             if (thisctl.Name.EndsWith("_P") || thisctl.Name.EndsWith("_I") || thisctl.Name.EndsWith("_D")
                                 || thisctl.Name.EndsWith("_LOW") || thisctl.Name.EndsWith("_HIGH") || thisctl.Value == 0
@@ -247,6 +251,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 if (sender.GetType() == typeof(NumericUpDown))
                 {
                     value = float.Parse(((Control)sender).Text);
+                    MAVLink.modifyParamForDisplay(false, ((Control)sender).Name, ref value);
                     changes[name] = value;
                 }
                 else if (sender.GetType() == typeof(ComboBox))

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryx.cs

@@ -0,0 +1,401 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Data;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+using ArdupilotMega.Controls.BackstageView;
+using System.Collections;
+using log4net;
+using ArdupilotMega.Controls;
+using ArdupilotMega.Utilities;
+
+namespace ArdupilotMega.GCSViews.ConfigurationView
+{
+    public partial class ConfigAteryx : UserControl, IActivate
+    {
+        private static readonly ILog log =
+          LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+        
+        Hashtable changes = new Hashtable();
+        static Hashtable tooltips = new Hashtable();
+        internal bool startup = true;
+
+        public ConfigAteryx()
+        {
+            InitializeComponent();
+        }
+
+        public void Activate()
+        {
+            if (!MainV2.comPort.BaseStream.IsOpen)
+            {
+                this.Enabled = false;
+                return;
+            }
+            else
+            {
+                if (MainV2.cs.firmware == MainV2.Firmwares.Ateryx)
+                {
+                    this.Enabled = true;
+                }
+                else
+                {
+                    this.Enabled = false;
+                    return;
+                }
+            }
+
+            startup = true;
+
+            changes.Clear();
+
+            // read tooltips
+            if (tooltips.Count == 0)
+                readToolTips();
+
+            processToScreen();
+
+            startup = false;
+        }
+
+        public struct paramsettings // hk's
+        {
+            public string name;
+            public float minvalue;
+            public float maxvalue;
+            public float normalvalue;
+            public float scale;
+            public string desc;
+        }
+
+        void readToolTips()
+        {
+            string data = global::ArdupilotMega.Properties.Resources.MAVParam;
+            
+
+            string[] tips = data.Split(new char[] { '\r', '\n' }, StringSplitOptions.RemoveEmptyEntries);
+
+            foreach (var tip in tips)
+            {
+                if (!tip.StartsWith("||"))
+                    continue;
+
+                string[] cols = tip.Split(new string[] { "||" }, 9, StringSplitOptions.None);
+
+                if (cols.Length >= 8)
+                {
+                    paramsettings param = new paramsettings();
+                    try
+                    {
+                        param.name = cols[1];
+                        param.desc = AddNewLinesForTooltip(cols[7]);
+                        param.scale = float.Parse(cols[5]);
+                        param.minvalue = float.Parse(cols[2]);
+                        param.maxvalue = float.Parse(cols[3]);
+                        param.normalvalue = float.Parse(cols[4]);
+                    }
+                    catch { }
+                    tooltips[cols[1]] = param;
+                }
+
+            }
+        }
+
+
+        // from http://stackoverflow.com/questions/2512781/winforms-big-paragraph-tooltip/2512895#2512895
+        private const int maximumSingleLineTooltipLength = 50;
+
+        private static string AddNewLinesForTooltip(string text)
+        {
+            if (text.Length < maximumSingleLineTooltipLength)
+                return text;
+            int lineLength = (int)Math.Sqrt((double)text.Length) * 2;
+            StringBuilder sb = new StringBuilder();
+            int currentLinePosition = 0;
+            for (int textIndex = 0; textIndex < text.Length; textIndex++)
+            {
+                // If we have reached the target line length and the next      
+                // character is whitespace then begin a new line.   
+                if (currentLinePosition >= lineLength &&
+                    char.IsWhiteSpace(text[textIndex]))
+                {
+                    sb.Append(Environment.NewLine);
+                    currentLinePosition = 0;
+                }
+                // If we have just started a new line, skip all the whitespace.    
+                if (currentLinePosition == 0)
+                    while (textIndex < text.Length && char.IsWhiteSpace(text[textIndex]))
+                        textIndex++;
+                // Append the next character.     
+                if (textIndex < text.Length) sb.Append(text[textIndex]);
+                currentLinePosition++;
+            }
+            return sb.ToString();
+        }
+
+        void disableNumericUpDownControls(Control inctl)
+        {
+            foreach (Control ctl in inctl.Controls)
+            {
+                if (ctl.Controls.Count > 0)
+                {
+                    disableNumericUpDownControls(ctl);
+                }
+                if (ctl.GetType() == typeof(NumericUpDown))
+                {
+                    ctl.Enabled = false;
+                }
+            }
+        }
+
+        internal void processToScreen()
+        {
+            toolTip1.RemoveAll();
+
+            disableNumericUpDownControls(this);
+
+            // process hashdefines and update display
+            foreach (string value in MainV2.comPort.param.Keys)
+            {
+                if (value == null || value == "")
+                    continue;
+
+                string name = value;
+                Control[] text = this.Controls.Find(name, true);
+                foreach (Control ctl in text)
+                {
+                    try
+                    {
+                        if (ctl.GetType() == typeof(NumericUpDown))
+                        {
+
+                            NumericUpDown thisctl = ((NumericUpDown)ctl);
+                            thisctl.Maximum = 9000;
+                            thisctl.Minimum = -9000;
+                            thisctl.Value = (decimal)(float)MainV2.comPort.param[value];
+                            thisctl.Increment = (decimal)0.001;
+                            if (thisctl.Name.EndsWith("_P") || thisctl.Name.EndsWith("_I") || thisctl.Name.EndsWith("_D")
+                                || thisctl.Name.EndsWith("_LOW") || thisctl.Name.EndsWith("_HIGH") || thisctl.Value == 0
+                                || thisctl.Value.ToString("0.###", new System.Globalization.CultureInfo("en-US")).Contains("."))
+                            {
+                                thisctl.DecimalPlaces = 3;
+                            }
+                            else
+                            {
+                                thisctl.Increment = (decimal)1;
+                                thisctl.DecimalPlaces = 1;
+                            }
+
+                            if (thisctl.Name.EndsWith("_IMAX"))
+                            {
+                                thisctl.Maximum = 180;
+                                thisctl.Minimum = -180;
+                            }
+
+                            thisctl.Enabled = true;
+
+                            thisctl.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
+                            thisctl.Validated += null;
+                            if (tooltips[value] != null)
+                            {
+                                try
+                                {
+                                    toolTip1.SetToolTip(ctl, ((paramsettings)tooltips[value]).desc);
+                                }
+                                catch { }
+                            }
+                            thisctl.Validated += new EventHandler(EEPROM_View_float_TextChanged);
+
+                        }
+                        else if (ctl.GetType() == typeof(ComboBox))
+                        {
+
+                            ComboBox thisctl = ((ComboBox)ctl);
+
+                            thisctl.SelectedIndex = (int)(float)MainV2.comPort.param[value];
+
+                            thisctl.Validated += new EventHandler(ComboBox_Validated);
+                        }
+                    }
+                    catch { }
+
+                }
+                if (text.Length == 0)
+                {
+                    //Console.WriteLine(name + " not found");
+                }
+
+            }
+        }
+
+        void ComboBox_Validated(object sender, EventArgs e)
+        {
+            EEPROM_View_float_TextChanged(sender, e);
+        }
+
+        void Configuration_Validating(object sender, CancelEventArgs e)
+        {
+            EEPROM_View_float_TextChanged(sender, e);
+        }
+
+        internal void EEPROM_View_float_TextChanged(object sender, EventArgs e)
+        {
+            float value = 0;
+            string name = ((Control)sender).Name;
+
+            // do domainupdown state check
+            try
+            {
+                if (sender.GetType() == typeof(NumericUpDown))
+                {
+                    value = float.Parse(((Control)sender).Text);
+                    changes[name] = value;
+                }
+                else if (sender.GetType() == typeof(ComboBox))
+                {
+                    value = ((ComboBox)sender).SelectedIndex;
+                    changes[name] = value;
+                }
+                ((Control)sender).BackColor = Color.Green;
+            }
+            catch (Exception)
+            {
+                ((Control)sender).BackColor = Color.Red;
+            }         
+        }
+
+        private void BUT_writePIDS_Click(object sender, EventArgs e)
+        {
+            var temp = (Hashtable)changes.Clone();
+
+            foreach (string value in temp.Keys)
+            {
+                try
+                {
+                    MainV2.comPort.setParam(value, (float)changes[value]);
+
+                    try
+                    {
+                        // set control as well
+                        var textControls = this.Controls.Find(value, true);
+                        if (textControls.Length > 0)
+                        {
+                            textControls[0].BackColor = Color.FromArgb(0x43, 0x44, 0x45);
+                        }
+                    }
+                    catch
+                    {
+
+                    }
+
+                }
+                catch
+                {
+                    CustomMessageBox.Show("Set " + value + " Failed");
+                }
+            }
+        }
+
+        /// <summary>
+        /// Handles the Click event of the BUT_rerequestparams control.
+        /// </summary>
+        /// <param name="sender">The source of the event.</param>
+        /// <param name="e">The <see cref="System.EventArgs"/> instance containing the event data.</param>
+        protected void BUT_rerequestparams_Click(object sender, EventArgs e)
+        {
+            if (!MainV2.comPort.BaseStream.IsOpen)
+                return;
+
+            ((Control)sender).Enabled = false;
+
+            try
+            {
+                MainV2.comPort.getParamList();
+            }
+            catch (Exception ex)
+            {
+                CustomMessageBox.Show("Error: getting param list " + ex.ToString());
+            }
+
+
+            ((Control)sender).Enabled = true;
+
+            this.Activate();
+        }
+
+        private void groupBox7_Enter(object sender, EventArgs e)
+        {
+
+        }
+
+        private void numericUpDown1_ValueChanged(object sender, EventArgs e)
+        {
+
+        }
+
+        private void numericUpDown2_ValueChanged(object sender, EventArgs e)
+        {
+
+        }
+
+        private void numericUpDown15_ValueChanged(object sender, EventArgs e)
+        {
+
+        }
+
+        private void BUT_write_flash_Click(object sender, EventArgs e)
+        {
+            try
+            {
+                ((Button)sender).Enabled = false;
+
+                if ((MainV2.cs.airspeed > 7.0) || (MainV2.cs.groundspeed > 10.0))
+                {
+                    MessageBox.Show("Unable - UAV airborne");
+                    ((Button)sender).Enabled = true;
+                    return;
+                }
+
+#if MAVLINK10
+                //MainV2.comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), "MAV_CMD_PREFLIGHT_STORAGE"));
+                MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_STORAGE, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
+#else
+                MainV2.comPort.doAction((MAVLink.MAV_ACTION)Enum.Parse(typeof(MAVLink.MAV_ACTION), "MAV_ACTION_STORAGE_WRITE"));
+#endif
+            }
+            catch { MessageBox.Show("The Command failed to execute"); }
+            ((Button)sender).Enabled = true;
+        }
+
+        private void BUT_read_flash_Click(object sender, EventArgs e)
+        {
+            try
+            {
+                DialogResult dr = MessageBox.Show("Reset Flash to Factory Defaults?", "Continue", MessageBoxButtons.YesNo);
+                if (dr == System.Windows.Forms.DialogResult.Yes)
+                {
+
+                    if ((MainV2.cs.airspeed > 7.0) || (MainV2.cs.groundspeed > 7.0))
+                    {
+                        MessageBox.Show("Unable - UAV airborne");
+                        ((Button)sender).Enabled = true;
+                        return;
+                    }
+#if MAVLINK10
+                    //MainV2.comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), "MAV_CMD_PREFLIGHT_STORAGE"));
+                    MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_STORAGE, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
+#else
+                MainV2.comPort.doAction((MAVLink.MAV_ACTION)Enum.Parse(typeof(MAVLink.MAV_ACTION), "MAV_ACTION_STORAGE_WRITE"));
+#endif
+                }
+            }
+            catch { MessageBox.Show("The Command failed to execute"); }
+            ((Button)sender).Enabled = true;
+        }    
+
+    }
+}

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryx.de-DE.resx

@@ -0,0 +1,294 @@
+<?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>
+  <data name="label49.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="label83.Text" xml:space="preserve">
+    <value>P to T</value>
+  </data>
+  <data name="label80.Text" xml:space="preserve">
+    <value>Gain (cm)</value>
+  </data>
+  <data name="label81.Text" xml:space="preserve">
+    <value>Pitch Comp</value>
+  </data>
+  <data name="label56.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="label2.Text" xml:space="preserve">
+    <value>FBW max</value>
+  </data>
+  <data name="label54.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label3.Text" xml:space="preserve">
+    <value>FBW min</value>
+  </data>
+  <data name="groupBox8.Text" xml:space="preserve">
+    <value>Servo Roll Pid</value>
+  </data>
+  <data name="label57.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="groupBox9.Text" xml:space="preserve">
+    <value>Servo Pitch Pid</value>
+  </data>
+  <data name="label52.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>Ratio</value>
+  </data>
+  <data name="label6.Text" xml:space="preserve">
+    <value>Max</value>
+  </data>
+  <data name="label55.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="label50.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label7.Text" xml:space="preserve">
+    <value>Min</value>
+  </data>
+  <data name="label4.Text" xml:space="preserve">
+    <value>Cruise</value>
+  </data>
+  <data name="label53.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="label5.Text" xml:space="preserve">
+    <value>FS Value</value>
+  </data>
+  <data name="groupBox2.Text" xml:space="preserve">
+    <value>Navigations Winkel</value>
+  </data>
+  <data name="label51.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="groupBox3.Text" xml:space="preserve">
+    <value>Gas 0-100%</value>
+  </data>
+  <data name="label8.Text" xml:space="preserve">
+    <value>Cruise</value>
+  </data>
+  <data name="groupBox1.Text" xml:space="preserve">
+    <value>Geschwindigkeit m/s</value>
+  </data>
+  <data name="label58.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label64.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="label65.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="label59.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="label66.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label67.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="label60.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="label61.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="label62.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label63.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="groupBox16.Text" xml:space="preserve">
+    <value>Andere Mix's</value>
+  </data>
+  <data name="groupBox14.Text" xml:space="preserve">
+    <value>Energy/Alt Pid</value>
+  </data>
+  <data name="groupBox12.Text" xml:space="preserve">
+    <value>Nav Pitch AS Pid</value>
+  </data>
+  <data name="label68.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="groupBox15.Text" xml:space="preserve">
+    <value>Xtrack Pids</value>
+  </data>
+  <data name="label69.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="groupBox10.Text" xml:space="preserve">
+    <value>Servo Yaw Pid</value>
+  </data>
+  <data name="groupBox13.Text" xml:space="preserve">
+    <value>Nav Pitch Alt Pid</value>
+  </data>
+  <data name="groupBox11.Text" xml:space="preserve">
+    <value>Nav Roll Pid</value>
+  </data>
+  <data name="label38.Text" xml:space="preserve">
+    <value>Pitch Max</value>
+  </data>
+  <data name="label37.Text" xml:space="preserve">
+    <value>Bank Max</value>
+  </data>
+  <data name="label39.Text" xml:space="preserve">
+    <value>Pitch Min</value>
+  </data>
+  <data name="label74.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label76.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="label75.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="label70.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label72.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="label71.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="label73.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="BUT_writePIDS.Text" xml:space="preserve">
+    <value>Parameter speichern</value>
+  </data>
+  <data name="label78.Text" xml:space="preserve">
+    <value>Ruder Mix</value>
+  </data>
+  <data name="label79.Text" xml:space="preserve">
+    <value>eingangs Winkel</value>
+  </data>
+  <data name="BUT_rerequestparams.Text" xml:space="preserve">
+    <value>Parameter aktualisieren</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryx.fr.resx

@@ -0,0 +1,294 @@
+<?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>
+  <data name="label49.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="label83.Text" xml:space="preserve">
+    <value>P to T</value>
+  </data>
+  <data name="label80.Text" xml:space="preserve">
+    <value>Gain (cm)</value>
+  </data>
+  <data name="label81.Text" xml:space="preserve">
+    <value>Pitch Comp</value>
+  </data>
+  <data name="label56.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="label2.Text" xml:space="preserve">
+    <value>FBW max</value>
+  </data>
+  <data name="label54.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label3.Text" xml:space="preserve">
+    <value>FBW min</value>
+  </data>
+  <data name="groupBox8.Text" xml:space="preserve">
+    <value>Servo Roll Pid</value>
+  </data>
+  <data name="label57.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="groupBox9.Text" xml:space="preserve">
+    <value>Servo Pitch Pid</value>
+  </data>
+  <data name="label52.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>Ratio</value>
+  </data>
+  <data name="label6.Text" xml:space="preserve">
+    <value>Max</value>
+  </data>
+  <data name="label55.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="label50.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label7.Text" xml:space="preserve">
+    <value>Min</value>
+  </data>
+  <data name="label4.Text" xml:space="preserve">
+    <value>Cruise</value>
+  </data>
+  <data name="label53.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="label5.Text" xml:space="preserve">
+    <value>FS Value</value>
+  </data>
+  <data name="groupBox2.Text" xml:space="preserve">
+    <value>Navigation Angles</value>
+  </data>
+  <data name="label51.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="groupBox3.Text" xml:space="preserve">
+    <value>Throttle 0-100%</value>
+  </data>
+  <data name="label8.Text" xml:space="preserve">
+    <value>Cruise</value>
+  </data>
+  <data name="groupBox1.Text" xml:space="preserve">
+    <value>Airspeed m/s</value>
+  </data>
+  <data name="label58.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label64.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="label65.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="label59.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="label66.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label67.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="label60.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="label61.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="label62.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label63.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="groupBox16.Text" xml:space="preserve">
+    <value>Other Mix's</value>
+  </data>
+  <data name="groupBox14.Text" xml:space="preserve">
+    <value>Energy/Alt Pid</value>
+  </data>
+  <data name="groupBox12.Text" xml:space="preserve">
+    <value>Nav Pitch AS Pid</value>
+  </data>
+  <data name="label68.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="groupBox15.Text" xml:space="preserve">
+    <value>Xtrack Pids</value>
+  </data>
+  <data name="label69.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="groupBox10.Text" xml:space="preserve">
+    <value>Servo Yaw Pid</value>
+  </data>
+  <data name="groupBox13.Text" xml:space="preserve">
+    <value>Nav Pitch Alt Pid</value>
+  </data>
+  <data name="groupBox11.Text" xml:space="preserve">
+    <value>Nav Roll Pid</value>
+  </data>
+  <data name="label38.Text" xml:space="preserve">
+    <value>Pitch Max</value>
+  </data>
+  <data name="label37.Text" xml:space="preserve">
+    <value>Bank Max</value>
+  </data>
+  <data name="label39.Text" xml:space="preserve">
+    <value>Pitch Min</value>
+  </data>
+  <data name="label74.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label76.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="label75.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="label70.Text" xml:space="preserve">
+    <value>D</value>
+  </data>
+  <data name="label72.Text" xml:space="preserve">
+    <value>P</value>
+  </data>
+  <data name="label71.Text" xml:space="preserve">
+    <value>I</value>
+  </data>
+  <data name="label73.Text" xml:space="preserve">
+    <value>INT_MAX</value>
+  </data>
+  <data name="BUT_writePIDS.Text" xml:space="preserve">
+    <value>Write Params</value>
+  </data>
+  <data name="label78.Text" xml:space="preserve">
+    <value>Rudder Mix</value>
+  </data>
+  <data name="label79.Text" xml:space="preserve">
+    <value>Entry Angle</value>
+  </data>
+  <data name="BUT_rerequestparams.Text" xml:space="preserve">
+    <value>Refresh Params</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryxSensors.Designer.cs

@@ -0,0 +1,153 @@
+namespace ArdupilotMega.GCSViews.ConfigurationView
+{
+    partial class ConfigAteryxSensors
+    {
+        /// <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.components = new System.ComponentModel.Container();
+            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(ConfigAteryxSensors));
+            this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
+            this.BUT_zero_att = new ArdupilotMega.Controls.MyButton();
+            this.BUT_zero_press = new ArdupilotMega.Controls.MyButton();
+            this.hud1 = new ArdupilotMega.Controls.HUD();
+            this.bindingSource1 = new System.Windows.Forms.BindingSource(this.components);
+            this.timer1 = new System.Windows.Forms.Timer(this.components);
+            ((System.ComponentModel.ISupportInitialize)(this.bindingSource1)).BeginInit();
+            this.SuspendLayout();
+            // 
+            // BUT_zero_att
+            // 
+            resources.ApplyResources(this.BUT_zero_att, "BUT_zero_att");
+            this.BUT_zero_att.Name = "BUT_zero_att";
+            this.toolTip1.SetToolTip(this.BUT_zero_att, resources.GetString("BUT_zero_att.ToolTip"));
+            this.BUT_zero_att.UseVisualStyleBackColor = true;
+            this.BUT_zero_att.Click += new System.EventHandler(this.BUT_levelplane_Click);
+            // 
+            // BUT_zero_press
+            // 
+            resources.ApplyResources(this.BUT_zero_press, "BUT_zero_press");
+            this.BUT_zero_press.Name = "BUT_zero_press";
+            this.toolTip1.SetToolTip(this.BUT_zero_press, resources.GetString("BUT_zero_press.ToolTip"));
+            this.BUT_zero_press.UseVisualStyleBackColor = true;
+            this.BUT_zero_press.Click += new System.EventHandler(this.BUT_zero_press_Click);
+            // 
+            // hud1
+            // 
+            this.hud1.airspeed = 0F;
+            this.hud1.alt = 0F;
+            this.hud1.BackColor = System.Drawing.Color.Black;
+            this.hud1.batterylevel = 0F;
+            this.hud1.batteryremaining = 0F;
+            this.hud1.current = 0F;
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("airspeed", this.bindingSource1, "airspeed", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("alt", this.bindingSource1, "alt", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("batterylevel", this.bindingSource1, "battery_voltage", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("batteryremaining", this.bindingSource1, "battery_remaining", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("current", this.bindingSource1, "current", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("datetime", this.bindingSource1, "datetime", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("disttowp", this.bindingSource1, "wp_dist", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("gpsfix", this.bindingSource1, "gpsstatus", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("gpshdop", this.bindingSource1, "gpshdop", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("groundalt", this.bindingSource1, "HomeAlt", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("groundcourse", this.bindingSource1, "groundcourse", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("groundspeed", this.bindingSource1, "groundspeed", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("heading", this.bindingSource1, "yaw", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("linkqualitygcs", this.bindingSource1, "linkqualitygcs", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("mode", this.bindingSource1, "mode", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("navpitch", this.bindingSource1, "nav_pitch", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("navroll", this.bindingSource1, "nav_roll", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("pitch", this.bindingSource1, "pitch", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("roll", this.bindingSource1, "roll", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("status", this.bindingSource1, "armed", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("targetalt", this.bindingSource1, "targetalt", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("targetheading", this.bindingSource1, "nav_bearing", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("targetspeed", this.bindingSource1, "targetairspeed", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("turnrate", this.bindingSource1, "turnrate", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("verticalspeed", this.bindingSource1, "verticalspeed", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("wpno", this.bindingSource1, "wpno", true));
+            this.hud1.DataBindings.Add(new System.Windows.Forms.Binding("xtrack_error", this.bindingSource1, "xtrack_error", true));
+            this.hud1.datetime = new System.DateTime(((long)(0)));
+            this.hud1.disttowp = 0F;
+            this.hud1.gpsfix = 0F;
+            this.hud1.gpshdop = 0F;
+            this.hud1.groundalt = 0F;
+            this.hud1.groundcourse = 0F;
+            this.hud1.groundspeed = 0F;
+            this.hud1.heading = 0F;
+            this.hud1.hudcolor = System.Drawing.Color.White;
+            this.hud1.linkqualitygcs = 0F;
+            resources.ApplyResources(this.hud1, "hud1");
+            this.hud1.mode = "Manual";
+            this.hud1.Name = "hud1";
+            this.hud1.navpitch = 0F;
+            this.hud1.navroll = 0F;
+            this.hud1.opengl = true;
+            this.hud1.pitch = 0F;
+            this.hud1.roll = 0F;
+            this.hud1.status = false;
+            this.hud1.streamjpg = ((System.IO.MemoryStream)(resources.GetObject("hud1.streamjpg")));
+            this.hud1.targetalt = 0F;
+            this.hud1.targetheading = 0F;
+            this.hud1.targetspeed = 0F;
+            this.hud1.turnrate = 0F;
+            this.hud1.verticalspeed = 0F;
+            this.hud1.VSync = false;
+            this.hud1.wpno = 0;
+            this.hud1.xtrack_error = 0F;
+            // 
+            // bindingSource1
+            // 
+            this.bindingSource1.DataSource = typeof(ArdupilotMega.CurrentState);
+            // 
+            // timer1
+            // 
+            this.timer1.Enabled = true;
+            this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
+            // 
+            // ConfigAteryxSensors
+            // 
+            resources.ApplyResources(this, "$this");
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.hud1);
+            this.Controls.Add(this.BUT_zero_press);
+            this.Controls.Add(this.BUT_zero_att);
+            this.Name = "ConfigAteryxSensors";
+            ((System.ComponentModel.ISupportInitialize)(this.bindingSource1)).EndInit();
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private ArdupilotMega.Controls.MyButton BUT_zero_att;
+        private System.Windows.Forms.ToolTip toolTip1;
+        private Controls.MyButton BUT_zero_press;
+        private Controls.HUD hud1;
+        private System.Windows.Forms.BindingSource bindingSource1;
+        private System.Windows.Forms.Timer timer1;
+    }
+}

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryxSensors.cs

@@ -0,0 +1,107 @@
+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 ArdupilotMega.Controls.BackstageView;
+using ArdupilotMega.Controls;
+using ArdupilotMega.Utilities;
+using System.Drawing.Drawing2D;
+
+namespace ArdupilotMega.GCSViews.ConfigurationView
+{
+    public partial class ConfigAteryxSensors : UserControl, IActivate, IDeactivate
+    {
+        public ConfigAteryxSensors()
+        {
+            InitializeComponent();
+        }
+
+        public void Activate()
+        {
+            if (!MainV2.comPort.BaseStream.IsOpen)
+            {
+                this.Enabled = false;
+                return;
+            }
+            else
+            {
+                if (MainV2.cs.firmware == MainV2.Firmwares.Ateryx)
+                {
+                    this.Enabled = true;
+                }
+                else
+                {
+                    this.Enabled = false;
+                    return;
+                }
+            }
+
+            timer1.Start();
+        }
+
+        public void Deactivate() 
+        {
+            timer1.Stop();
+        }
+
+        private void BUT_levelplane_Click(object sender, EventArgs e)
+        {
+            try
+            {
+                ((Button)sender).Enabled = false;
+
+
+                if ((MainV2.cs.airspeed > 7.0) || (MainV2.cs.groundspeed > 10.0))
+                {
+                    MessageBox.Show("Unable - UAV airborne");
+                    ((Button)sender).Enabled = true;
+                    return;
+                }
+#if MAVLINK10
+                //MainV2.comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), "MAV_CMD_PREFLIGHT_STORAGE"));
+                MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 2.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
+#else
+                MainV2.comPort.doAction((MAVLink.MAV_ACTION)Enum.Parse(typeof(MAVLink.MAV_ACTION), "MAV_ACTION_STORAGE_WRITE"));
+#endif
+            }
+            catch { MessageBox.Show("Failed to Zero Attitude"); }
+            ((Button)sender).Enabled = true;
+        
+        }
+
+        private void BUT_zero_press_Click(object sender, EventArgs e)
+        {
+            try
+            {
+                ((Button)sender).Enabled = false;
+
+                if ((MainV2.cs.airspeed > 7.0) || (MainV2.cs.groundspeed > 10.0))
+                {
+                    MessageBox.Show("Unable - UAV airborne");
+                    ((Button)sender).Enabled = true;
+                    return;
+                }
+
+
+#if MAVLINK10
+                //MainV2.comPort.doCommand((MAVLink.MAV_CMD)Enum.Parse(typeof(MAVLink.MAV_CMD), "MAV_CMD_PREFLIGHT_STORAGE"));
+                MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
+#else
+                MainV2.comPort.doAction((MAVLink.MAV_ACTION)Enum.Parse(typeof(MAVLink.MAV_ACTION), "MAV_ACTION_STORAGE_WRITE"));
+#endif
+            }
+            catch { MessageBox.Show("The Command failed to execute"); }
+            ((Button)sender).Enabled = true;
+        
+        }
+
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            MainV2.cs.UpdateCurrentSettings(bindingSource1);
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryxSensors.de-DE.resx

@@ -0,0 +1,143 @@
+<?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>
+  <data name="label2.Text" xml:space="preserve">
+    <value>By default your plane will autolevel on every boot. 
+To disable this action you need to turn on manual
+ level and preform a level to calibrate the accel offsets.</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>Nur für fortgeschrittene User</value>
+  </data>
+  <data name="label28.Text" xml:space="preserve">
+    <value>Level your plane to set default accel offsets</value>
+  </data>
+  <data name="BUT_levelplane.Text" xml:space="preserve">
+    <value>Level</value>
+  </data>
+  <data name="BUT_levelplane.ToolTip" xml:space="preserve">
+    <value>Do a accel calibration now.</value>
+  </data>
+  <data name="CHK_manuallevel.ToolTip" xml:space="preserve">
+    <value>Disables autolevel and will keep the last done accel calibration</value>
+  </data>
+  <data name="CHK_manuallevel.Text" xml:space="preserve">
+    <value>Manuelles leveln</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryxSensors.es-ES.resx

@@ -0,0 +1,315 @@
+<?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>
+  <data name="SV3_POS_.Text" xml:space="preserve">
+    <value>180</value>
+  </data>
+  <data name="BUT_HS4save.Text" xml:space="preserve">
+    <value>Manual</value>
+  </data>
+  <data name="label12.Text" xml:space="preserve">
+    <value>PWM 0 - 1230</value>
+  </data>
+  <data name="label10.Text" xml:space="preserve">
+    <value>PWM 1621 - 1749</value>
+  </data>
+  <data name="label13.Text" xml:space="preserve">
+    <value>Modo actual:</value>
+  </data>
+  <data name="CHK_enableoptflow.Text" xml:space="preserve">
+    <value>Habilitar el flujo óptico</value>
+  </data>
+  <data name="label16.Text" xml:space="preserve">
+    <value>NOTA: Las imágenes son sólo para su presentación</value>
+  </data>
+  <data name="CB_simple5.Text" xml:space="preserve">
+    <value>Modo Simple</value>
+  </data>
+  <data name="label11.Text" xml:space="preserve">
+    <value>PWM 1750 +</value>
+  </data>
+  <data name="CHK_elevonch1rev.Text" xml:space="preserve">
+    <value>Elevons CH1 Rev</value>
+  </data>
+  <data name="label14.Text" xml:space="preserve">
+    <value>PWM Actual:</value>
+  </data>
+  <data name="$this.Text" xml:space="preserve">
+    <value>APMSetup</value>
+  </data>
+  <data name="label17.Text" xml:space="preserve">
+    <value>Swash-Servo posición</value>
+  </data>
+  <data name="CHK_enablecompass.Text" xml:space="preserve">
+    <value>Activar Compas</value>
+  </data>
+  <data name="CB_simple4.Text" xml:space="preserve">
+    <value>Modo Simple</value>
+  </data>
+  <data name="tabArducopter.Text" xml:space="preserve">
+    <value>ArduCopter2</value>
+  </data>
+  <data name="CB_simple1.Text" xml:space="preserve">
+    <value>Modo Simple</value>
+  </data>
+  <data name="label15.Text" xml:space="preserve">
+    <value>Ajuste Chásis (+ or x)</value>
+  </data>
+  <data name="SV2_POS_.Text" xml:space="preserve">
+    <value>60</value>
+  </data>
+  <data name="label18.Text" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="CB_simple6.Text" xml:space="preserve">
+    <value>Modo Simple</value>
+  </data>
+  <data name="CB_simple3.Text" xml:space="preserve">
+    <value>Modo Simple</value>
+  </data>
+  <data name="label19.Text" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="tabModes.Text" xml:space="preserve">
+    <value>Modos</value>
+  </data>
+  <data name="CB_simple2.Text" xml:space="preserve">
+    <value>Modo Simple</value>
+  </data>
+  <data name="label20.Text" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="tabReset.Text" xml:space="preserve">
+    <value>Reset</value>
+  </data>
+  <data name="SV1_POS_.Text" xml:space="preserve">
+    <value>-60</value>
+  </data>
+  <data name="label21.Text" xml:space="preserve">
+    <value>Superior</value>
+  </data>
+  <data name="label22.Text" xml:space="preserve">
+    <value>Swash de Viaje</value>
+  </data>
+  <data name="lbl_currentmode.Text" xml:space="preserve">
+    <value>Manual</value>
+  </data>
+  <data name="label23.Text" xml:space="preserve">
+    <value>Timón de Viaje</value>
+  </data>
+  <data name="textBox3.Text" xml:space="preserve">
+    <value>Calibración del sensor de voltaje:Para calibrar el sensor, use un multímetro para medir la tensión que sale de la CES de la batería-la eliminación del circuito (se trata de cables negro y rojo en el cable de tres hilos que suministra energía a la placa APM).Luego reste 0,3 V de ese valor y entrar en él en el campo # 1 a la izquierda.</value>
+  </data>
+  <data name="BUT_Calibrateradio.Text" xml:space="preserve">
+    <value>Calibrar Radio</value>
+  </data>
+  <data name="label24.Text" xml:space="preserve">
+    <value>Max</value>
+  </data>
+  <data name="label2.Text" xml:space="preserve">
+    <value>Modo de Vuelo 2</value>
+  </data>
+  <data name="label25.Text" xml:space="preserve">
+    <value>Alabeo Max</value>
+  </data>
+  <data name="label3.Text" xml:space="preserve">
+    <value>Modo de Vuelo 3</value>
+  </data>
+  <data name="label26.Text" xml:space="preserve">
+    <value>Cabeceo Max</value>
+  </data>
+  <data name="label27.Text" xml:space="preserve">
+    <value>por ejemplo, en grados 2 ° 3 'W es -2,3</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>Modo de Vuelo 1</value>
+  </data>
+  <data name="label28.Text" xml:space="preserve">
+    <value>Nivel tu quad para establecer las compensaciones por defecto acel</value>
+  </data>
+  <data name="label6.Text" xml:space="preserve">
+    <value>Modo de Vuelo 6</value>
+  </data>
+  <data name="label29.Text" xml:space="preserve">
+    <value>Capacidad</value>
+  </data>
+  <data name="label100.Text" xml:space="preserve">
+    <value>Declinación</value>
+  </data>
+  <data name="CHK_enablesonar.Text" xml:space="preserve">
+    <value>Activar Sonar</value>
+  </data>
+  <data name="label7.Text" xml:space="preserve">
+    <value>PWM 1231 - 1360</value>
+  </data>
+  <data name="tabRadioIn.Text" xml:space="preserve">
+    <value>Entrada Radio</value>
+  </data>
+  <data name="groupBox4.Text" xml:space="preserve">
+    <value>Calibración</value>
+  </data>
+  <data name="HS4_MIN.Text" xml:space="preserve">
+    <value>1500</value>
+  </data>
+  <data name="label4.Text" xml:space="preserve">
+    <value>Modo de Vuelo 4</value>
+  </data>
+  <data name="label5.Text" xml:space="preserve">
+    <value>Modo de Vuelo 5</value>
+  </data>
+  <data name="groupBox3.Text" xml:space="preserve">
+    <value>Gyro</value>
+  </data>
+  <data name="label8.Text" xml:space="preserve">
+    <value>PWM 1361 - 1490</value>
+  </data>
+  <data name="tabHardware.Text" xml:space="preserve">
+    <value>Hardware</value>
+  </data>
+  <data name="label9.Text" xml:space="preserve">
+    <value>PWM 1491 - 1620</value>
+  </data>
+  <data name="linkLabelmagdec.Text" xml:space="preserve">
+    <value>Sitio Web Declinación</value>
+  </data>
+  <data name="HS4_MAX.Text" xml:space="preserve">
+    <value>1500</value>
+  </data>
+  <data name="tabBattery.Text" xml:space="preserve">
+    <value>Batería</value>
+  </data>
+  <data name="BUT_0collective.Text" xml:space="preserve">
+    <value>Cero</value>
+  </data>
+  <data name="CHK_enableairspeed.Text" xml:space="preserve">
+    <value>Activar Airspeed</value>
+  </data>
+  <data name="PIT_MAX_.Text" xml:space="preserve">
+    <value>4500</value>
+  </data>
+  <data name="BUT_reset.Text" xml:space="preserve">
+    <value>Restablecer los Ajustes de hardware APM</value>
+  </data>
+  <data name="GYR_GAIN_.Text" xml:space="preserve">
+    <value>1000</value>
+  </data>
+  <data name="label30.Text" xml:space="preserve">
+    <value>Monitor</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryxSensors.fr.resx

@@ -0,0 +1,141 @@
+<?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>
+  <data name="label2.Text" xml:space="preserve">
+    <value>Mode de vol 2</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>Mode de vol 1</value>
+  </data>
+  <data name="label28.Text" xml:space="preserve">
+    <value>Niveler l'apareil pour copensation des accels</value>
+  </data>
+  <data name="BUT_levelplane.Text" xml:space="preserve">
+    <value>Level</value>
+  </data>
+  <data name="BUT_levelplane.ToolTip" xml:space="preserve">
+    <value>Do a accel calibration now.</value>
+  </data>
+  <data name="CHK_manuallevel.ToolTip" xml:space="preserve">
+    <value>Disables autolevel and will keep the last done accel calibration</value>
+  </data>
+  <data name="CHK_manuallevel.Text" xml:space="preserve">
+    <value>Manual level</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryxSensors.it-IT.resx

@@ -0,0 +1,318 @@
+<?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>
+  <data name="SV3_POS_.Text" xml:space="preserve">
+    <value>180</value>
+  </data>
+  <data name="BUT_HS4save.Text" xml:space="preserve">
+    <value>Manuale</value>
+  </data>
+  <data name="label12.Text" xml:space="preserve">
+    <value>PWM 0 - 1230</value>
+  </data>
+  <data name="label10.Text" xml:space="preserve">
+    <value>PWM 1621 - 1749</value>
+  </data>
+  <data name="label13.Text" xml:space="preserve">
+    <value>Modo Corrente:</value>
+  </data>
+  <data name="CHK_enableoptflow.Text" xml:space="preserve">
+    <value>Abilita Flusso ottico</value>
+  </data>
+  <data name="label16.Text" xml:space="preserve">
+    <value>Nota: le immagini sono sono per presentazione, funzionerà con Hexa, etc.</value>
+  </data>
+  <data name="CB_simple5.Text" xml:space="preserve">
+    <value>Modo Semplice</value>
+  </data>
+  <data name="label11.Text" xml:space="preserve">
+    <value>PWM 1750 +</value>
+  </data>
+  <data name="CHK_elevonch1rev.Text" xml:space="preserve">
+    <value>Elevatore CH1 Rev</value>
+  </data>
+  <data name="label14.Text" xml:space="preserve">
+    <value>PWM Corrente:</value>
+  </data>
+  <data name="$this.Text" xml:space="preserve">
+    <value>Imposta APM</value>
+  </data>
+  <data name="label17.Text" xml:space="preserve">
+    <value>Posizione del servo del piatto</value>
+  </data>
+  <data name="CHK_enablecompass.Text" xml:space="preserve">
+    <value>Abilita Magnetometro</value>
+  </data>
+  <data name="CB_simple4.Text" xml:space="preserve">
+    <value>Modo Semplice</value>
+  </data>
+  <data name="tabArducopter.Text" xml:space="preserve">
+    <value>ArduCopter2</value>
+  </data>
+  <data name="CB_simple1.Text" xml:space="preserve">
+    <value>Modo Semplice</value>
+  </data>
+  <data name="label15.Text" xml:space="preserve">
+    <value>Imposta Frame (+ or x)</value>
+  </data>
+  <data name="SV2_POS_.Text" xml:space="preserve">
+    <value>60</value>
+  </data>
+  <data name="label18.Text" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="CB_simple6.Text" xml:space="preserve">
+    <value>Modo Semplice</value>
+  </data>
+  <data name="CB_simple3.Text" xml:space="preserve">
+    <value>Modo Semplice</value>
+  </data>
+  <data name="label19.Text" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="tabModes.Text" xml:space="preserve">
+    <value>Modi</value>
+  </data>
+  <data name="CB_simple2.Text" xml:space="preserve">
+    <value>Modo Semplice</value>
+  </data>
+  <data name="label20.Text" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="tabReset.Text" xml:space="preserve">
+    <value>Riavvia</value>
+  </data>
+  <data name="SV1_POS_.Text" xml:space="preserve">
+    <value>-60</value>
+  </data>
+  <data name="label21.Text" xml:space="preserve">
+    <value>Alto</value>
+  </data>
+  <data name="label22.Text" xml:space="preserve">
+    <value>Escursione del piatto</value>
+  </data>
+  <data name="lbl_currentmode.Text" xml:space="preserve">
+    <value>Manuale</value>
+  </data>
+  <data name="label23.Text" xml:space="preserve">
+    <value>Escursione Timone</value>
+  </data>
+  <data name="textBox3.Text" xml:space="preserve">
+    <value>Calibarzione del sensore di voltaggio:
+1. Misura il valtaggio di ingresso di APM e inseriscilo nel box sotto 
+2. Misura il voltaggio della batteria e inseriscilo nel box sotto 
+3. Dalle caratteristiche del sensore di corrente, inserisci il valore degli ampere per volt nel box qui sotto</value>
+  </data>
+  <data name="BUT_Calibrateradio.Text" xml:space="preserve">
+    <value>Calibrazione Radio</value>
+  </data>
+  <data name="label24.Text" xml:space="preserve">
+    <value>Massimo</value>
+  </data>
+  <data name="label2.Text" xml:space="preserve">
+    <value>Modo di volo 2</value>
+  </data>
+  <data name="label25.Text" xml:space="preserve">
+    <value>Rollio massimo</value>
+  </data>
+  <data name="label3.Text" xml:space="preserve">
+    <value>Modo di volo 3</value>
+  </data>
+  <data name="label26.Text" xml:space="preserve">
+    <value>Passo massimo</value>
+  </data>
+  <data name="label27.Text" xml:space="preserve">
+    <value>in gradi es 2° 3' W is -2.3</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>Modo di volo 1</value>
+  </data>
+  <data name="label28.Text" xml:space="preserve">
+    <value>Livella il quad per impostare gli accelerometri</value>
+  </data>
+  <data name="label6.Text" xml:space="preserve">
+    <value>Modo di volo 6</value>
+  </data>
+  <data name="label29.Text" xml:space="preserve">
+    <value>Capacità</value>
+  </data>
+  <data name="label100.Text" xml:space="preserve">
+    <value>Declinazione</value>
+  </data>
+  <data name="CHK_enablesonar.Text" xml:space="preserve">
+    <value>Attiva Sonar</value>
+  </data>
+  <data name="label7.Text" xml:space="preserve">
+    <value>PWM 1231 - 1360</value>
+  </data>
+  <data name="tabRadioIn.Text" xml:space="preserve">
+    <value>Ingresso Radio</value>
+  </data>
+  <data name="groupBox4.Text" xml:space="preserve">
+    <value>Calibration</value>
+  </data>
+  <data name="HS4_MIN.Text" xml:space="preserve">
+    <value>1500</value>
+  </data>
+  <data name="label4.Text" xml:space="preserve">
+    <value>Modo di volo 4</value>
+  </data>
+  <data name="label5.Text" xml:space="preserve">
+    <value>Modo di volo 5</value>
+  </data>
+  <data name="groupBox3.Text" xml:space="preserve">
+    <value>Giroscopio</value>
+  </data>
+  <data name="label8.Text" xml:space="preserve">
+    <value>PWM 1361 - 1490</value>
+  </data>
+  <data name="tabHardware.Text" xml:space="preserve">
+    <value>Hardware</value>
+  </data>
+  <data name="label9.Text" xml:space="preserve">
+    <value>PWM 1491 - 1620</value>
+  </data>
+  <data name="linkLabelmagdec.Text" xml:space="preserve">
+    <value>Sito Web per la Declinazione</value>
+  </data>
+  <data name="HS4_MAX.Text" xml:space="preserve">
+    <value>1500</value>
+  </data>
+  <data name="tabBattery.Text" xml:space="preserve">
+    <value>Batteria</value>
+  </data>
+  <data name="BUT_0collective.Text" xml:space="preserve">
+    <value>Zero</value>
+  </data>
+  <data name="CHK_enableairspeed.Text" xml:space="preserve">
+    <value>Attiva Sensore Velocità</value>
+  </data>
+  <data name="PIT_MAX_.Text" xml:space="preserve">
+    <value>4500</value>
+  </data>
+  <data name="BUT_reset.Text" xml:space="preserve">
+    <value>Resetta APM ai valori di Default</value>
+  </data>
+  <data name="GYR_GAIN_.Text" xml:space="preserve">
+    <value>1000</value>
+  </data>
+  <data name="label30.Text" xml:space="preserve">
+    <value>Monitor</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryxSensors.pl.resx

@@ -0,0 +1,318 @@
+<?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>
+  <data name="SV3_POS_.Text" xml:space="preserve">
+    <value>180</value>
+  </data>
+  <data name="BUT_HS4save.Text" xml:space="preserve">
+    <value>Ręczne</value>
+  </data>
+  <data name="label12.Text" xml:space="preserve">
+    <value>PWM 0 - 1230</value>
+  </data>
+  <data name="label10.Text" xml:space="preserve">
+    <value>PWM 1621 - 1749</value>
+  </data>
+  <data name="label13.Text" xml:space="preserve">
+    <value>Aktualny tryb:</value>
+  </data>
+  <data name="CHK_enableoptflow.Text" xml:space="preserve">
+    <value>Włącz Optical Flow</value>
+  </data>
+  <data name="label16.Text" xml:space="preserve">
+    <value>UWAGA: Obrazy są wyłącznie do prezentacji, działają jedynie z hexa, itp.</value>
+  </data>
+  <data name="CB_simple5.Text" xml:space="preserve">
+    <value>Tryb prosty</value>
+  </data>
+  <data name="label11.Text" xml:space="preserve">
+    <value>PWM 1750 +</value>
+  </data>
+  <data name="CHK_elevonch1rev.Text" xml:space="preserve">
+    <value>Odwr. Elevon CH1</value>
+  </data>
+  <data name="label14.Text" xml:space="preserve">
+    <value>Aktualny PWM:</value>
+  </data>
+  <data name="$this.Text" xml:space="preserve">
+    <value>Ustawienia APM</value>
+  </data>
+  <data name="label17.Text" xml:space="preserve">
+    <value>Pozycja serwa płyty ster.</value>
+  </data>
+  <data name="CHK_enablecompass.Text" xml:space="preserve">
+    <value>Włącz kompas</value>
+  </data>
+  <data name="CB_simple4.Text" xml:space="preserve">
+    <value>Tryb prosty</value>
+  </data>
+  <data name="tabArducopter.Text" xml:space="preserve">
+    <value>ArduCopter2</value>
+  </data>
+  <data name="CB_simple1.Text" xml:space="preserve">
+    <value>Tryb prosty</value>
+  </data>
+  <data name="label15.Text" xml:space="preserve">
+    <value>Ustawienie ramy (+ lub x)</value>
+  </data>
+  <data name="SV2_POS_.Text" xml:space="preserve">
+    <value>60</value>
+  </data>
+  <data name="label18.Text" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="CB_simple6.Text" xml:space="preserve">
+    <value>Tryb prosty</value>
+  </data>
+  <data name="CB_simple3.Text" xml:space="preserve">
+    <value>Tryb prosty</value>
+  </data>
+  <data name="label19.Text" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="tabModes.Text" xml:space="preserve">
+    <value>Tryby</value>
+  </data>
+  <data name="CB_simple2.Text" xml:space="preserve">
+    <value>Tryb prosty</value>
+  </data>
+  <data name="label20.Text" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="tabReset.Text" xml:space="preserve">
+    <value>Reset</value>
+  </data>
+  <data name="SV1_POS_.Text" xml:space="preserve">
+    <value>-60</value>
+  </data>
+  <data name="label21.Text" xml:space="preserve">
+    <value>Góra</value>
+  </data>
+  <data name="label22.Text" xml:space="preserve">
+    <value>Zakres ruchu płyty sterującej</value>
+  </data>
+  <data name="lbl_currentmode.Text" xml:space="preserve">
+    <value>Ręczne</value>
+  </data>
+  <data name="label23.Text" xml:space="preserve">
+    <value>Zakres steru kierunku</value>
+  </data>
+  <data name="textBox3.Text" xml:space="preserve">
+    <value>Kalibracja czujnika napięcia:
+1. Zmierz napięcie wejściowe APM i wpisz poniżej
+2. Zmierz napięcie baterii i wpisz poniżej
+3. Wpisz poniżej ilość amperów/wolt [A/V] z dokumentacji czujnika prądu</value>
+  </data>
+  <data name="BUT_Calibrateradio.Text" xml:space="preserve">
+    <value>Kalibracja radia</value>
+  </data>
+  <data name="label24.Text" xml:space="preserve">
+    <value>Max</value>
+  </data>
+  <data name="label2.Text" xml:space="preserve">
+    <value>Tryb lotu 2</value>
+  </data>
+  <data name="label25.Text" xml:space="preserve">
+    <value>Max przechylenie</value>
+  </data>
+  <data name="label3.Text" xml:space="preserve">
+    <value>Tryb lotu 3</value>
+  </data>
+  <data name="label26.Text" xml:space="preserve">
+    <value>Max pochylenie</value>
+  </data>
+  <data name="label27.Text" xml:space="preserve">
+    <value>w stopniech np. 2° 3' W to -2.3</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>Tryb lotu 1</value>
+  </data>
+  <data name="label28.Text" xml:space="preserve">
+    <value>Wypoziomuj quada żeby stawić domyśle offsety przysp.</value>
+  </data>
+  <data name="label6.Text" xml:space="preserve">
+    <value>Tryb lotu 6</value>
+  </data>
+  <data name="label29.Text" xml:space="preserve">
+    <value>Pojemność</value>
+  </data>
+  <data name="label100.Text" xml:space="preserve">
+    <value>Deklinacja</value>
+  </data>
+  <data name="CHK_enablesonar.Text" xml:space="preserve">
+    <value>Włącz sonar</value>
+  </data>
+  <data name="label7.Text" xml:space="preserve">
+    <value>PWM 1231 - 1360</value>
+  </data>
+  <data name="tabRadioIn.Text" xml:space="preserve">
+    <value>Wejścia radia</value>
+  </data>
+  <data name="groupBox4.Text" xml:space="preserve">
+    <value>Calibration</value>
+  </data>
+  <data name="HS4_MIN.Text" xml:space="preserve">
+    <value>1500</value>
+  </data>
+  <data name="label4.Text" xml:space="preserve">
+    <value>Tryb lotu 4</value>
+  </data>
+  <data name="label5.Text" xml:space="preserve">
+    <value>Tryb lotu 5</value>
+  </data>
+  <data name="groupBox3.Text" xml:space="preserve">
+    <value>Żyro</value>
+  </data>
+  <data name="label8.Text" xml:space="preserve">
+    <value>PWM 1361 - 1490</value>
+  </data>
+  <data name="tabHardware.Text" xml:space="preserve">
+    <value>Hardware</value>
+  </data>
+  <data name="label9.Text" xml:space="preserve">
+    <value>PWM 1491 - 1620</value>
+  </data>
+  <data name="linkLabelmagdec.Text" xml:space="preserve">
+    <value>Strona www deklinacji</value>
+  </data>
+  <data name="HS4_MAX.Text" xml:space="preserve">
+    <value>1500</value>
+  </data>
+  <data name="tabBattery.Text" xml:space="preserve">
+    <value>Bateria</value>
+  </data>
+  <data name="BUT_0collective.Text" xml:space="preserve">
+    <value>Zero</value>
+  </data>
+  <data name="CHK_enableairspeed.Text" xml:space="preserve">
+    <value>Włącz prędkość powietrza</value>
+  </data>
+  <data name="PIT_MAX_.Text" xml:space="preserve">
+    <value>4500</value>
+  </data>
+  <data name="BUT_reset.Text" xml:space="preserve">
+    <value>Reset APM do stawień domyślnych</value>
+  </data>
+  <data name="GYR_GAIN_.Text" xml:space="preserve">
+    <value>1000</value>
+  </data>
+  <data name="label30.Text" xml:space="preserve">
+    <value>Monitor</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryxSensors.resx

@@ -0,0 +1,254 @@
+<?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>
+  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 24</value>
+  </metadata>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="BUT_zero_att.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
+  <data name="BUT_zero_att.Location" type="System.Drawing.Point, System.Drawing">
+    <value>284, 23</value>
+  </data>
+  <data name="BUT_zero_att.Size" type="System.Drawing.Size, System.Drawing">
+    <value>75, 23</value>
+  </data>
+  <assembly alias="mscorlib" name="mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="BUT_zero_att.TabIndex" type="System.Int32, mscorlib">
+    <value>14</value>
+  </data>
+  <data name="BUT_zero_att.Text" xml:space="preserve">
+    <value>Zero Attitude</value>
+  </data>
+  <data name="BUT_zero_att.ToolTip" xml:space="preserve">
+    <value>Do a accel calibration now.</value>
+  </data>
+  <data name="&gt;&gt;BUT_zero_att.Name" xml:space="preserve">
+    <value>BUT_zero_att</value>
+  </data>
+  <data name="&gt;&gt;BUT_zero_att.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.38784, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;BUT_zero_att.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;BUT_zero_att.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="BUT_zero_press.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_zero_press.Location" type="System.Drawing.Point, System.Drawing">
+    <value>284, 52</value>
+  </data>
+  <data name="BUT_zero_press.Size" type="System.Drawing.Size, System.Drawing">
+    <value>75, 23</value>
+  </data>
+  <data name="BUT_zero_press.TabIndex" type="System.Int32, mscorlib">
+    <value>15</value>
+  </data>
+  <data name="BUT_zero_press.Text" xml:space="preserve">
+    <value>Zero Pressure</value>
+  </data>
+  <data name="BUT_zero_press.ToolTip" xml:space="preserve">
+    <value>Do a accel calibration now.</value>
+  </data>
+  <data name="&gt;&gt;BUT_zero_press.Name" xml:space="preserve">
+    <value>BUT_zero_press</value>
+  </data>
+  <data name="&gt;&gt;BUT_zero_press.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.38784, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;BUT_zero_press.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;BUT_zero_press.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <metadata name="bindingSource1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>140, 22</value>
+  </metadata>
+  <data name="hud1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>13, 12</value>
+  </data>
+  <data name="hud1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>266, 249</value>
+  </data>
+  <data name="hud1.streamjpg" mimetype="application/x-microsoft.net.object.binary.base64">
+    <value>
+        AAEAAAD/////AQAAAAAAAAAEAQAAABZTeXN0ZW0uSU8uTWVtb3J5U3RyZWFtCgAAAAdfYnVmZmVyB19v
+        cmlnaW4JX3Bvc2l0aW9uB19sZW5ndGgJX2NhcGFjaXR5C19leHBhbmRhYmxlCV93cml0YWJsZQpfZXhw
+        b3NhYmxlB19pc09wZW4dTWFyc2hhbEJ5UmVmT2JqZWN0K19faWRlbnRpdHkHAAAAAAAAAAACAggICAgB
+        AQEBCQIAAAAAAAAAAAAAAAAAAAAAAAAAAQEBAQoPAgAAAAAAAAACCw==
+</value>
+  </data>
+  <data name="hud1.TabIndex" type="System.Int32, mscorlib">
+    <value>16</value>
+  </data>
+  <data name="&gt;&gt;hud1.Name" xml:space="preserve">
+    <value>hud1</value>
+  </data>
+  <data name="&gt;&gt;hud1.Type" xml:space="preserve">
+    <value>ArdupilotMega.Controls.HUD, ArdupilotMegaPlanner10, Version=1.1.4708.38784, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;hud1.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;hud1.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
+  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>277, 22</value>
+  </metadata>
+  <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <data name="$this.AutoScaleDimensions" type="System.Drawing.SizeF, System.Drawing">
+    <value>6, 13</value>
+  </data>
+  <data name="$this.Size" type="System.Drawing.Size, System.Drawing">
+    <value>439, 356</value>
+  </data>
+  <data name="&gt;&gt;toolTip1.Name" xml:space="preserve">
+    <value>toolTip1</value>
+  </data>
+  <data name="&gt;&gt;toolTip1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolTip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;bindingSource1.Name" xml:space="preserve">
+    <value>bindingSource1</value>
+  </data>
+  <data name="&gt;&gt;bindingSource1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.BindingSource, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;timer1.Name" xml:space="preserve">
+    <value>timer1</value>
+  </data>
+  <data name="&gt;&gt;timer1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Timer, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;$this.Name" xml:space="preserve">
+    <value>ConfigAteryxSensors</value>
+  </data>
+  <data name="&gt;&gt;$this.Type" xml:space="preserve">
+    <value>System.Windows.Forms.UserControl, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryxSensors.zh-Hans.resx

@@ -0,0 +1,158 @@
+<?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>
+  <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
+  <data name="label28.Size" type="System.Drawing.Size, System.Drawing">
+    <value>175, 13</value>
+  </data>
+  <data name="label28.Text" xml:space="preserve">
+    <value>设置水平面的默认加速度计偏移</value>
+  </data>
+  <data name="BUT_levelplane.Text" xml:space="preserve">
+    <value>置平</value>
+  </data>
+  <data name="BUT_levelplane.ToolTip" xml:space="preserve">
+    <value>执行加速度计校准</value>
+  </data>
+  <data name="CHK_manuallevel.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CHK_manuallevel.Text" xml:space="preserve">
+    <value>手动置平</value>
+  </data>
+  <data name="CHK_manuallevel.ToolTip" xml:space="preserve">
+    <value>禁用自动置平，并将保留最后一次加速度计校准值</value>
+  </data>
+  <data name="label1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>91, 13</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>仅限于高级用户</value>
+  </data>
+  <assembly alias="mscorlib" name="mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="label2.AutoSize" type="System.Boolean, mscorlib">
+    <value>False</value>
+  </data>
+  <data name="label2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>258, 61</value>
+  </data>
+  <data name="label2.Text" xml:space="preserve">
+    <value>默认情况下飞机将在每次启动时自动置平。要禁用这个动作，你需要开启手动置平，并执行一个置平操作来校准加速度计偏移。</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAteryxSensors.zh-TW.resx

@@ -0,0 +1,460 @@
+<?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>
+  <data name="tabReset.Text" xml:space="preserve">
+    <value>重置</value>
+  </data>
+  <data name="tabRadioIn.Text" xml:space="preserve">
+    <value>遙控輸入</value>
+  </data>
+  <data name="tabModes.Text" xml:space="preserve">
+    <value>模式</value>
+  </data>
+  <data name="tabHardware.Text" xml:space="preserve">
+    <value>硬件</value>
+  </data>
+  <data name="tabBattery.Text" xml:space="preserve">
+    <value>電池</value>
+  </data>
+  <data name="BUT_reset.Text" xml:space="preserve">
+    <value>重置 APM 為默認設置</value>
+  </data>
+  <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
+  <data name="CHK_revch3.Size" type="System.Drawing.Size, System.Drawing">
+    <value>50, 17</value>
+  </data>
+  <data name="CHK_revch3.Text" xml:space="preserve">
+    <value>逆轉</value>
+  </data>
+  <data name="CHK_revch4.Size" type="System.Drawing.Size, System.Drawing">
+    <value>50, 17</value>
+  </data>
+  <data name="CHK_revch4.Text" xml:space="preserve">
+    <value>逆轉</value>
+  </data>
+  <data name="CHK_revch2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>50, 17</value>
+  </data>
+  <data name="CHK_revch2.Text" xml:space="preserve">
+    <value>逆轉</value>
+  </data>
+  <data name="CHK_revch1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>50, 17</value>
+  </data>
+  <data name="CHK_revch1.Text" xml:space="preserve">
+    <value>逆轉</value>
+  </data>
+  <data name="BUT_Calibrateradio.Text" xml:space="preserve">
+    <value>校準遙控</value>
+  </data>
+  <data name="CB_simple6.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CB_simple6.Text" xml:space="preserve">
+    <value>簡單模式</value>
+  </data>
+  <data name="CB_simple5.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CB_simple5.Text" xml:space="preserve">
+    <value>簡單模式</value>
+  </data>
+  <data name="CB_simple4.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CB_simple4.Text" xml:space="preserve">
+    <value>簡單模式</value>
+  </data>
+  <data name="CB_simple3.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CB_simple3.Text" xml:space="preserve">
+    <value>簡單模式</value>
+  </data>
+  <data name="CB_simple2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CB_simple2.Text" xml:space="preserve">
+    <value>簡單模式</value>
+  </data>
+  <data name="CB_simple1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>74, 17</value>
+  </data>
+  <data name="CB_simple1.Text" xml:space="preserve">
+    <value>簡單模式</value>
+  </data>
+  <data name="label14.Size" type="System.Drawing.Size, System.Drawing">
+    <value>64, 13</value>
+  </data>
+  <data name="label14.Text" xml:space="preserve">
+    <value>當前 PWM:</value>
+  </data>
+  <data name="label13.Size" type="System.Drawing.Size, System.Drawing">
+    <value>58, 13</value>
+  </data>
+  <data name="label13.Text" xml:space="preserve">
+    <value>當前模式:</value>
+  </data>
+  <data name="label6.Size" type="System.Drawing.Size, System.Drawing">
+    <value>64, 13</value>
+  </data>
+  <data name="label6.Text" xml:space="preserve">
+    <value>飛行模式 6</value>
+  </data>
+  <data name="label5.Size" type="System.Drawing.Size, System.Drawing">
+    <value>64, 13</value>
+  </data>
+  <data name="label5.Text" xml:space="preserve">
+    <value>飛行模式 5</value>
+  </data>
+  <data name="label4.Size" type="System.Drawing.Size, System.Drawing">
+    <value>64, 13</value>
+  </data>
+  <data name="label4.Text" xml:space="preserve">
+    <value>飛行模式 4</value>
+  </data>
+  <data name="label3.Size" type="System.Drawing.Size, System.Drawing">
+    <value>64, 13</value>
+  </data>
+  <data name="label3.Text" xml:space="preserve">
+    <value>飛行模式 3</value>
+  </data>
+  <data name="label2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>64, 13</value>
+  </data>
+  <data name="label2.Text" xml:space="preserve">
+    <value>飛行模式 2</value>
+  </data>
+  <data name="label1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>64, 13</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>飛行模式 1</value>
+  </data>
+  <data name="BUT_SaveModes.Text" xml:space="preserve">
+    <value>保存模式</value>
+  </data>
+  <data name="linkLabelmagdec.Size" type="System.Drawing.Size, System.Drawing">
+    <value>67, 13</value>
+  </data>
+  <data name="linkLabelmagdec.Text" xml:space="preserve">
+    <value>磁偏角網站</value>
+  </data>
+  <data name="label100.Text" xml:space="preserve">
+    <value>磁偏角</value>
+  </data>
+  <data name="CHK_enableairspeed.Text" xml:space="preserve">
+    <value>啟用空速計</value>
+  </data>
+  <data name="CHK_enablesonar.Text" xml:space="preserve">
+    <value>啟用聲納</value>
+  </data>
+  <data name="CHK_enablecompass.Text" xml:space="preserve">
+    <value>啟用羅盤</value>
+  </data>
+  <data name="label35.Size" type="System.Drawing.Size, System.Drawing">
+    <value>63, 13</value>
+  </data>
+  <data name="label35.Text" xml:space="preserve">
+    <value>安培/伏特:</value>
+  </data>
+  <data name="label34.Size" type="System.Drawing.Size, System.Drawing">
+    <value>52, 13</value>
+  </data>
+  <data name="label34.Text" xml:space="preserve">
+    <value>分 壓 比:</value>
+  </data>
+  <data name="label33.Size" type="System.Drawing.Size, System.Drawing">
+    <value>58, 13</value>
+  </data>
+  <data name="label33.Text" xml:space="preserve">
+    <value>電池電壓:</value>
+  </data>
+  <data name="label32.Size" type="System.Drawing.Size, System.Drawing">
+    <value>94, 13</value>
+  </data>
+  <data name="label32.Text" xml:space="preserve">
+    <value>測量的電池電壓:</value>
+  </data>
+  <data name="label31.Size" type="System.Drawing.Size, System.Drawing">
+    <value>58, 13</value>
+  </data>
+  <data name="label31.Text" xml:space="preserve">
+    <value>輸入電壓:</value>
+  </data>
+  <data name="textBox3.Text" xml:space="preserve">
+    <value>電壓傳感器校準:
+1. 測量APM輸入電壓，輸入到下方的文本框中
+2. 測量電池電壓，輸入到下方的文本框中
+3. 從當前的傳感器的數據表中找到安培/伏特，輸入到下方的文本框中</value>
+  </data>
+  <data name="label29.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label29.Text" xml:space="preserve">
+    <value>容量</value>
+  </data>
+  <data name="label30.Size" type="System.Drawing.Size, System.Drawing">
+    <value>48, 13</value>
+  </data>
+  <data name="label30.Text" xml:space="preserve">
+    <value>監控器</value>
+  </data>
+  <data name="label28.Size" type="System.Drawing.Size, System.Drawing">
+    <value>175, 13</value>
+  </data>
+  <data name="label28.Text" xml:space="preserve">
+    <value>設置水平面的默認加速度計偏移</value>
+  </data>
+  <data name="label16.Size" type="System.Drawing.Size, System.Drawing">
+    <value>261, 13</value>
+  </data>
+  <data name="label16.Text" xml:space="preserve">
+    <value>注: 圖片只是用於展示，設置可以用於六軸等機架</value>
+  </data>
+  <data name="label15.Size" type="System.Drawing.Size, System.Drawing">
+    <value>93, 13</value>
+  </data>
+  <data name="label15.Text" xml:space="preserve">
+    <value>機架設置 (+ 或 x)</value>
+  </data>
+  <data name="BUT_levelac2.Text" xml:space="preserve">
+    <value>找平</value>
+  </data>
+  <data name="label46.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label46.Text" xml:space="preserve">
+    <value>感度</value>
+  </data>
+  <data name="label45.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label45.Text" xml:space="preserve">
+    <value>啟用</value>
+  </data>
+  <data name="label44.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label44.Text" xml:space="preserve">
+    <value>微調</value>
+  </data>
+  <data name="label43.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label43.Text" xml:space="preserve">
+    <value>逆轉</value>
+  </data>
+  <data name="label42.Size" type="System.Drawing.Size, System.Drawing">
+    <value>43, 13</value>
+  </data>
+  <data name="label42.Text" xml:space="preserve">
+    <value>方向舵</value>
+  </data>
+  <data name="BUT_HS4save.Text" xml:space="preserve">
+    <value>手動</value>
+  </data>
+  <data name="label24.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label24.Text" xml:space="preserve">
+    <value>最大</value>
+  </data>
+  <data name="label40.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label40.Text" xml:space="preserve">
+    <value>最小</value>
+  </data>
+  <data name="BUT_swash_manual.Text" xml:space="preserve">
+    <value>手動</value>
+  </data>
+  <data name="label41.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label41.Text" xml:space="preserve">
+    <value>最低</value>
+  </data>
+  <data name="label21.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label21.Text" xml:space="preserve">
+    <value>最高</value>
+  </data>
+  <data name="BUT_0collective.Text" xml:space="preserve">
+    <value>0度</value>
+  </data>
+  <data name="label39.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label39.Text" xml:space="preserve">
+    <value>微調</value>
+  </data>
+  <data name="label38.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label38.Text" xml:space="preserve">
+    <value>逆轉</value>
+  </data>
+  <data name="label37.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label37.Text" xml:space="preserve">
+    <value>位置</value>
+  </data>
+  <data name="label36.Size" type="System.Drawing.Size, System.Drawing">
+    <value>31, 13</value>
+  </data>
+  <data name="label36.Text" xml:space="preserve">
+    <value>舵機</value>
+  </data>
+  <data name="label26.Size" type="System.Drawing.Size, System.Drawing">
+    <value>55, 13</value>
+  </data>
+  <data name="label26.Text" xml:space="preserve">
+    <value>最大俯仰</value>
+  </data>
+  <data name="label25.Size" type="System.Drawing.Size, System.Drawing">
+    <value>55, 13</value>
+  </data>
+  <data name="label25.Text" xml:space="preserve">
+    <value>最大側傾</value>
+  </data>
+  <data name="label23.Size" type="System.Drawing.Size, System.Drawing">
+    <value>55, 13</value>
+  </data>
+  <data name="label23.Text" xml:space="preserve">
+    <value>舵機行程</value>
+  </data>
+  <data name="label22.Size" type="System.Drawing.Size, System.Drawing">
+    <value>79, 13</value>
+  </data>
+  <data name="label22.Text" xml:space="preserve">
+    <value>斜盤水平微調</value>
+  </data>
+  <data name="label17.Size" type="System.Drawing.Size, System.Drawing">
+    <value>79, 13</value>
+  </data>
+  <data name="label17.Text" xml:space="preserve">
+    <value>斜盤舵機位置</value>
+  </data>
+  <data name="$this.Text" xml:space="preserve">
+    <value>APM設置</value>
+  </data>
+</root>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigBatteryMonitoring.Designer.cs

@@ -13,6 +13,7 @@
         /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
         protected override void Dispose(bool disposing)
         {
+            startup = true;
             if (disposing && (components != null))
             {
                 components.Dispose();

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigBatteryMonitoring.cs

@@ -82,6 +82,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                     {
                         CMB_batmonsensortype.Enabled = false;
                         groupBox4.Enabled = false;
+                        MainV2.comPort.setParam("BATT_VOLT_PIN", -1);
+                        MainV2.comPort.setParam("BATT_CURR_PIN", -1);
                     }
                     else if (selection == 4)
                     {
@@ -102,7 +104,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                     MainV2.comPort.setParam("BATT_MONITOR", selection);
                 }
             }
-            catch { CustomMessageBox.Show("Set BATT_MONITOR Failed"); }
+            catch { CustomMessageBox.Show("Set BATT_MONITOR,BATT_VOLT_PIN,BATT_CURR_PIN Failed"); }
         }
         private void TXT_inputvoltage_Validating(object sender, CancelEventArgs e)
         {
@@ -289,6 +291,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 TXT_measuredvoltage.Enabled = true;
                 TXT_inputvoltage.Enabled = true;
             }
+
+            disableinstructionbox();
         }
 
         public void Deactivate()
@@ -408,6 +412,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             int selection = int.Parse(CMB_apmversion.Text.Substring(0, 1));
 
+            try
+            {
                 if (selection == 0)
                 {
                     // apm1
@@ -427,5 +433,28 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                     MainV2.comPort.setParam("BATT_CURR_PIN", 12);
                 }
             }
+            catch { CustomMessageBox.Show("Set BATT_????_PIN Failed"); }
+
+            disableinstructionbox();
+        }
+
+        void disableinstructionbox()
+        {
+            try
+            {
+                if (int.Parse(CMB_apmversion.Text.Substring(0, 1)) == 2)
+                {
+                    if (int.Parse(CMB_batmonsensortype.Text.Substring(0, 1)) == 4)
+                    {
+                        textBox3.Visible = false;
+                    }
+                    else
+                    {
+                        textBox3.Visible = true;
+                    }
+                }
+            }
+            catch { }
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFailSafe.Designer.cs

@@ -82,6 +82,7 @@
             this.lbl_currentmode.DataBindings.Add(new System.Windows.Forms.Binding("Text", this.currentStateBindingSource, "mode", true));
             resources.ApplyResources(this.lbl_currentmode, "lbl_currentmode");
             this.lbl_currentmode.Name = "lbl_currentmode";
+            this.lbl_currentmode.TextChanged += new System.EventHandler(this.lbl_currentmode_TextChanged);
             // 
             // currentStateBindingSource
             // 

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFailSafe.cs

@@ -102,5 +102,17 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
             lbl_gpslock.Text = gps;
         }
+
+        private void lbl_currentmode_TextChanged(object sender, EventArgs e)
+        {
+            if (MainV2.cs.ch3in < (float)MainV2.comPort.param["THR_FS_VALUE"])
+            {
+                lbl_currentmode.ForeColor = Color.Red;
+            }
+            else
+            {
+                lbl_currentmode.ForeColor = Color.White;
+            }
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFailSafe.resx

@@ -280,7 +280,7 @@
     <value>mavlinkCheckBoxthr_fs</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxthr_fs.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxthr_fs.Parent" xml:space="preserve">
     <value>groupBox1</value>
@@ -317,7 +317,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkCheckBoxthr_fs_action</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxthr_fs_action.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxthr_fs_action.Parent" xml:space="preserve">
     <value>groupBox1</value>
@@ -344,7 +344,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkNumericUpDownthr_fs_value</value>
   </data>
   <data name="&gt;&gt;mavlinkNumericUpDownthr_fs_value.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MavlinkNumericUpDown, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MavlinkNumericUpDown, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkNumericUpDownthr_fs_value.Parent" xml:space="preserve">
     <value>groupBox1</value>
@@ -380,7 +380,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkCheckBoxlong_fs</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxlong_fs.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxlong_fs.Parent" xml:space="preserve">
     <value>groupBox1</value>
@@ -416,7 +416,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkCheckBoxgcs_fs</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxgcs_fs.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxgcs_fs.Parent" xml:space="preserve">
     <value>groupBox1</value>
@@ -452,7 +452,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkCheckBoxshort_fs</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxshort_fs.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MavlinkCheckBox, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxshort_fs.Parent" xml:space="preserve">
     <value>groupBox1</value>
@@ -596,7 +596,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar9</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar9.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar9.Parent" xml:space="preserve">
     <value>$this</value>
@@ -620,7 +620,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar10</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar10.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar10.Parent" xml:space="preserve">
     <value>$this</value>
@@ -644,7 +644,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar11</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar11.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar11.Parent" xml:space="preserve">
     <value>$this</value>
@@ -668,7 +668,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar12</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar12.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar12.Parent" xml:space="preserve">
     <value>$this</value>
@@ -692,7 +692,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar13</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar13.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar13.Parent" xml:space="preserve">
     <value>$this</value>
@@ -716,7 +716,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar14</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar14.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar14.Parent" xml:space="preserve">
     <value>$this</value>
@@ -740,7 +740,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar15</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar15.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar15.Parent" xml:space="preserve">
     <value>$this</value>
@@ -764,7 +764,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar16</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar16.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar16.Parent" xml:space="preserve">
     <value>$this</value>
@@ -788,7 +788,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar8</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar8.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar8.Parent" xml:space="preserve">
     <value>$this</value>
@@ -812,7 +812,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar7</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar7.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar7.Parent" xml:space="preserve">
     <value>$this</value>
@@ -836,7 +836,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar6</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar6.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar6.Parent" xml:space="preserve">
     <value>$this</value>
@@ -860,7 +860,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar5</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar5.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar5.Parent" xml:space="preserve">
     <value>$this</value>
@@ -884,7 +884,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar4</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar4.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar4.Parent" xml:space="preserve">
     <value>$this</value>
@@ -908,7 +908,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar3</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar3.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar3.Parent" xml:space="preserve">
     <value>$this</value>
@@ -932,7 +932,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar2</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar2.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar2.Parent" xml:space="preserve">
     <value>$this</value>
@@ -956,7 +956,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>horizontalProgressBar1</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar1.Type" xml:space="preserve">
-    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4696.32711, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.HorizontalProgressBar, ArdupilotMegaPlanner10, Version=1.1.4708.37166, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;horizontalProgressBar1.Parent" xml:space="preserve">
     <value>$this</value>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFriendlyParams.cs

@@ -201,6 +201,14 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             this.SuspendLayout();
 
             _params.OrderBy(x => x.Key).ForEach(x =>
+         {
+             AddControl(x);
+         });
+
+            this.ResumeLayout();
+        }
+
+        void AddControl(KeyValuePair<string,string> x)
         {
             if (!String.IsNullOrEmpty(x.Key))
             {
@@ -217,48 +225,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                     string rangeRaw = _parameterMetaDataRepository.GetParameterMetaData(x.Key, ParameterMetaDataConstants.Range);
                     string incrementRaw = _parameterMetaDataRepository.GetParameterMetaData(x.Key, ParameterMetaDataConstants.Increment);
                     
-                    // modify for scaling
-                    float test = 1;
-                    MAVLink.modifyParamForDisplay(true, x.Key, ref test);
-
-                    if (test != 1)
-                    {
-                        if (units.ToLower() == "centi-degrees")
-                        {
-                            units = "Degrees";
-                            incrementRaw = "0.1";
-                            string[] rangeParts = rangeRaw.Split(new[] { ' ' });
-                            if (rangeParts.Count() == 2)
-                            {
-                                float lowerRange;
-                                float.TryParse(rangeParts[0], out lowerRange);
-                                float upperRange;
-                                float.TryParse(rangeParts[1], out upperRange);
-
-                                rangeRaw = (lowerRange / 100) + " " + (upperRange / 100);
-                            }
-                        }
-                        else if (units.ToLower() == "centimeters")
-                        {
-                            units = "Meters";
-                            incrementRaw = "0.1";
-                            string[] rangeParts = rangeRaw.Split(new[] { ' ' });
-                            if (rangeParts.Count() == 2)
-                            {
-                                float lowerRange;
-                                float.TryParse(rangeParts[0], out lowerRange);
-                                float upperRange;
-                                float.TryParse(rangeParts[1], out upperRange);
-
-                                rangeRaw = (lowerRange / 100) + " " + (upperRange / 100);
-                            }
-                        }
-                        else
-                        {
-                            units += " / " + (int)(1 / test);
-                        }
-                    }
-
                     if (!String.IsNullOrEmpty(rangeRaw) && !String.IsNullOrEmpty(incrementRaw))
                     {
                         float increment, intValue;
@@ -273,22 +239,45 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                             float upperRange;
                             float.TryParse(rangeParts[1], out upperRange);
 
-                            int scaler = (int)float.Parse((1 / increment).ToString(CultureInfo.InvariantCulture));
+                            float displayscale = 1;
-                            int scaledLowerRange = 0, scaledUpperRange = 0;
+
-                            int scaledIncrement = (int)increment;
+                        //    var rangeControl = new RangeControl();
-                            if (scaler > 0)
+
+                            if (units.ToLower() == "centi-degrees")
                             {
-                                scaledLowerRange = (int)(lowerRange * scaler);
+                                Console.WriteLine(x.Key + " scale");
-                                scaledUpperRange = (int)(upperRange * scaler);
+                                displayscale = 100;
-                                scaledIncrement = (int)float.Parse((increment * scaler).ToString(CultureInfo.InvariantCulture));
+                                units = "Degrees (Scaled)";
-                                intValue *= scaler;
+                                increment /= 100;
+                            } else if (units.ToLower() == "centimeters")
+                            {
+                                Console.WriteLine(x.Key + " scale");
+                                displayscale = 100;
+                                units = "Meters (Scaled)";
+                                increment /= 100;
                             }
 
-                            var rangeControl = new RangeControl();
+                            var rangeControl = new RangeControl(x.Key, FitDescriptionText(units, description), displayName, increment, displayscale, lowerRange, upperRange, value);
+
+                            /*
                             rangeControl.Name = x.Key;
-                            rangeControl.Scaler = scaler;
+                            rangeControl.Increment = increment;
                             rangeControl.DescriptionText = FitDescriptionText(units, description);
                             rangeControl.LabelText = displayName;
+                            rangeControl.MinRange = lowerRange;
+                            rangeControl.MaxRange = upperRange;
+                            rangeControl.Value = value;
+                            */
+                            Console.WriteLine("{0} {1} {2} {3} {4}", x.Key, increment, lowerRange, upperRange, value);
+
+                            ThemeManager.ApplyThemeTo(rangeControl);
+
+                            if (intValue < lowerRange)
+                                rangeControl.NumericUpDownControl.BackColor = Color.Orange;
+
+                            if (intValue > upperRange)
+                                rangeControl.NumericUpDownControl.BackColor = Color.Orange;
+/*
                             rangeControl.TrackBarControl.Minimum = Math.Min(scaledLowerRange, (int)intValue);
                             rangeControl.TrackBarControl.Maximum = Math.Max(scaledUpperRange, (int)intValue);
                             rangeControl.TrackBarControl.TickFrequency = scaledIncrement;
@@ -296,10 +285,10 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
                             rangeControl.NumericUpDownControl.Increment = (decimal)increment;
                             rangeControl.NumericUpDownControl.DecimalPlaces = scaler.ToString(CultureInfo.InvariantCulture).Length - 1;
-                            rangeControl.NumericUpDownControl.Minimum = (decimal)Math.Min(lowerRange, ((float)MainV2.comPort.param[x.Key]));
+                            rangeControl.NumericUpDownControl.Minimum = (decimal)Math.Min(lowerRange, intValue);
-                            rangeControl.NumericUpDownControl.Maximum = (decimal)Math.Max(upperRange, ((float)MainV2.comPort.param[x.Key]));
+                            rangeControl.NumericUpDownControl.Maximum = (decimal)Math.Max(upperRange, intValue);
-                            rangeControl.NumericUpDownControl.Value = (decimal)((float)MainV2.comPort.param[x.Key]);
+                            rangeControl.NumericUpDownControl.Value = (decimal)(intValue);
-
+                            */
                             rangeControl.AttachEvents();
 
                             tableLayoutPanel1.Controls.Add(rangeControl);
@@ -322,13 +311,15 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                                 valueControl.DescriptionText = FitDescriptionText(units, description);
                                 valueControl.LabelText = displayName;
 
+                                ThemeManager.ApplyThemeTo(valueControl);
+
                                 var splitValues = new List<KeyValuePair<string, string>>();
                                 // Add the values to the ddl
-                                availableValues.ForEach(val =>
+                                foreach (string val in availableValues)
                                 {
                                     string[] valParts = val.Split(new[] { ':' });
-                                    splitValues.Add(new KeyValuePair<string, string>(valParts[0], (valParts.Length > 1) ? valParts[1] : valParts[0]));
+                                    splitValues.Add(new KeyValuePair<string, string>(valParts[0].Trim(), (valParts.Length > 1) ? valParts[1].Trim() : valParts[0].Trim()));
-                                });
+                                };
                                 valueControl.ComboBoxControl.DisplayMember = "Value";
                                 valueControl.ComboBoxControl.ValueMember = "Key";
                                 valueControl.ComboBoxControl.DataSource = splitValues;
@@ -341,11 +332,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 } // if there is an error simply dont show it, ie bad pde file, bad scale etc
                 catch (Exception ex) { log.Error(ex); }
             }
-         });
-
-            ThemeManager.ApplyThemeTo(this);
-
-            this.ResumeLayout();
         }
 
         /// <summary>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigPlanner.cs

@@ -52,6 +52,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         private void BUT_videostart_Click(object sender, EventArgs e)
         {
+            if (MainV2.MONO)
+                return;
+
             // stop first
             BUT_videostop_Click(sender, e);
 
@@ -83,6 +86,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         private void CMB_videosources_MouseClick(object sender, MouseEventArgs e)
         {
+            if (MainV2.MONO)
+                return;
+
             // the reason why i dont populate this list is because on linux/mac this call will fail.
             WebCamService.Capture capt = new WebCamService.Capture();
 
@@ -95,6 +101,9 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         private void CMB_videosources_SelectedIndexChanged(object sender, EventArgs e)
         {
+            if (MainV2.MONO)
+                return;
+
             int hr;
             int count;
             int size;
@@ -463,6 +472,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         private void CMB_videosources_Click(object sender, EventArgs e)
         {
+            if (MainV2.MONO)
+                return;
             // the reason why i dont populate this list is because on linux/mac this call will fail.
             WebCamService.Capture capt = new WebCamService.Capture();
 

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRadioInput.cs

@@ -75,6 +75,14 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             else
             {
                 groupBoxElevons.Visible = false;
+
+                if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+                {
+                    CHK_revch1.Visible = false;
+                    CHK_revch2.Visible = false;
+                    CHK_revch3.Visible = false;
+                    CHK_revch4.Visible = false;
+                }
             }
             try
             {

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.Designer.cs

@@ -38,12 +38,11 @@
             this.BUT_save = new ArdupilotMega.Controls.MyButton();
             this.BUT_load = new ArdupilotMega.Controls.MyButton();
             this.Params = new System.Windows.Forms.DataGridView();
+            this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
+            this.label1 = new System.Windows.Forms.Label();
             this.Command = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Value = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Default = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Desc = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.mavScale = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.RawValue = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             ((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
             this.SuspendLayout();
             // 
@@ -99,9 +98,7 @@
             this.Params.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
             this.Command,
             this.Value,
-            this.Default,
+            this.Desc});
-            this.mavScale,
-            this.RawValue});
             this.Params.Name = "Params";
             dataGridViewCellStyle2.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
             dataGridViewCellStyle2.BackColor = System.Drawing.SystemColors.ActiveCaption;
@@ -114,6 +111,17 @@
             this.Params.RowHeadersVisible = false;
             this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged);
             // 
+            // toolTip1
+            // 
+            this.toolTip1.AutoPopDelay = 180000;
+            this.toolTip1.InitialDelay = 500;
+            this.toolTip1.ReshowDelay = 100;
+            // 
+            // label1
+            // 
+            resources.ApplyResources(this.label1, "label1");
+            this.label1.Name = "label1";
+            // 
             // Command
             // 
             resources.ApplyResources(this.Command, "Command");
@@ -125,31 +133,18 @@
             resources.ApplyResources(this.Value, "Value");
             this.Value.Name = "Value";
             // 
-            // Default
+            // Desc
             // 
-            resources.ApplyResources(this.Default, "Default");
+            this.Desc.AutoSizeMode = System.Windows.Forms.DataGridViewAutoSizeColumnMode.AllCells;
-            this.Default.Name = "Default";
+            resources.ApplyResources(this.Desc, "Desc");
-            // 
+            this.Desc.Name = "Desc";
-            // mavScale
+            this.Desc.ReadOnly = true;
-            // 
-            resources.ApplyResources(this.mavScale, "mavScale");
-            this.mavScale.Name = "mavScale";
-            // 
-            // RawValue
-            // 
-            resources.ApplyResources(this.RawValue, "RawValue");
-            this.RawValue.Name = "RawValue";
-            // 
-            // toolTip1
-            // 
-            this.toolTip1.AutoPopDelay = 20000;
-            this.toolTip1.InitialDelay = 500;
-            this.toolTip1.ReshowDelay = 100;
             // 
             // ConfigRawParams
             // 
             resources.ApplyResources(this, "$this");
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.label1);
             this.Controls.Add(this.BUT_compare);
             this.Controls.Add(this.BUT_rerequestparams);
             this.Controls.Add(this.BUT_writePIDS);
@@ -159,6 +154,7 @@
             this.Name = "ConfigRawParams";
             ((System.ComponentModel.ISupportInitialize)(this.Params)).EndInit();
             this.ResumeLayout(false);
+            this.PerformLayout();
 
         }
 
@@ -170,11 +166,10 @@
         private ArdupilotMega.Controls.MyButton BUT_save;
         private ArdupilotMega.Controls.MyButton BUT_load;
         private System.Windows.Forms.DataGridView Params;
+        private System.Windows.Forms.ToolTip toolTip1;
+        private System.Windows.Forms.Label label1;
         private System.Windows.Forms.DataGridViewTextBoxColumn Command;
         private System.Windows.Forms.DataGridViewTextBoxColumn Value;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Default;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Desc;
-        private System.Windows.Forms.DataGridViewTextBoxColumn mavScale;
-        private System.Windows.Forms.DataGridViewTextBoxColumn RawValue;
-        private System.Windows.Forms.ToolTip toolTip1;
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.cs

@@ -73,8 +73,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 }
                 catch (Exception ex) { log.Error(ex); throw new FormatException("Invalid number on param " + name + " : " + items[1].ToString()); }
 
-                MAVLink.modifyParamForDisplay(true, name, ref value);
-
                 if (name == "SYSID_SW_MREV")
                     continue;
                 if (name == "WP_TOTAL")
@@ -185,8 +183,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                 {
                     float value = float.Parse(row.Cells[1].Value.ToString());
 
-                    MAVLink.modifyParamForDisplay(false, row.Cells[0].Value.ToString(), ref value);
-
                     sw.WriteLine(row.Cells[0].Value.ToString() + "," + value.ToString(new System.Globalization.CultureInfo("en-US")));
                 }
                 sw.Close();
@@ -406,6 +402,22 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                     {
                         Params.Rows[Params.RowCount - 1].Cells[Command.Index].ToolTipText = metaDataDescription;
                         Params.Rows[Params.RowCount - 1].Cells[Value.Index].ToolTipText = metaDataDescription;
+
+                        string range = _parameterMetaDataRepository.GetParameterMetaData(value, ParameterMetaDataConstants.Range);
+                        string options = _parameterMetaDataRepository.GetParameterMetaData(value, ParameterMetaDataConstants.Values);
+
+                        if (!string.IsNullOrEmpty(range))
+                        {
+                            range = " Range: " + range;
+                        }
+
+                        if (!string.IsNullOrEmpty(options))
+                        {
+                            options = " Options: " + options;
+                        }
+
+                        Params.Rows[Params.RowCount - 1].Cells[Desc.Index].Value = range + options;
+
                     }
                     else if (tooltips[value] != null)
                     {
@@ -413,6 +425,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
                         //Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
                         Params.Rows[Params.RowCount - 1].Cells[Value.Index].ToolTipText = ((paramsettings)tooltips[value]).desc;
 
+                          Params.Rows[Params.RowCount - 1].Cells[Desc.Index].Value = "Old: "+((paramsettings)tooltips[value]).desc;
+
                         //Params.Rows[Params.RowCount - 1].Cells[Default.Index].Value = ((paramsettings)tooltips[value]).normalvalue;
                         //Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value = ((paramsettings)tooltips[value]).scale;
                         //Params.Rows[Params.RowCount - 1].Cells[Value.Index].Value = float.Parse(Params.Rows[Params.RowCount - 1].Cells[RawValue.Index].Value.ToString()) / float.Parse(Params.Rows[Params.RowCount - 1].Cells[mavScale.Index].Value.ToString());

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigRawParams.resx

@@ -126,7 +126,7 @@
   </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="BUT_compare.Location" type="System.Drawing.Point, System.Drawing">
-    <value>341, 119</value>
+    <value>506, 119</value>
   </data>
   <data name="BUT_compare.Size" type="System.Drawing.Size, System.Drawing">
     <value>103, 19</value>
@@ -142,13 +142,13 @@
     <value>BUT_compare</value>
   </data>
   <data name="&gt;&gt;BUT_compare.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4646.35335, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4711.17948, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_compare.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_compare.ZOrder" xml:space="preserve">
-    <value>0</value>
+    <value>1</value>
   </data>
   <data name="BUT_rerequestparams.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Right</value>
@@ -157,7 +157,7 @@
     <value>NoControl</value>
   </data>
   <data name="BUT_rerequestparams.Location" type="System.Drawing.Point, System.Drawing">
-    <value>341, 94</value>
+    <value>506, 94</value>
   </data>
   <data name="BUT_rerequestparams.Size" type="System.Drawing.Size, System.Drawing">
     <value>103, 19</value>
@@ -172,13 +172,13 @@
     <value>BUT_rerequestparams</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4646.35335, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4711.17948, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="BUT_writePIDS.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Right</value>
@@ -187,7 +187,7 @@
     <value>NoControl</value>
   </data>
   <data name="BUT_writePIDS.Location" type="System.Drawing.Point, System.Drawing">
-    <value>341, 69</value>
+    <value>506, 69</value>
   </data>
   <data name="BUT_writePIDS.Size" type="System.Drawing.Size, System.Drawing">
     <value>103, 19</value>
@@ -202,13 +202,13 @@
     <value>BUT_writePIDS</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4646.35335, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4711.17948, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="BUT_save.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Right</value>
@@ -217,7 +217,7 @@
     <value>NoControl</value>
   </data>
   <data name="BUT_save.Location" type="System.Drawing.Point, System.Drawing">
-    <value>341, 35</value>
+    <value>506, 35</value>
   </data>
   <data name="BUT_save.Margin" type="System.Windows.Forms.Padding, System.Windows.Forms">
     <value>0, 0, 0, 0</value>
@@ -235,13 +235,13 @@
     <value>BUT_save</value>
   </data>
   <data name="&gt;&gt;BUT_save.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4646.35335, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4711.17948, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_save.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_save.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
   </data>
   <data name="BUT_load.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Right</value>
@@ -250,7 +250,7 @@
     <value>NoControl</value>
   </data>
   <data name="BUT_load.Location" type="System.Drawing.Point, System.Drawing">
-    <value>341, 7</value>
+    <value>506, 7</value>
   </data>
   <data name="BUT_load.Margin" type="System.Windows.Forms.Padding, System.Windows.Forms">
     <value>0, 0, 0, 0</value>
@@ -268,13 +268,13 @@
     <value>BUT_load</value>
   </data>
   <data name="&gt;&gt;BUT_load.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4646.35335, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4711.17948, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_load.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_load.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
   </data>
   <data name="Params.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Bottom, Left, Right</value>
@@ -297,29 +297,14 @@
   <data name="Value.Width" type="System.Int32, mscorlib">
     <value>80</value>
   </data>
-  <metadata name="Default.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="Desc.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
-  <data name="Default.HeaderText" xml:space="preserve">
+  <data name="Desc.HeaderText" xml:space="preserve">
-    <value>Default</value>
+    <value>Desc</value>
   </data>
-  <data name="Default.Visible" type="System.Boolean, mscorlib">
+  <data name="Desc.Width" type="System.Int32, mscorlib">
-    <value>False</value>
+    <value>57</value>
-  </data>
-  <data name="mavScale.HeaderText" xml:space="preserve">
-    <value>mavScale</value>
-  </data>
-  <data name="mavScale.Visible" type="System.Boolean, mscorlib">
-    <value>False</value>
-  </data>
-  <metadata name="RawValue.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <data name="RawValue.HeaderText" xml:space="preserve">
-    <value>RawValue</value>
-  </data>
-  <data name="RawValue.Visible" type="System.Boolean, mscorlib">
-    <value>False</value>
   </data>
   <data name="Params.Location" type="System.Drawing.Point, System.Drawing">
     <value>14, 3</value>
@@ -328,7 +313,7 @@
     <value>150</value>
   </data>
   <data name="Params.Size" type="System.Drawing.Size, System.Drawing">
-    <value>321, 302</value>
+    <value>486, 302</value>
   </data>
   <data name="Params.TabIndex" type="System.Int32, mscorlib">
     <value>68</value>
@@ -343,11 +328,45 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;Params.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
   </data>
   <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>17, 17</value>
   </metadata>
+  <data name="label1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Top, Right</value>
+  </data>
+  <data name="label1.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="label1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>506, 169</value>
+  </data>
+  <data name="label1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>109, 26</value>
+  </data>
+  <data name="label1.TabIndex" type="System.Int32, mscorlib">
+    <value>73</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>All Units are in raw 
+format with no scaling</value>
+  </data>
+  <data name="label1.TextAlign" type="System.Drawing.ContentAlignment, System.Drawing">
+    <value>MiddleCenter</value>
+  </data>
+  <data name="&gt;&gt;label1.Name" xml:space="preserve">
+    <value>label1</value>
+  </data>
+  <data name="&gt;&gt;label1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label1.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;label1.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
   <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
@@ -355,7 +374,13 @@
     <value>6, 13</value>
   </data>
   <data name="$this.Size" type="System.Drawing.Size, System.Drawing">
-    <value>460, 305</value>
+    <value>625, 305</value>
+  </data>
+  <data name="&gt;&gt;toolTip1.Name" xml:space="preserve">
+    <value>toolTip1</value>
+  </data>
+  <data name="&gt;&gt;toolTip1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolTip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;Command.Name" xml:space="preserve">
     <value>Command</value>
@@ -369,30 +394,12 @@
   <data name="&gt;&gt;Value.Type" xml:space="preserve">
     <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;Default.Name" xml:space="preserve">
+  <data name="&gt;&gt;Desc.Name" xml:space="preserve">
-    <value>Default</value>
+    <value>Desc</value>
   </data>
-  <data name="&gt;&gt;Default.Type" xml:space="preserve">
+  <data name="&gt;&gt;Desc.Type" xml:space="preserve">
     <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;mavScale.Name" xml:space="preserve">
-    <value>mavScale</value>
-  </data>
-  <data name="&gt;&gt;mavScale.Type" xml:space="preserve">
-    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;RawValue.Name" xml:space="preserve">
-    <value>RawValue</value>
-  </data>
-  <data name="&gt;&gt;RawValue.Type" xml:space="preserve">
-    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;toolTip1.Name" xml:space="preserve">
-    <value>toolTip1</value>
-  </data>
-  <data name="&gt;&gt;toolTip1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.ToolTip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
   <data name="&gt;&gt;$this.Name" xml:space="preserve">
     <value>ConfigRawParams</value>
   </data>

Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/Setup.cs

@@ -17,6 +17,8 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         static string lastpagename = "";
 
         BackstageView.BackstageViewPage hardware;
+        BackstageView.BackstageViewPage standardpage;
+        BackstageView.BackstageViewPage advancedpage;
 
         public Setup()
         {
@@ -68,17 +70,21 @@ If you are just setting up 3DR radios, you may continue without connecting.");
         {
             /****************************** Common  **************************/
 
+            if ((MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) || (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) || (MainV2.cs.firmware == MainV2.Firmwares.ArduRover))
+            {
                 AddBackstageViewPage(new ConfigRadioInput(), "Radio Calibration");
                 AddBackstageViewPage(new ConfigFlightModes(), "Flight Modes");
                 AddBackstageViewPage(new ConfigFailSafe(), "FailSafe");
                 hardware = AddBackstageViewPage(new ConfigHardwareOptions(), "Hardware Options");
                 AddBackstageViewPage(new ConfigBatteryMonitoring(), "Battery Monitor", hardware);
+            }
 
-            BackstageView.BackstageViewPage tunningpage = AddBackstageViewPage(new ConfigFriendlyParams { ParameterMode = ParameterMetaDataConstants.Standard }, "Standard Params");
+            if ((MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2) || (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) || (MainV2.cs.firmware == MainV2.Firmwares.ArduRover))
-            AddBackstageViewPage(new ConfigFriendlyParams { ParameterMode = ParameterMetaDataConstants.Advanced }, "Advanced Params", tunningpage);
+            {
-            AddBackstageViewPage(new ConfigRawParams(), "Adv Parameter List", tunningpage);
+                standardpage = AddBackstageViewPage(new ConfigFriendlyParams { ParameterMode = ParameterMetaDataConstants.Standard }, "Standard Params");
-
+                advancedpage = AddBackstageViewPage(new ConfigFriendlyParams { ParameterMode = ParameterMetaDataConstants.Advanced }, "Advanced Params");
-         //   AddBackstageViewPage(new ConfigParamParams() { ParameterMode = ParameterMetaDataConstants.Standard }, "Camera Gimbal Adv");
+            }
+            AddBackstageViewPage(new ConfigRawParams(), "Adv Parameter List", advancedpage);
 
             /******************************HELI **************************/
             if (MainV2.comPort.param["H_GYR_ENABLE"] != null) // heli
@@ -90,9 +96,9 @@ If you are just setting up 3DR radios, you may continue without connecting.");
                 AddBackstageViewPage(new ConfigTradHeli(), "Heli Setup");
 
                 var configpanel = new Controls.ConfigPanel(Application.StartupPath + System.IO.Path.DirectorySeparatorChar + "ArduCopterConfig.xml");
-                AddBackstageViewPage(configpanel, "ArduCopter Pids", tunningpage);
+                AddBackstageViewPage(configpanel, "ArduCopter Pids", standardpage);
 
-                AddBackstageViewPage(new ConfigArducopter(), "ArduCopter Config", tunningpage);
+                AddBackstageViewPage(new ConfigArducopter(), "ArduCopter Config", standardpage);
                // AddBackstageViewPage(new ConfigAP_Limits(), "GeoFence");
             }
                 /****************************** ArduCopter **************************/
@@ -103,9 +109,9 @@ If you are just setting up 3DR radios, you may continue without connecting.");
                 AddBackstageViewPage(new ConfigAccelerometerCalibrationQuad(), "ArduCopter Level");
 
                 var configpanel = new Controls.ConfigPanel(Application.StartupPath + System.IO.Path.DirectorySeparatorChar + "ArduCopterConfig.xml");
-                AddBackstageViewPage(configpanel, "ArduCopter Pids", tunningpage);
+                AddBackstageViewPage(configpanel, "ArduCopter Pids", standardpage);
 
-                AddBackstageViewPage(new ConfigArducopter(), "ArduCopter Config", tunningpage);
+                AddBackstageViewPage(new ConfigArducopter(), "ArduCopter Config", standardpage);
                // AddBackstageViewPage(new ConfigAP_Limits(), "GeoFence");
             }
                 /****************************** ArduPlane **************************/
@@ -114,15 +120,20 @@ If you are just setting up 3DR radios, you may continue without connecting.");
                 AddBackstageViewPage(new ConfigMount(), "Camera Gimbal", hardware);
 
                 AddBackstageViewPage(new ConfigAccelerometerCalibrationPlane(), "ArduPlane Level");
-                AddBackstageViewPage(new ConfigArduplane(), "ArduPlane Pids", tunningpage);
+                AddBackstageViewPage(new ConfigArduplane(), "ArduPlane Pids", standardpage);
             }
                 /****************************** ArduRover **************************/
             else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
             {
                 //AddBackstageViewPage(new ConfigAccelerometerCalibrationPlane(), "ArduRover Level"));
-                AddBackstageViewPage(new ConfigArdurover(), "ArduRover Pids", tunningpage);
+                AddBackstageViewPage(new ConfigArdurover(), "ArduRover Pids", standardpage);
             }
+            else if (MainV2.cs.firmware == MainV2.Firmwares.Ateryx)
+            {
 
+                AddBackstageViewPage(new ConfigAteryxSensors(), "Ateryx Zero Sensors");
+                AddBackstageViewPage(new ConfigAteryx(), "Ateryx Pids", standardpage);
+            }
         }
 
         private BackstageView.BackstageViewPage AddBackstageViewPage(UserControl userControl, string headerText, BackstageView.BackstageViewPage Parent = null)

Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs

@@ -765,7 +765,19 @@ namespace ArdupilotMega.GCSViews
             fd.ShowDialog();
             if (File.Exists(fd.FileName))
             {
-                UploadFlash(fd.FileName, ArduinoDetect.DetectBoard(MainV2.comPortName));
+                string boardtype = "";
+                try
+                {
+                    boardtype = ArduinoDetect.DetectBoard(MainV2.comPortName);
+                }
+                catch
+                {
+                    CustomMessageBox.Show("Can not connect to com port and detect board type");
+                    return;
+                }
+
+
+                UploadFlash(fd.FileName, boardtype);
             }
         }
     }

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.Designer.cs

@@ -24,7 +24,6 @@
             this.stopRecordToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.setMJPEGSourceToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.setAspectRatioToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.displayBatteryInfoToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.userItemsToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.bindingSource1 = new System.Windows.Forms.BindingSource(this.components);
             this.tabControl1 = new System.Windows.Forms.TabControl();
@@ -260,7 +259,6 @@
             this.stopRecordToolStripMenuItem,
             this.setMJPEGSourceToolStripMenuItem,
             this.setAspectRatioToolStripMenuItem,
-            this.displayBatteryInfoToolStripMenuItem,
             this.userItemsToolStripMenuItem});
             this.contextMenuStripHud.Name = "contextMenuStrip2";
             resources.ApplyResources(this.contextMenuStripHud, "contextMenuStripHud");
@@ -289,12 +287,6 @@
             resources.ApplyResources(this.setAspectRatioToolStripMenuItem, "setAspectRatioToolStripMenuItem");
             this.setAspectRatioToolStripMenuItem.Click += new System.EventHandler(this.setAspectRatioToolStripMenuItem_Click);
             // 
-            // displayBatteryInfoToolStripMenuItem
-            // 
-            this.displayBatteryInfoToolStripMenuItem.Name = "displayBatteryInfoToolStripMenuItem";
-            resources.ApplyResources(this.displayBatteryInfoToolStripMenuItem, "displayBatteryInfoToolStripMenuItem");
-            this.displayBatteryInfoToolStripMenuItem.Click += new System.EventHandler(this.displayBatteryInfoToolStripMenuItem_Click);
-            // 
             // userItemsToolStripMenuItem
             // 
             this.userItemsToolStripMenuItem.Name = "userItemsToolStripMenuItem";
@@ -1433,7 +1425,6 @@
         private Controls.MyLabel lbl_playbackspeed;
         private System.Windows.Forms.ToolStripMenuItem setMJPEGSourceToolStripMenuItem;
         private System.Windows.Forms.ToolStripMenuItem setAspectRatioToolStripMenuItem;
-        private System.Windows.Forms.ToolStripMenuItem displayBatteryInfoToolStripMenuItem;
         private System.Windows.Forms.TabPage tabQuick;
         private Controls.QuickView quickView3;
         private Controls.QuickView quickView2;

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs

@@ -100,17 +100,11 @@ namespace ArdupilotMega.GCSViews
         {
             threadrun = 0;
             MainV2.comPort.logreadmode = false;
-            MainV2.config["FlightSplitter"] = hud1.Width;
-            if (false || !MainV2.MONO)
-            {
             try
             {
-                    log.Info("Saving Screen Layout");
+                MainV2.config["FlightSplitter"] = hud1.Width;
-                    //_serializer.Save();
-                }
-                catch (Exception ex) { log.Error(ex); }
-                //SaveWindowLayout();
             }
+            catch { }
             System.Threading.Thread.Sleep(100);
             base.Dispose(disposing);
         }
@@ -349,6 +343,15 @@ namespace ArdupilotMega.GCSViews
                 hud1.Dock = DockStyle.Fill;
             }
 
+            if (MainV2.comPort.param.ContainsKey("BATT_MONITOR") && (float)MainV2.comPort.param["BATT_MONITOR"] != 0)
+            {
+                hud1.batteryon = true;
+            }
+            else
+            {
+                hud1.batteryon = false;
+            }
+
             foreach (Control ctl in splitContainer1.Panel2.Controls)
             {
                 ctl.Visible = true;
@@ -595,7 +598,7 @@ namespace ArdupilotMega.GCSViews
                             MainV2.comPort.logreadmode = false;
                         }
                     }
-                    catch { }
+                    catch { MainV2.comPort.logreadmode = false; }
                 }
                 else
                 {
@@ -1294,7 +1297,7 @@ namespace ArdupilotMega.GCSViews
                     marker = new GMapMarkerRect(point);
                     marker.ToolTip = new GMapToolTip(marker);
                     marker.ToolTipMode = MarkerTooltipMode.Always;
-                    marker.ToolTipText = "Home: " + ((gMapControl1.Manager.GetDistance(point, MainV2.cs.HomeLocation.Point()) * 1000) * MainV2.cs.multiplierdist).ToString("0");
+                    marker.ToolTipText = "Dist to Home: " + ((gMapControl1.Manager.GetDistance(point, MainV2.cs.HomeLocation.Point()) * 1000) * MainV2.cs.multiplierdist).ToString("0");
 
                     routes.Markers.Add(marker);
                 }
@@ -2268,12 +2271,6 @@ print 'Roll complete'
             hud1.doResize();
         }
 
-        private void displayBatteryInfoToolStripMenuItem_Click(object sender, EventArgs e)
-        {
-            hud1.batteryon = !hud1.batteryon;
-            hud1.Refresh();
-        }
-
         private void quickView_DoubleClick(object sender, EventArgs e)
         {
 
@@ -2501,9 +2498,11 @@ print 'Roll complete'
         private void modifyandSetAlt_Click(object sender, EventArgs e)
         {
             int newalt = (int)modifyandSetAlt.Value;
-
+            try
+            {
                 MainV2.comPort.setNewWPAlt(new Locationwp() { alt = newalt });
-
+            }
+            catch { CustomMessageBox.Show("Error sending command"); }
             //MainV2.comPort.setNextWPTargetAlt((ushort)MainV2.cs.wpno, newalt);
         }
 
@@ -2520,20 +2519,32 @@ print 'Roll complete'
         {
             // QUAD
             if (MainV2.comPort.param.ContainsKey("WP_SPEED_MAX"))
+            {
+                try
                 {
                     MainV2.comPort.setParam("WP_SPEED_MAX", (float)modifyandSetSpeed.Value);
+                }
+                catch { CustomMessageBox.Show("Error sending command"); }
             } // plane with airspeed
             else if (MainV2.comPort.param.ContainsKey("TRIM_ARSPD_CM") && MainV2.comPort.param.ContainsKey("ARSPD_ENABLE")
                 && MainV2.comPort.param.ContainsKey("ARSPD_USE") && (float)MainV2.comPort.param["ARSPD_ENABLE"] == 1
                 && (float)MainV2.comPort.param["ARSPD_USE"] == 1)
+            {
+                try
                 {
                     MainV2.comPort.setParam("TRIM_ARSPD_CM", (float)modifyandSetSpeed.Value);
+                }
+                catch { CustomMessageBox.Show("Error sending command"); }
             } // plane without airspeed
             else if (MainV2.comPort.param.ContainsKey("TRIM_THROTTLE") && MainV2.comPort.param.ContainsKey("ARSPD_USE")
                 && (float)MainV2.comPort.param["ARSPD_USE"] == 0)
+            {
+                try
                 {
                     MainV2.comPort.setParam("TRIM_THROTTLE", (float)modifyandSetSpeed.Value);
                 }
+                catch { CustomMessageBox.Show("Error sending command"); }
+            }
         }
 
         private void modifyandSetSpeed_ParentChanged(object sender, EventArgs e)

Tools/ArdupilotMegaPlanner/GCSViews/FlightData.resx

@@ -152,7 +152,7 @@
     <value>Flight Planner</value>
   </data>
   <data name="contextMenuStripMap.Size" type="System.Drawing.Size, System.Drawing">
-    <value>189, 136</value>
+    <value>189, 114</value>
   </data>
   <data name="&gt;&gt;contextMenuStripMap.Name" xml:space="preserve">
     <value>contextMenuStripMap</value>
@@ -186,43 +186,37 @@
     <value>542, 17</value>
   </metadata>
   <data name="recordHudToAVIToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>176, 22</value>
+    <value>172, 22</value>
   </data>
   <data name="recordHudToAVIToolStripMenuItem.Text" xml:space="preserve">
     <value>Record Hud to AVI</value>
   </data>
   <data name="stopRecordToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>176, 22</value>
+    <value>172, 22</value>
   </data>
   <data name="stopRecordToolStripMenuItem.Text" xml:space="preserve">
     <value>Stop Record</value>
   </data>
   <data name="setMJPEGSourceToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>176, 22</value>
+    <value>172, 22</value>
   </data>
   <data name="setMJPEGSourceToolStripMenuItem.Text" xml:space="preserve">
     <value>Set MJPEG source</value>
   </data>
   <data name="setAspectRatioToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>176, 22</value>
+    <value>172, 22</value>
   </data>
   <data name="setAspectRatioToolStripMenuItem.Text" xml:space="preserve">
     <value>Set Aspect Ratio</value>
   </data>
-  <data name="displayBatteryInfoToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>176, 22</value>
-  </data>
-  <data name="displayBatteryInfoToolStripMenuItem.Text" xml:space="preserve">
-    <value>Display Battery Info</value>
-  </data>
   <data name="userItemsToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>176, 22</value>
+    <value>172, 22</value>
   </data>
   <data name="userItemsToolStripMenuItem.Text" xml:space="preserve">
     <value>User Items</value>
   </data>
   <data name="contextMenuStripHud.Size" type="System.Drawing.Size, System.Drawing">
-    <value>177, 136</value>
+    <value>173, 136</value>
   </data>
   <data name="&gt;&gt;contextMenuStripHud.Name" xml:space="preserve">
     <value>contextMenuStripHud</value>
@@ -250,7 +244,7 @@
     <value>hud1</value>
   </data>
   <data name="&gt;&gt;hud1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.HUD, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.HUD, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;hud1.Parent" xml:space="preserve">
     <value>SubMainLeft.Panel1</value>
@@ -289,7 +283,7 @@
     <value>quickView6</value>
   </data>
   <data name="&gt;&gt;quickView6.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;quickView6.Parent" xml:space="preserve">
     <value>tabQuick</value>
@@ -313,7 +307,7 @@
     <value>quickView5</value>
   </data>
   <data name="&gt;&gt;quickView5.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;quickView5.Parent" xml:space="preserve">
     <value>tabQuick</value>
@@ -337,7 +331,7 @@
     <value>quickView4</value>
   </data>
   <data name="&gt;&gt;quickView4.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;quickView4.Parent" xml:space="preserve">
     <value>tabQuick</value>
@@ -361,7 +355,7 @@
     <value>quickView3</value>
   </data>
   <data name="&gt;&gt;quickView3.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;quickView3.Parent" xml:space="preserve">
     <value>tabQuick</value>
@@ -385,7 +379,7 @@
     <value>quickView2</value>
   </data>
   <data name="&gt;&gt;quickView2.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;quickView2.Parent" xml:space="preserve">
     <value>tabQuick</value>
@@ -415,7 +409,7 @@
     <value>quickView1</value>
   </data>
   <data name="&gt;&gt;quickView1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.QuickView, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;quickView1.Parent" xml:space="preserve">
     <value>tabQuick</value>
@@ -463,7 +457,7 @@
     <value>modifyandSetSpeed</value>
   </data>
   <data name="&gt;&gt;modifyandSetSpeed.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.ModifyandSet, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.ModifyandSet, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;modifyandSetSpeed.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -484,7 +478,7 @@
     <value>modifyandSetAlt</value>
   </data>
   <data name="&gt;&gt;modifyandSetAlt.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.ModifyandSet, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.ModifyandSet, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;modifyandSetAlt.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -517,7 +511,7 @@
     <value>BUT_ARM</value>
   </data>
   <data name="&gt;&gt;BUT_ARM.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_ARM.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -544,7 +538,7 @@
     <value>BUT_script</value>
   </data>
   <data name="&gt;&gt;BUT_script.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_script.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -574,7 +568,7 @@
     <value>BUT_joystick</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_joystick.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -604,7 +598,7 @@
     <value>BUT_quickmanual</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_quickmanual.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -634,7 +628,7 @@
     <value>BUT_quickrtl</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_quickrtl.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -664,7 +658,7 @@
     <value>BUT_quickauto</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_quickauto.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -718,7 +712,7 @@
     <value>BUT_setwp</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_setwp.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -769,7 +763,7 @@
     <value>BUT_setmode</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_setmode.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -799,7 +793,7 @@
     <value>BUT_clear_track</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_clear_track.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -850,7 +844,7 @@
     <value>BUT_Homealt</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_Homealt.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -880,7 +874,7 @@
     <value>BUT_RAWSensor</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_RAWSensor.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -910,7 +904,7 @@
     <value>BUTrestartmission</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUTrestartmission.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -940,7 +934,7 @@
     <value>BUTactiondo</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUTactiondo.Parent" xml:space="preserve">
     <value>tabActions</value>
@@ -994,7 +988,7 @@
     <value>Gvspeed</value>
   </data>
   <data name="&gt;&gt;Gvspeed.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Gvspeed.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -1024,7 +1018,7 @@
     <value>Gheading</value>
   </data>
   <data name="&gt;&gt;Gheading.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.HSI, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.HSI, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Gheading.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -1054,7 +1048,7 @@
     <value>Galt</value>
   </data>
   <data name="&gt;&gt;Galt.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Galt.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -1087,7 +1081,7 @@
     <value>Gspeed</value>
   </data>
   <data name="&gt;&gt;Gspeed.Type" xml:space="preserve">
-    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>AGaugeApp.AGauge, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;Gspeed.Parent" xml:space="preserve">
     <value>tabGauges</value>
@@ -1171,7 +1165,7 @@
     <value>lbl_playbackspeed</value>
   </data>
   <data name="&gt;&gt;lbl_playbackspeed.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_playbackspeed.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1198,7 +1192,7 @@
     <value>lbl_logpercent</value>
   </data>
   <data name="&gt;&gt;lbl_logpercent.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_logpercent.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1225,7 +1219,7 @@
     <value>NUM_playbackspeed</value>
   </data>
   <data name="&gt;&gt;NUM_playbackspeed.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;NUM_playbackspeed.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1252,7 +1246,7 @@
     <value>BUT_log2kml</value>
   </data>
   <data name="&gt;&gt;BUT_log2kml.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_log2kml.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1306,7 +1300,7 @@
     <value>BUT_playlog</value>
   </data>
   <data name="&gt;&gt;BUT_playlog.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_playlog.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1333,7 +1327,7 @@
     <value>BUT_loadtelem</value>
   </data>
   <data name="&gt;&gt;BUT_loadtelem.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_loadtelem.Parent" xml:space="preserve">
     <value>tabTLogs</value>
@@ -1519,7 +1513,7 @@
     <value>lbl_winddir</value>
   </data>
   <data name="&gt;&gt;lbl_winddir.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_winddir.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1549,7 +1543,7 @@
     <value>lbl_windvel</value>
   </data>
   <data name="&gt;&gt;lbl_windvel.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_windvel.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1582,7 +1576,7 @@
     <value>lbl_hdop</value>
   </data>
   <data name="&gt;&gt;lbl_hdop.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_hdop.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1615,7 +1609,7 @@
     <value>lbl_sats</value>
   </data>
   <data name="&gt;&gt;lbl_sats.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;lbl_sats.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1787,7 +1781,7 @@
     <value>gMapControl1</value>
   </data>
   <data name="&gt;&gt;gMapControl1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;gMapControl1.Parent" xml:space="preserve">
     <value>splitContainer1.Panel2</value>
@@ -1850,7 +1844,7 @@
     <value>TXT_lat</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_lat.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1907,7 +1901,7 @@
     <value>label1</value>
   </data>
   <data name="&gt;&gt;label1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;label1.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1937,7 +1931,7 @@
     <value>TXT_long</value>
   </data>
   <data name="&gt;&gt;TXT_long.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_long.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -1967,7 +1961,7 @@
     <value>TXT_alt</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyLabel, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;TXT_alt.Parent" xml:space="preserve">
     <value>panel1</value>
@@ -2236,12 +2230,6 @@
   <data name="&gt;&gt;setAspectRatioToolStripMenuItem.Type" xml:space="preserve">
     <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;displayBatteryInfoToolStripMenuItem.Name" xml:space="preserve">
-    <value>displayBatteryInfoToolStripMenuItem</value>
-  </data>
-  <data name="&gt;&gt;displayBatteryInfoToolStripMenuItem.Type" xml:space="preserve">
-    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
   <data name="&gt;&gt;userItemsToolStripMenuItem.Name" xml:space="preserve">
     <value>userItemsToolStripMenuItem</value>
   </data>
@@ -2288,6 +2276,6 @@
     <value>FlightData</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4695.13950, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4708.37963, Culture=neutral, PublicKeyToken=null</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs

@@ -31,14 +31,14 @@
         {
             this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FlightPlanner));
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle9 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle13 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle5 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle14 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle6 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle10 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle11 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle12 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle15 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle7 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle16 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle8 = new System.Windows.Forms.DataGridViewCellStyle();
             this.CHK_altmode = new System.Windows.Forms.CheckBox();
             this.CHK_holdalt = new System.Windows.Forms.CheckBox();
             this.Commands = new System.Windows.Forms.DataGridView();
@@ -111,6 +111,8 @@
             this.polygonToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.addPolygonPointToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.clearPolygonToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.savePolygonToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.loadPolygonToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.geoFenceToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.toolStripMenuItem1 = new System.Windows.Forms.ToolStripMenuItem();
             this.toolStripSeparator4 = new System.Windows.Forms.ToolStripSeparator();
@@ -143,8 +145,6 @@
             this.panelBASE = new System.Windows.Forms.Panel();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.timer1 = new System.Windows.Forms.Timer(this.components);
-            this.savePolygonToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.loadPolygonToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             ((System.ComponentModel.ISupportInitialize)(this.Commands)).BeginInit();
             this.panel5.SuspendLayout();
             this.panel1.SuspendLayout();
@@ -176,14 +176,14 @@
             // 
             this.Commands.AllowUserToAddRows = false;
             resources.ApplyResources(this.Commands, "Commands");
-            dataGridViewCellStyle9.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle9.BackColor = System.Drawing.SystemColors.Control;
+            dataGridViewCellStyle1.BackColor = System.Drawing.SystemColors.Control;
-            dataGridViewCellStyle9.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle1.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            dataGridViewCellStyle9.ForeColor = System.Drawing.SystemColors.WindowText;
+            dataGridViewCellStyle1.ForeColor = System.Drawing.SystemColors.WindowText;
-            dataGridViewCellStyle9.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle9.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            dataGridViewCellStyle9.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
+            dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
-            this.Commands.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle9;
+            this.Commands.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle1;
             this.Commands.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
             this.Command,
             this.Param1,
@@ -197,17 +197,17 @@
             this.Up,
             this.Down});
             this.Commands.Name = "Commands";
-            dataGridViewCellStyle13.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle5.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle13.BackColor = System.Drawing.SystemColors.Control;
+            dataGridViewCellStyle5.BackColor = System.Drawing.SystemColors.Control;
-            dataGridViewCellStyle13.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle5.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            dataGridViewCellStyle13.ForeColor = System.Drawing.SystemColors.WindowText;
+            dataGridViewCellStyle5.ForeColor = System.Drawing.SystemColors.WindowText;
-            dataGridViewCellStyle13.Format = "N0";
+            dataGridViewCellStyle5.Format = "N0";
-            dataGridViewCellStyle13.NullValue = "0";
+            dataGridViewCellStyle5.NullValue = "0";
-            dataGridViewCellStyle13.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle5.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle13.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle5.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            this.Commands.RowHeadersDefaultCellStyle = dataGridViewCellStyle13;
+            this.Commands.RowHeadersDefaultCellStyle = dataGridViewCellStyle5;
-            dataGridViewCellStyle14.ForeColor = System.Drawing.Color.Black;
+            dataGridViewCellStyle6.ForeColor = System.Drawing.Color.Black;
-            this.Commands.RowsDefaultCellStyle = dataGridViewCellStyle14;
+            this.Commands.RowsDefaultCellStyle = dataGridViewCellStyle6;
             this.Commands.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.Commands_CellContentClick);
             this.Commands.CellEndEdit += new System.Windows.Forms.DataGridViewCellEventHandler(this.Commands_CellEndEdit);
             this.Commands.DataError += new System.Windows.Forms.DataGridViewDataErrorEventHandler(this.Commands_DataError);
@@ -219,9 +219,9 @@
             // 
             // Command
             // 
-            dataGridViewCellStyle10.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69)))));
+            dataGridViewCellStyle2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69)))));
-            dataGridViewCellStyle10.ForeColor = System.Drawing.Color.White;
+            dataGridViewCellStyle2.ForeColor = System.Drawing.Color.White;
-            this.Command.DefaultCellStyle = dataGridViewCellStyle10;
+            this.Command.DefaultCellStyle = dataGridViewCellStyle2;
             this.Command.DisplayStyle = System.Windows.Forms.DataGridViewComboBoxDisplayStyle.ComboBox;
             resources.ApplyResources(this.Command, "Command");
             this.Command.Name = "Command";
@@ -287,7 +287,7 @@
             // 
             // Up
             // 
-            this.Up.DefaultCellStyle = dataGridViewCellStyle11;
+            this.Up.DefaultCellStyle = dataGridViewCellStyle3;
             resources.ApplyResources(this.Up, "Up");
             this.Up.Image = global::ArdupilotMega.Properties.Resources.up;
             this.Up.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -295,8 +295,8 @@
             // 
             // Down
             // 
-            dataGridViewCellStyle12.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.Down.DefaultCellStyle = dataGridViewCellStyle12;
+            this.Down.DefaultCellStyle = dataGridViewCellStyle4;
             resources.ApplyResources(this.Down, "Down");
             this.Down.Image = global::ArdupilotMega.Properties.Resources.down;
             this.Down.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -420,8 +420,8 @@
             // 
             // dataGridViewImageColumn1
             // 
-            dataGridViewCellStyle15.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            dataGridViewCellStyle7.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle15;
+            this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle7;
             resources.ApplyResources(this.dataGridViewImageColumn1, "dataGridViewImageColumn1");
             this.dataGridViewImageColumn1.Image = global::ArdupilotMega.Properties.Resources.up;
             this.dataGridViewImageColumn1.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -429,8 +429,8 @@
             // 
             // dataGridViewImageColumn2
             // 
-            dataGridViewCellStyle16.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            dataGridViewCellStyle8.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle16;
+            this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle8;
             resources.ApplyResources(this.dataGridViewImageColumn2, "dataGridViewImageColumn2");
             this.dataGridViewImageColumn2.Image = global::ArdupilotMega.Properties.Resources.down;
             this.dataGridViewImageColumn2.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -674,6 +674,7 @@
             this.flyToHereToolStripMenuItem});
             this.contextMenuStrip1.Name = "contextMenuStrip1";
             resources.ApplyResources(this.contextMenuStrip1, "contextMenuStrip1");
+            this.contextMenuStrip1.Opening += new System.ComponentModel.CancelEventHandler(this.contextMenuStrip1_Opening);
             // 
             // deleteWPToolStripMenuItem
             // 
@@ -785,6 +786,18 @@
             resources.ApplyResources(this.clearPolygonToolStripMenuItem, "clearPolygonToolStripMenuItem");
             this.clearPolygonToolStripMenuItem.Click += new System.EventHandler(this.clearPolygonToolStripMenuItem_Click);
             // 
+            // savePolygonToolStripMenuItem
+            // 
+            this.savePolygonToolStripMenuItem.Name = "savePolygonToolStripMenuItem";
+            resources.ApplyResources(this.savePolygonToolStripMenuItem, "savePolygonToolStripMenuItem");
+            this.savePolygonToolStripMenuItem.Click += new System.EventHandler(this.savePolygonToolStripMenuItem_Click);
+            // 
+            // loadPolygonToolStripMenuItem
+            // 
+            this.loadPolygonToolStripMenuItem.Name = "loadPolygonToolStripMenuItem";
+            resources.ApplyResources(this.loadPolygonToolStripMenuItem, "loadPolygonToolStripMenuItem");
+            this.loadPolygonToolStripMenuItem.Click += new System.EventHandler(this.loadPolygonToolStripMenuItem_Click);
+            // 
             // geoFenceToolStripMenuItem
             // 
             this.geoFenceToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
@@ -1000,18 +1013,6 @@
             this.timer1.Interval = 1000;
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
-            // savePolygonToolStripMenuItem
-            // 
-            this.savePolygonToolStripMenuItem.Name = "savePolygonToolStripMenuItem";
-            resources.ApplyResources(this.savePolygonToolStripMenuItem, "savePolygonToolStripMenuItem");
-            this.savePolygonToolStripMenuItem.Click += new System.EventHandler(this.savePolygonToolStripMenuItem_Click);
-            // 
-            // loadPolygonToolStripMenuItem
-            // 
-            this.loadPolygonToolStripMenuItem.Name = "loadPolygonToolStripMenuItem";
-            resources.ApplyResources(this.loadPolygonToolStripMenuItem, "loadPolygonToolStripMenuItem");
-            this.loadPolygonToolStripMenuItem.Click += new System.EventHandler(this.loadPolygonToolStripMenuItem_Click);
-            // 
             // FlightPlanner
             // 
             resources.ApplyResources(this, "$this");

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs

@@ -498,7 +498,8 @@ namespace ArdupilotMega.GCSViews
                 if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
                 {
                     reader.ReadToFollowing("APM");
-                } else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
+                }
+                else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
                 {
                     reader.ReadToFollowing("APRover");
                 }
@@ -1378,7 +1379,7 @@ namespace ArdupilotMega.GCSViews
 
                 if (CHK_holdalt.Checked)
                 {
-                    port.setParam("ALT_HOLD_RTL", int.Parse(TXT_DefaultAlt.Text) / MainV2.cs.multiplierdist);
+                    port.setParam("ALT_HOLD_RTL", int.Parse(TXT_DefaultAlt.Text) / MainV2.cs.multiplierdist * 100);
                 }
                 else
                 {
@@ -1483,7 +1484,7 @@ namespace ArdupilotMega.GCSViews
             {
                 log.Info("Setting wp params");
 
-                string hold_alt = ((int)((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist)).ToString();
+                string hold_alt = ((int)((float)param["ALT_HOLD_RTL"] * MainV2.cs.multiplierdist / 100.0)).ToString();
 
                 log.Info("param ALT_HOLD_RTL " + hold_alt);
 
@@ -1516,7 +1517,8 @@ namespace ArdupilotMega.GCSViews
             }
             catch (Exception ex) { log.Error(ex); }
 
-            try {
+            try
+            {
 
                 DataGridViewTextBoxCell cellhome;
                 cellhome = Commands.Rows[0].Cells[Lat.Index] as DataGridViewTextBoxCell;
@@ -1646,8 +1648,8 @@ namespace ArdupilotMega.GCSViews
             }
             if (isNumber > 127)
             {
-                CustomMessageBox.Show("The value can only be between 0 and 127");
+                // CustomMessageBox.Show("The value can only be between 0 and 127");
-                TXT_loiterrad.Text = "127";
+                // TXT_loiterrad.Text = "127";
             }
         }
 
@@ -2677,7 +2679,8 @@ namespace ArdupilotMega.GCSViews
 
                         MainMap.Invalidate();
                     }
-                    catch {
+                    catch
+                    {
                         CustomMessageBox.Show("Remove point Failed. Please try again.");
                     }
                 }
@@ -4310,5 +4313,17 @@ namespace ArdupilotMega.GCSViews
                 MainMap.Invalidate();
             }
         }
+
+        private void contextMenuStrip1_Opening(object sender, CancelEventArgs e)
+        {
+            if (MainV2.cs.firmware != MainV2.Firmwares.ArduPlane)
+            {
+                geoFenceToolStripMenuItem.Enabled = false;
+            }
+            else
+            {
+                geoFenceToolStripMenuItem.Enabled = true;
+            }
+        }
     }
 }

Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx

@@ -537,11 +537,26 @@
   <data name="panel5.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
   </data>
+  <data name="BUT_write.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_write.Location" type="System.Drawing.Point, System.Drawing">
+    <value>7, 32</value>
+  </data>
+  <data name="BUT_write.Size" type="System.Drawing.Size, System.Drawing">
+    <value>107, 23</value>
+  </data>
+  <data name="BUT_write.TabIndex" type="System.Int32, mscorlib">
+    <value>8</value>
+  </data>
+  <data name="BUT_write.Text" xml:space="preserve">
+    <value>Write WPs</value>
+  </data>
   <data name="&gt;&gt;BUT_write.Name" xml:space="preserve">
     <value>BUT_write</value>
   </data>
   <data name="&gt;&gt;BUT_write.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4637.40284, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.38701, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_write.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -549,11 +564,26 @@
   <data name="&gt;&gt;BUT_write.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
+  <data name="BUT_read.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="BUT_read.Location" type="System.Drawing.Point, System.Drawing">
+    <value>6, 4</value>
+  </data>
+  <data name="BUT_read.Size" type="System.Drawing.Size, System.Drawing">
+    <value>107, 23</value>
+  </data>
+  <data name="BUT_read.TabIndex" type="System.Int32, mscorlib">
+    <value>7</value>
+  </data>
+  <data name="BUT_read.Text" xml:space="preserve">
+    <value>Read WPs</value>
+  </data>
   <data name="&gt;&gt;BUT_read.Name" xml:space="preserve">
     <value>BUT_read</value>
   </data>
   <data name="&gt;&gt;BUT_read.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4637.40284, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.38701, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_read.Parent" xml:space="preserve">
     <value>panel5</value>
@@ -582,168 +612,9 @@
   <data name="&gt;&gt;panel5.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
-  <data name="BUT_write.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="BUT_write.Location" type="System.Drawing.Point, System.Drawing">
-    <value>7, 32</value>
-  </data>
-  <data name="BUT_write.Size" type="System.Drawing.Size, System.Drawing">
-    <value>107, 23</value>
-  </data>
-  <data name="BUT_write.TabIndex" type="System.Int32, mscorlib">
-    <value>8</value>
-  </data>
-  <data name="BUT_write.Text" xml:space="preserve">
-    <value>Write WPs</value>
-  </data>
-  <data name="&gt;&gt;BUT_write.Name" xml:space="preserve">
-    <value>BUT_write</value>
-  </data>
-  <data name="&gt;&gt;BUT_write.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4637.40284, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;BUT_write.Parent" xml:space="preserve">
-    <value>panel5</value>
-  </data>
-  <data name="&gt;&gt;BUT_write.ZOrder" xml:space="preserve">
-    <value>0</value>
-  </data>
-  <data name="BUT_read.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="BUT_read.Location" type="System.Drawing.Point, System.Drawing">
-    <value>6, 4</value>
-  </data>
-  <data name="BUT_read.Size" type="System.Drawing.Size, System.Drawing">
-    <value>107, 23</value>
-  </data>
-  <data name="BUT_read.TabIndex" type="System.Int32, mscorlib">
-    <value>7</value>
-  </data>
-  <data name="BUT_read.Text" xml:space="preserve">
-    <value>Read WPs</value>
-  </data>
-  <data name="&gt;&gt;BUT_read.Name" xml:space="preserve">
-    <value>BUT_read</value>
-  </data>
-  <data name="&gt;&gt;BUT_read.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4637.40284, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;BUT_read.Parent" xml:space="preserve">
-    <value>panel5</value>
-  </data>
-  <data name="&gt;&gt;BUT_read.ZOrder" xml:space="preserve">
-    <value>1</value>
-  </data>
   <data name="panel1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
   </data>
-  <data name="&gt;&gt;label4.Name" xml:space="preserve">
-    <value>label4</value>
-  </data>
-  <data name="&gt;&gt;label4.Type" xml:space="preserve">
-    <value>System.Windows.Forms.LinkLabel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label4.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;label4.ZOrder" xml:space="preserve">
-    <value>0</value>
-  </data>
-  <data name="&gt;&gt;label3.Name" xml:space="preserve">
-    <value>label3</value>
-  </data>
-  <data name="&gt;&gt;label3.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label3.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;label3.ZOrder" xml:space="preserve">
-    <value>1</value>
-  </data>
-  <data name="&gt;&gt;label2.Name" xml:space="preserve">
-    <value>label2</value>
-  </data>
-  <data name="&gt;&gt;label2.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label2.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;label2.ZOrder" xml:space="preserve">
-    <value>2</value>
-  </data>
-  <data name="&gt;&gt;Label1.Name" xml:space="preserve">
-    <value>Label1</value>
-  </data>
-  <data name="&gt;&gt;Label1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;Label1.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;Label1.ZOrder" xml:space="preserve">
-    <value>3</value>
-  </data>
-  <data name="&gt;&gt;TXT_homealt.Name" xml:space="preserve">
-    <value>TXT_homealt</value>
-  </data>
-  <data name="&gt;&gt;TXT_homealt.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;TXT_homealt.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;TXT_homealt.ZOrder" xml:space="preserve">
-    <value>4</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelng.Name" xml:space="preserve">
-    <value>TXT_homelng</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelng.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelng.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelng.ZOrder" xml:space="preserve">
-    <value>5</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelat.Name" xml:space="preserve">
-    <value>TXT_homelat</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelat.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelat.Parent" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;TXT_homelat.ZOrder" xml:space="preserve">
-    <value>6</value>
-  </data>
-  <data name="panel1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>8, 365</value>
-  </data>
-  <data name="panel1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>117, 89</value>
-  </data>
-  <data name="panel1.TabIndex" type="System.Int32, mscorlib">
-    <value>31</value>
-  </data>
-  <data name="&gt;&gt;panel1.Name" xml:space="preserve">
-    <value>panel1</value>
-  </data>
-  <data name="&gt;&gt;panel1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;panel1.Parent" xml:space="preserve">
-    <value>panelAction</value>
-  </data>
-  <data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
-    <value>1</value>
-  </data>
   <data name="label4.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
@@ -927,6 +798,27 @@
   <data name="&gt;&gt;TXT_homelat.ZOrder" xml:space="preserve">
     <value>6</value>
   </data>
+  <data name="panel1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>8, 365</value>
+  </data>
+  <data name="panel1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>117, 89</value>
+  </data>
+  <data name="panel1.TabIndex" type="System.Int32, mscorlib">
+    <value>31</value>
+  </data>
+  <data name="&gt;&gt;panel1.Name" xml:space="preserve">
+    <value>panel1</value>
+  </data>
+  <data name="&gt;&gt;panel1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;panel1.Parent" xml:space="preserve">
+    <value>panelAction</value>
+  </data>
+  <data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
   <data name="dataGridViewImageColumn1.HeaderText" xml:space="preserve">
     <value>Up</value>
   </data>
@@ -966,111 +858,6 @@
   <data name="panel2.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
   </data>
-  <data name="&gt;&gt;label7.Name" xml:space="preserve">
-    <value>label7</value>
-  </data>
-  <data name="&gt;&gt;label7.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label7.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;label7.ZOrder" xml:space="preserve">
-    <value>0</value>
-  </data>
-  <data name="&gt;&gt;label8.Name" xml:space="preserve">
-    <value>label8</value>
-  </data>
-  <data name="&gt;&gt;label8.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label8.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;label8.ZOrder" xml:space="preserve">
-    <value>1</value>
-  </data>
-  <data name="&gt;&gt;label9.Name" xml:space="preserve">
-    <value>label9</value>
-  </data>
-  <data name="&gt;&gt;label9.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label9.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;label9.ZOrder" xml:space="preserve">
-    <value>2</value>
-  </data>
-  <data name="&gt;&gt;label10.Name" xml:space="preserve">
-    <value>label10</value>
-  </data>
-  <data name="&gt;&gt;label10.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label10.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;label10.ZOrder" xml:space="preserve">
-    <value>3</value>
-  </data>
-  <data name="&gt;&gt;TXT_mousealt.Name" xml:space="preserve">
-    <value>TXT_mousealt</value>
-  </data>
-  <data name="&gt;&gt;TXT_mousealt.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;TXT_mousealt.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;TXT_mousealt.ZOrder" xml:space="preserve">
-    <value>4</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselong.Name" xml:space="preserve">
-    <value>TXT_mouselong</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselong.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselong.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselong.ZOrder" xml:space="preserve">
-    <value>5</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselat.Name" xml:space="preserve">
-    <value>TXT_mouselat</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselat.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselat.Parent" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;TXT_mouselat.ZOrder" xml:space="preserve">
-    <value>6</value>
-  </data>
-  <data name="panel2.Location" type="System.Drawing.Point, System.Drawing">
-    <value>8, 177</value>
-  </data>
-  <data name="panel2.Size" type="System.Drawing.Size, System.Drawing">
-    <value>114, 79</value>
-  </data>
-  <data name="panel2.TabIndex" type="System.Int32, mscorlib">
-    <value>38</value>
-  </data>
-  <data name="&gt;&gt;panel2.Name" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;panel2.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;panel2.Parent" xml:space="preserve">
-    <value>panelAction</value>
-  </data>
-  <data name="&gt;&gt;panel2.ZOrder" xml:space="preserve">
-    <value>2</value>
-  </data>
   <data name="label7.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
@@ -1254,6 +1041,27 @@
   <data name="&gt;&gt;TXT_mouselat.ZOrder" xml:space="preserve">
     <value>6</value>
   </data>
+  <data name="panel2.Location" type="System.Drawing.Point, System.Drawing">
+    <value>8, 177</value>
+  </data>
+  <data name="panel2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>114, 79</value>
+  </data>
+  <data name="panel2.TabIndex" type="System.Int32, mscorlib">
+    <value>38</value>
+  </data>
+  <data name="&gt;&gt;panel2.Name" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;panel2.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;panel2.Parent" xml:space="preserve">
+    <value>panelAction</value>
+  </data>
+  <data name="&gt;&gt;panel2.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
   <data name="lbl_status.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
   </data>
@@ -1314,9 +1122,6 @@
   <data name="&gt;&gt;splitter1.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
-  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>172, 17</value>
-  </metadata>
   <data name="BUT_Add.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
@@ -1332,6 +1137,9 @@
   <data name="BUT_Add.Text" xml:space="preserve">
     <value>Add Below</value>
   </data>
+  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>172, 17</value>
+  </metadata>
   <data name="BUT_Add.ToolTip" xml:space="preserve">
     <value>Add a line to the grid bellow</value>
   </data>
@@ -1339,7 +1147,7 @@
     <value>BUT_Add</value>
   </data>
   <data name="&gt;&gt;BUT_Add.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4637.40284, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyButton, ArdupilotMegaPlanner10, Version=1.1.4708.38701, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_Add.Parent" xml:space="preserve">
     <value>panelWaypoints</value>
@@ -1530,12 +1338,42 @@
   <data name="deleteWPToolStripMenuItem.Text" xml:space="preserve">
     <value>Delete WP</value>
   </data>
+  <data name="loiterForeverToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>113, 22</value>
+  </data>
+  <data name="loiterForeverToolStripMenuItem.Text" xml:space="preserve">
+    <value>Forever</value>
+  </data>
+  <data name="loitertimeToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>113, 22</value>
+  </data>
+  <data name="loitertimeToolStripMenuItem.Text" xml:space="preserve">
+    <value>Time</value>
+  </data>
+  <data name="loitercirclesToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>113, 22</value>
+  </data>
+  <data name="loitercirclesToolStripMenuItem.Text" xml:space="preserve">
+    <value>Circles</value>
+  </data>
   <data name="loiterToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>152, 22</value>
   </data>
   <data name="loiterToolStripMenuItem.Text" xml:space="preserve">
     <value>Loiter</value>
   </data>
+  <data name="jumpstartToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>102, 22</value>
+  </data>
+  <data name="jumpstartToolStripMenuItem.Text" xml:space="preserve">
+    <value>Start</value>
+  </data>
+  <data name="jumpwPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>102, 22</value>
+  </data>
+  <data name="jumpwPToolStripMenuItem.Text" xml:space="preserve">
+    <value>WP #</value>
+  </data>
   <data name="jumpToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>152, 22</value>
   </data>
@@ -1605,24 +1443,147 @@
   <data name="polygonToolStripMenuItem.Text" xml:space="preserve">
     <value>Draw Polygon</value>
   </data>
+  <data name="toolStripMenuItem1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>177, 22</value>
+  </data>
+  <data name="toolStripMenuItem1.Text" xml:space="preserve">
+    <value>Complex</value>
+  </data>
+  <data name="toolStripSeparator4.Size" type="System.Drawing.Size, System.Drawing">
+    <value>174, 6</value>
+  </data>
+  <data name="GeoFenceuploadToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>177, 22</value>
+  </data>
+  <data name="GeoFenceuploadToolStripMenuItem.Text" xml:space="preserve">
+    <value>Upload</value>
+  </data>
+  <data name="GeoFencedownloadToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>177, 22</value>
+  </data>
+  <data name="GeoFencedownloadToolStripMenuItem.Text" xml:space="preserve">
+    <value>Download</value>
+  </data>
+  <data name="setReturnLocationToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>177, 22</value>
+  </data>
+  <data name="setReturnLocationToolStripMenuItem.Text" xml:space="preserve">
+    <value>Set Return Location</value>
+  </data>
+  <data name="loadFromFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>177, 22</value>
+  </data>
+  <data name="loadFromFileToolStripMenuItem.Text" xml:space="preserve">
+    <value>Load from File</value>
+  </data>
+  <data name="saveToFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>177, 22</value>
+  </data>
+  <data name="saveToFileToolStripMenuItem.Text" xml:space="preserve">
+    <value>Save to File</value>
+  </data>
   <data name="geoFenceToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>152, 22</value>
   </data>
   <data name="geoFenceToolStripMenuItem.Text" xml:space="preserve">
     <value>Geo-Fence</value>
   </data>
+  <data name="createWpCircleToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>162, 22</value>
+  </data>
+  <data name="createWpCircleToolStripMenuItem.Text" xml:space="preserve">
+    <value>Create Wp Circle</value>
+  </data>
+  <data name="gridToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>162, 22</value>
+  </data>
+  <data name="gridToolStripMenuItem.Text" xml:space="preserve">
+    <value>Grid</value>
+  </data>
+  <data name="gridV2ToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>162, 22</value>
+  </data>
+  <data name="gridV2ToolStripMenuItem.Text" xml:space="preserve">
+    <value>GridV2</value>
+  </data>
   <data name="autoWPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>152, 22</value>
   </data>
   <data name="autoWPToolStripMenuItem.Text" xml:space="preserve">
     <value>Auto WP</value>
   </data>
+  <data name="ContextMeasure.Size" type="System.Drawing.Size, System.Drawing">
+    <value>167, 22</value>
+  </data>
+  <data name="ContextMeasure.Text" xml:space="preserve">
+    <value>Measure Distance</value>
+  </data>
+  <data name="rotateMapToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>167, 22</value>
+  </data>
+  <data name="rotateMapToolStripMenuItem.Text" xml:space="preserve">
+    <value>Rotate Map</value>
+  </data>
+  <data name="zoomToToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>167, 22</value>
+  </data>
+  <data name="zoomToToolStripMenuItem.Text" xml:space="preserve">
+    <value>Zoom To</value>
+  </data>
+  <data name="prefetchToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>167, 22</value>
+  </data>
+  <data name="prefetchToolStripMenuItem.Text" xml:space="preserve">
+    <value>Prefetch</value>
+  </data>
+  <data name="kMLOverlayToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>167, 22</value>
+  </data>
+  <data name="kMLOverlayToolStripMenuItem.Text" xml:space="preserve">
+    <value>KML Overlay</value>
+  </data>
+  <data name="elevationGraphToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>167, 22</value>
+  </data>
+  <data name="elevationGraphToolStripMenuItem.Text" xml:space="preserve">
+    <value>Elevation Graph</value>
+  </data>
+  <data name="cameraToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>167, 22</value>
+  </data>
+  <data name="cameraToolStripMenuItem.Text" xml:space="preserve">
+    <value>Camera</value>
+  </data>
+  <data name="reverseWPsToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>167, 22</value>
+  </data>
+  <data name="reverseWPsToolStripMenuItem.Text" xml:space="preserve">
+    <value>Reverse WPs</value>
+  </data>
   <data name="mapToolToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>152, 22</value>
   </data>
   <data name="mapToolToolStripMenuItem.Text" xml:space="preserve">
     <value>Map Tool</value>
   </data>
+  <data name="loadWPFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>168, 22</value>
+  </data>
+  <data name="loadWPFileToolStripMenuItem.Text" xml:space="preserve">
+    <value>Load WP File</value>
+  </data>
+  <data name="loadAndAppendToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>168, 22</value>
+  </data>
+  <data name="loadAndAppendToolStripMenuItem.Text" xml:space="preserve">
+    <value>Load and Append</value>
+  </data>
+  <data name="saveWPFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>168, 22</value>
+  </data>
+  <data name="saveWPFileToolStripMenuItem.Text" xml:space="preserve">
+    <value>Save WP File</value>
+  </data>
   <data name="fileLoadSaveToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>152, 22</value>
   </data>
@@ -1811,7 +1772,7 @@
     <value>MainMap</value>
   </data>
   <data name="&gt;&gt;MainMap.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4637.40284, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.myGMAP, ArdupilotMegaPlanner10, Version=1.1.4708.38701, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;MainMap.Parent" xml:space="preserve">
     <value>panelMap</value>
@@ -1841,7 +1802,7 @@
     <value>trackBar1</value>
   </data>
   <data name="&gt;&gt;trackBar1.Type" xml:space="preserve">
-    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4637.40284, Culture=neutral, PublicKeyToken=null</value>
+    <value>ArdupilotMega.Controls.MyTrackBar, ArdupilotMegaPlanner10, Version=1.1.4708.38701, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;trackBar1.Parent" xml:space="preserve">
     <value>panelMap</value>
@@ -1909,159 +1870,6 @@
   <data name="&gt;&gt;panelMap.ZOrder" xml:space="preserve">
     <value>1</value>
   </data>
-  <data name="loiterForeverToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>113, 22</value>
-  </data>
-  <data name="loiterForeverToolStripMenuItem.Text" xml:space="preserve">
-    <value>Forever</value>
-  </data>
-  <data name="loitertimeToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>113, 22</value>
-  </data>
-  <data name="loitertimeToolStripMenuItem.Text" xml:space="preserve">
-    <value>Time</value>
-  </data>
-  <data name="loitercirclesToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>113, 22</value>
-  </data>
-  <data name="loitercirclesToolStripMenuItem.Text" xml:space="preserve">
-    <value>Circles</value>
-  </data>
-  <data name="jumpstartToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>102, 22</value>
-  </data>
-  <data name="jumpstartToolStripMenuItem.Text" xml:space="preserve">
-    <value>Start</value>
-  </data>
-  <data name="jumpwPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>102, 22</value>
-  </data>
-  <data name="jumpwPToolStripMenuItem.Text" xml:space="preserve">
-    <value>WP #</value>
-  </data>
-  <data name="toolStripMenuItem1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>177, 22</value>
-  </data>
-  <data name="toolStripMenuItem1.Text" xml:space="preserve">
-    <value>Complex</value>
-  </data>
-  <data name="toolStripSeparator4.Size" type="System.Drawing.Size, System.Drawing">
-    <value>174, 6</value>
-  </data>
-  <data name="GeoFenceuploadToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>177, 22</value>
-  </data>
-  <data name="GeoFenceuploadToolStripMenuItem.Text" xml:space="preserve">
-    <value>Upload</value>
-  </data>
-  <data name="GeoFencedownloadToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>177, 22</value>
-  </data>
-  <data name="GeoFencedownloadToolStripMenuItem.Text" xml:space="preserve">
-    <value>Download</value>
-  </data>
-  <data name="setReturnLocationToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>177, 22</value>
-  </data>
-  <data name="setReturnLocationToolStripMenuItem.Text" xml:space="preserve">
-    <value>Set Return Location</value>
-  </data>
-  <data name="loadFromFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>177, 22</value>
-  </data>
-  <data name="loadFromFileToolStripMenuItem.Text" xml:space="preserve">
-    <value>Load from File</value>
-  </data>
-  <data name="saveToFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>177, 22</value>
-  </data>
-  <data name="saveToFileToolStripMenuItem.Text" xml:space="preserve">
-    <value>Save to File</value>
-  </data>
-  <data name="createWpCircleToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>162, 22</value>
-  </data>
-  <data name="createWpCircleToolStripMenuItem.Text" xml:space="preserve">
-    <value>Create Wp Circle</value>
-  </data>
-  <data name="gridToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>162, 22</value>
-  </data>
-  <data name="gridToolStripMenuItem.Text" xml:space="preserve">
-    <value>Grid</value>
-  </data>
-  <data name="gridV2ToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>162, 22</value>
-  </data>
-  <data name="gridV2ToolStripMenuItem.Text" xml:space="preserve">
-    <value>GridV2</value>
-  </data>
-  <data name="ContextMeasure.Size" type="System.Drawing.Size, System.Drawing">
-    <value>167, 22</value>
-  </data>
-  <data name="ContextMeasure.Text" xml:space="preserve">
-    <value>Measure Distance</value>
-  </data>
-  <data name="rotateMapToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>167, 22</value>
-  </data>
-  <data name="rotateMapToolStripMenuItem.Text" xml:space="preserve">
-    <value>Rotate Map</value>
-  </data>
-  <data name="zoomToToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>167, 22</value>
-  </data>
-  <data name="zoomToToolStripMenuItem.Text" xml:space="preserve">
-    <value>Zoom To</value>
-  </data>
-  <data name="prefetchToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>167, 22</value>
-  </data>
-  <data name="prefetchToolStripMenuItem.Text" xml:space="preserve">
-    <value>Prefetch</value>
-  </data>
-  <data name="kMLOverlayToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>167, 22</value>
-  </data>
-  <data name="kMLOverlayToolStripMenuItem.Text" xml:space="preserve">
-    <value>KML Overlay</value>
-  </data>
-  <data name="elevationGraphToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>167, 22</value>
-  </data>
-  <data name="elevationGraphToolStripMenuItem.Text" xml:space="preserve">
-    <value>Elevation Graph</value>
-  </data>
-  <data name="cameraToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>167, 22</value>
-  </data>
-  <data name="cameraToolStripMenuItem.Text" xml:space="preserve">
-    <value>Camera</value>
-  </data>
-  <data name="reverseWPsToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>167, 22</value>
-  </data>
-  <data name="reverseWPsToolStripMenuItem.Text" xml:space="preserve">
-    <value>Reverse WPs</value>
-  </data>
-  <data name="loadWPFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>168, 22</value>
-  </data>
-  <data name="loadWPFileToolStripMenuItem.Text" xml:space="preserve">
-    <value>Load WP File</value>
-  </data>
-  <data name="loadAndAppendToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>168, 22</value>
-  </data>
-  <data name="loadAndAppendToolStripMenuItem.Text" xml:space="preserve">
-    <value>Load and Append</value>
-  </data>
-  <data name="saveWPFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>168, 22</value>
-  </data>
-  <data name="saveWPFileToolStripMenuItem.Text" xml:space="preserve">
-    <value>Save WP File</value>
-  </data>
   <data name="panelBASE.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Fill</value>
   </data>
@@ -2086,9 +1894,6 @@
   <data name="&gt;&gt;panelBASE.ZOrder" xml:space="preserve">
     <value>1</value>
   </data>
-  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>172, 17</value>
-  </metadata>
   <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>269, 17</value>
   </metadata>
@@ -2284,6 +2089,18 @@
   <data name="&gt;&gt;clearPolygonToolStripMenuItem.Type" xml:space="preserve">
     <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
+  <data name="&gt;&gt;savePolygonToolStripMenuItem.Name" xml:space="preserve">
+    <value>savePolygonToolStripMenuItem</value>
+  </data>
+  <data name="&gt;&gt;savePolygonToolStripMenuItem.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;loadPolygonToolStripMenuItem.Name" xml:space="preserve">
+    <value>loadPolygonToolStripMenuItem</value>
+  </data>
+  <data name="&gt;&gt;loadPolygonToolStripMenuItem.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
   <data name="&gt;&gt;geoFenceToolStripMenuItem.Name" xml:space="preserve">
     <value>geoFenceToolStripMenuItem</value>
   </data>
@@ -2458,22 +2275,10 @@
   <data name="&gt;&gt;timer1.Type" xml:space="preserve">
     <value>System.Windows.Forms.Timer, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;savePolygonToolStripMenuItem.Name" xml:space="preserve">
-    <value>savePolygonToolStripMenuItem</value>
-  </data>
-  <data name="&gt;&gt;savePolygonToolStripMenuItem.Type" xml:space="preserve">
-    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;loadPolygonToolStripMenuItem.Name" xml:space="preserve">
-    <value>loadPolygonToolStripMenuItem</value>
-  </data>
-  <data name="&gt;&gt;loadPolygonToolStripMenuItem.Type" xml:space="preserve">
-    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
   <data name="&gt;&gt;$this.Name" xml:space="preserve">
     <value>FlightPlanner</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4637.40284, Culture=neutral, PublicKeyToken=null</value>
+    <value>System.Windows.Forms.MyUserControl, ArdupilotMegaPlanner10, Version=1.1.4708.38701, Culture=neutral, PublicKeyToken=null</value>
   </data>
 </root>

Tools/ArdupilotMegaPlanner/HIL/Aircraft.cs

@@ -27,7 +27,6 @@ namespace ArdupilotMega.HIL
 
         public Vector3 velocity = new Vector3(0, 0, 0); //# m/s, North, East, Up
         public Vector3 position = new Vector3(0, 0, 0); //# m North, East, Up
-        public Vector3 accel = new Vector3(0, 0, 0); //# m/s/s North, East, Up
         public double mass = 0.0;
         public double update_frequency = 50;//# in Hz
         public double gravity = 9.80665;//# m/s/s
@@ -37,6 +36,8 @@ namespace ArdupilotMega.HIL
         public double pitch = 0; 
         public double yaw = 0;
 
+        public Wind wind = new Wind("0,0,0");
+
         public Aircraft()
         {
             self = this;

Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs

@@ -130,13 +130,13 @@ namespace ArdupilotMega.HIL
             self = this;
 
             motors = Motor.build_motors(frame);
-
+            motor_speed = new double[motors.Length];
             mass = 1.0;// # Kg
             frame_height = 0.1;
-            motor_speed = new double[motors.Length];
+            
             hover_throttle = 0.37;
             terminal_velocity = 30.0;
-            terminal_rotation_rate = 4 * 360.0 * deg2rad;
+            terminal_rotation_rate = 4 * (360.0 * deg2rad);
 
             thrust_scale = (mass * gravity) / (motors.Length * hover_throttle);
 
@@ -220,8 +220,9 @@ namespace ArdupilotMega.HIL
             Vector3 accel_earth = self.dcm * accel_body;
             accel_earth += new Vector3(0, 0, self.gravity);
             accel_earth += air_resistance;
-            // add in some wind
+
-            //  accel_earth += self.wind.accel(self.velocity);
+            // add in some wind (turn force into accel by dividing by mass).
+            accel_earth += self.wind.drag(self.velocity) / self.mass;
 
             // if we're on the ground, then our vertical acceleration is limited
             // to zero. This effectively adds the force of the ground on the aircraft

Tools/ArdupilotMegaPlanner/HIL/Utils.cs

@@ -20,6 +20,10 @@ namespace ArdupilotMega.HIL
         {
             return System.Math.Cos(val);
         }
+        public static double acos(double val)
+        {
+            return System.Math.Acos(val);
+        }
         public static double asin(double val)
         {
             return System.Math.Asin(val);
@@ -61,6 +65,11 @@ namespace ArdupilotMega.HIL
             return System.Math.Tan(val);
         }
 
+        public static int len(object[] data) 
+        {
+            return data.Length;
+        }
+
 
         public static Tuple<double, double, double> EarthRatesToBodyRates(double roll, double pitch, double yaw,
                                  double rollRate, double pitchRate, double yawRate)

Tools/ArdupilotMegaPlanner/HIL/Wind.cs

@@ -0,0 +1,216 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace ArdupilotMega.HIL
+{
+    public class Wind : Utils
+    {
+        Wind self;
+        public float speed;
+        public float direction;
+        public float turbulance;
+        public double cross_section;
+            public double turbulance_time_constant;
+            public DateTime tlast;
+            public double turbulance_mul;
+
+          //'''a wind generation object//'''
+    public Wind (string windstring, double cross_section=0.1) {
+
+        self = this;
+
+        string[] a = windstring.Split(',');
+        if (Utils.len(a) != 3)
+        {
+            return;
+            //raise RuntimeError("Expected wind in speed,direction,turbulance form, not %s" % windstring);
+        }
+        self.speed     = float.Parse(a[0]); //# m/s
+        self.direction = float.Parse(a[1]); //# direction the wind is going in
+        self.turbulance= float.Parse(a[2]); //# turbulance factor (standard deviation)
+
+        //# the cross-section of the aircraft to wind. This is multiplied by the
+        //# difference in the wind and the velocity of the aircraft to give the acceleration
+        self.cross_section = cross_section;
+
+        //# the time constant for the turbulance - the average period of the
+        //# changes over time
+        self.turbulance_time_constant = 5.0;
+
+        //# wind time record
+        self.tlast = DateTime.Now;
+
+        //# initial turbulance multiplier
+        self.turbulance_mul = 1.0;
+    }
+
+        public void current(double deltat, out double speed, out double direction) {
+        //'''return current wind speed and direction as a tuple
+        //speed is in m/s, direction in degrees
+        //'''
+        if (deltat == 0) {
+            DateTime tnow = DateTime.Now;
+            deltat = (tnow - self.tlast).TotalSeconds;
+            self.tlast = tnow;
+        }
+
+        //# update turbulance random walk
+        double w_delta = Utils.sqrt(deltat) * (1.0 - new GaussianRandom().NextGaussian(1.0, self.turbulance));
+        w_delta -= (self.turbulance_mul-1.0)*(deltat/self.turbulance_time_constant);
+        self.turbulance_mul += w_delta;
+        speed = self.speed * (float)Utils.fabs(self.turbulance_mul);
+
+        direction = self.direction;
+        }
+
+    //# Calculate drag.
+        public Vector3 drag(Vector3 velocity, double deltat = 0)//, testing=None) 
+    {
+        //'''return current wind force in Earth frame.  The velocity parameter is
+        //   a Vector3 of the current velocity of the aircraft in earth frame, m/s//'''
+
+        //# (m/s, degrees) : wind vector as a magnitude and angle.
+        double speed, direction;
+        self.current(deltat,out speed,out direction);
+        //# speed = self.speed
+        //# direction = self.direction
+
+        //# Get the wind vector.
+        Vector3 w = toVec(speed, Utils.radians(direction));
+
+        double obj_speed = velocity.length();
+
+        //# Compute the angle between the object vector and wind vector by taking
+        //# the dot product and dividing by the magnitudes.
+        double alpha = 0;
+        double d = w.length() * obj_speed;
+        if (d == 0) {
+            alpha = 0;
+        }else{
+            int checkme;
+            alpha = Utils.acos(((w * velocity).length() / d));
+        }
+
+        //# Get the relative wind speed and angle from the object.  Note that the
+        //# relative wind speed includes the velocity of the object; i.e., there
+        //# is a headwind equivalent to the object's speed even if there is no
+        //# absolute wind.
+        double rel_speed, beta;
+        apparent_wind(speed, obj_speed, alpha,out rel_speed,out beta);
+
+        //# Return the vector of the relative wind, relative to the coordinate
+        //# system.
+        Vector3 relWindVec = toVec(rel_speed, beta + Utils.atan2(velocity.y, velocity.x));
+
+        //# Combine them to get the acceleration vector.
+        return new Vector3( acc(relWindVec.x, drag_force(self, relWindVec.x))
+                      , acc(relWindVec.y, drag_force(self, relWindVec.y))
+                      , 0 );
+    }
+//# http://en.wikipedia.org/wiki/Apparent_wind
+//#
+//# Returns apparent wind speed and angle of apparent wind.  Alpha is the angle
+//# between the object and the true wind.  alpha of 0 rads is a headwind; pi a
+//# tailwind.  Speeds should always be positive.
+    public void apparent_wind(double wind_sp, double obj_speed, double alpha, out double rel_speed, out double beta)
+    {
+        double delta = wind_sp * Utils.cos(alpha);
+        double x = Math.Pow(wind_sp, 2) + Math.Pow(obj_speed, 2) + 2 * obj_speed * delta;
+        rel_speed = Utils.sqrt(x);
+        if (rel_speed == 0)
+        {
+            beta = Math.PI;
+        }
+        else
+        {
+            beta = acos((delta + obj_speed) / rel_speed);
+        }
+    }
+
+//# See http://en.wikipedia.org/wiki/Drag_equation
+//#
+//# Drag equation is F(a) = cl * p/2 * v^2 * a, where cl : drag coefficient
+//# (let's assume it's low, .e.g., 0.2), p : density of air (assume about 1
+//# kg/m^3, the density just over 1500m elevation), v : relative speed of wind
+//# (to the body), a : area acted on (this is captured by the cross_section
+//# paramter).
+//# 
+//# So then we have 
+//# F(a) = 0.2 * 1/2 * v^2 * cross_section = 0.1 * v^2 * cross_section
+public double drag_force(Wind wind, double sp){ 
+    return (Math.Pow(sp,2.0)) * 0.1 * wind.cross_section;
+}
+
+//# Function to make the force vector.  relWindVec is the direction the apparent
+//# wind comes *from*.  We want to compute the accleration vector in the direction
+//# the wind blows to.
+public double acc(double val,double mag){
+    if (val == 0) {
+        return mag;
+    }else{
+        return (val / Utils.fabs(val)) * (0 - mag);
+    }
+}
+//# Converts a magnitude and angle (radians) to a vector in the xy plane.
+public Vector3 toVec(double magnitude, double angle)
+{
+    Vector3 v = new Vector3(magnitude, 0, 0);
+    Matrix3 m = new Matrix3();
+    m.from_euler(0, 0, angle);
+    return m.transposed() * v;
+}
+    }
+
+    public sealed class GaussianRandom
+    {
+        private bool _hasDeviate;
+        private double _storedDeviate;
+        private readonly Random _random;
+
+        public GaussianRandom(Random random = null)
+        {
+            _random = random ?? new Random();
+        }
+
+        /// <summary>
+        /// Obtains normally (Gaussian) distributed random numbers, using the Box-Muller
+        /// transformation.  This transformation takes two uniformly distributed deviates
+        /// within the unit circle, and transforms them into two independently
+        /// distributed normal deviates.
+        /// </summary>
+        /// <param name="mu">The mean of the distribution.  Default is zero.</param>
+        /// <param name="sigma">The standard deviation of the distribution.  Default is one.</param>
+        /// <returns></returns>
+        public double NextGaussian(double mu = 0, double sigma = 1)
+        {
+            if (sigma <= 0)
+                throw new ArgumentOutOfRangeException("sigma", "Must be greater than zero.");
+
+            if (_hasDeviate)
+            {
+                _hasDeviate = false;
+                return _storedDeviate * sigma + mu;
+            }
+
+            double v1, v2, rSquared;
+            do
+            {
+                // two random values between -1.0 and 1.0
+                v1 = 2 * _random.NextDouble() - 1;
+                v2 = 2 * _random.NextDouble() - 1;
+                rSquared = v1 * v1 + v2 * v2;
+                // ensure within the unit circle
+            } while (rSquared >= 1 || rSquared == 0);
+
+            // calculate polar tranformation for each deviate
+            var polar = Math.Sqrt(-2 * Math.Log(rSquared) / rSquared);
+            // store first deviate
+            _storedDeviate = v2 * polar;
+            _hasDeviate = true;
+            // return second deviate
+            return v1 * polar * sigma + mu;
+        }
+    }
+}

Tools/ArdupilotMegaPlanner/MainV2.cs

@@ -122,7 +122,8 @@ namespace ArdupilotMega
         {
             ArduPlane,
             ArduCopter2,
-            ArduRover
+            ArduRover,
+            Ateryx
         }
 
         DateTime connectButtonUpdate = DateTime.Now;
@@ -151,7 +152,7 @@ namespace ArdupilotMega
         {
             log.Info("Mainv2 ctor");
 
-            Form splash = new Splash();
+            Form splash = Program.Splash;
             splash.Show();
 
             string strVersion = System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
@@ -1588,6 +1589,40 @@ namespace ArdupilotMega
                         GCSViews.FlightData.myhud.streamjpgenable = false;
                         stream.Close();
 
+                    }
+                    else if (url.Contains("guided?"))
+                    {
+                        //http://127.0.0.1:56781/guided?lat=-34&lng=117.8&alt=30
+
+                        Regex rex = new Regex(@"lat=([\-\.0-9]+)&lng=([\-\.0-9]+)&alt=([\.0-9]+)",RegexOptions.IgnoreCase);
+
+                        Match match = rex.Match(url);
+
+                        if (match.Success)
+                        {
+                            Locationwp gwp = new Locationwp()
+                            {
+                                lat = float.Parse(match.Groups[1].Value),
+                                lng = float.Parse(match.Groups[2].Value),
+                                alt = float.Parse(match.Groups[3].Value)
+                            };
+                            try
+                            {
+                                comPort.setGuidedModeWP(gwp);
+                            }
+                            catch { }
+
+                            string header = "HTTP/1.1 200 OK\r\n\r\nSent Guide Mode Wp";
+                            byte[] temp = asciiEncoding.GetBytes(header);
+                            stream.Write(temp, 0, temp.Length);
+                        }
+                        else
+                        {
+                            string header = "HTTP/1.1 200 OK\r\n\r\nFailed Guide Mode Wp";
+                            byte[] temp = asciiEncoding.GetBytes(header);
+                            stream.Write(temp, 0, temp.Length);
+                        }
+
                     }
                     stream.Close();
                 }

Tools/ArdupilotMegaPlanner/Mavlink/MAVLink.cs

@@ -109,6 +109,7 @@ namespace ArdupilotMega
         /// mavlink ap type
         /// </summary>
         public MAV_TYPE aptype { get; set; }
+        public MAV_AUTOPILOT apname { get; set; }
         /// <summary>
         /// used as a snapshot of what is loaded on the ap atm. - derived from the stream
         /// </summary>
@@ -161,6 +162,7 @@ namespace ArdupilotMega
             this.oldlogformat = false;
             this.mavlinkversion = 0;
             this.aptype = 0;
+            this.apname = 0;
             this.debugmavlink = false;
             this.logreadmode = false;
             this.lastlogread = DateTime.MinValue;
@@ -369,6 +371,7 @@ namespace ArdupilotMega
 
                         mavlinkversion = hb.mavlink_version;
                         aptype = (MAV_TYPE)hb.type;
+                        apname = (MAV_AUTOPILOT)hb.autopilot;
 
                         setAPType();
 
@@ -595,7 +598,6 @@ namespace ArdupilotMega
 
             byte[] temp = Encoding.ASCII.GetBytes(paramname);
 
-            modifyParamForDisplay(false, paramname, ref value);
 #if MAVLINK10
             Array.Resize(ref temp, 16);
 #else
@@ -649,8 +651,6 @@ namespace ArdupilotMega
                             continue;
                         }
 
-                        modifyParamForDisplay(true, st, ref par.param_value);
-
                         param[st] = (par.param_value);
 
                         MainV2.giveComport = false;
@@ -806,7 +806,6 @@ namespace ArdupilotMega
 
                         //Console.WriteLine(DateTime.Now.Millisecond + " gp2a ");
 
-                        modifyParamForDisplay(true, paramID, ref par.param_value);
                         param[paramID] = (par.param_value);
 
                         //Console.WriteLine(DateTime.Now.Millisecond + " gp2b ");
@@ -912,6 +911,7 @@ namespace ArdupilotMega
 
         public static void modifyParamForDisplay(bool fromapm, string paramname, ref float value)
         {
+
             if (paramname.ToUpper().EndsWith("_IMAX") || paramname.ToUpper().EndsWith("ALT_HOLD_RTL") || paramname.ToUpper().EndsWith("APPROACH_ALT") || paramname.ToUpper().EndsWith("TRIM_ARSPD_CM") || paramname.ToUpper().EndsWith("MIN_GNDSPD_CM")
                 || paramname.ToUpper().EndsWith("XTRK_ANGLE_CD") || paramname.ToUpper().EndsWith("LIM_PITCH_MAX") || paramname.ToUpper().EndsWith("LIM_PITCH_MIN")
                 || paramname.ToUpper().EndsWith("LIM_ROLL_CD") || paramname.ToUpper().EndsWith("PITCH_MAX") || paramname.ToUpper().EndsWith("WP_SPEED_MAX"))
@@ -2063,7 +2063,7 @@ namespace ArdupilotMega
                 if (ans != MAV_MISSION_RESULT.MAV_MISSION_ACCEPTED)
                     throw new Exception("Alt Change Failed");
             }
-            catch (Exception ex) { log.Error(ex); }
+            catch (Exception ex) { MainV2.giveComport = false; log.Error(ex); throw; }
 
             MainV2.giveComport = false;
         }
@@ -2545,7 +2545,14 @@ namespace ArdupilotMega
             }
             catch { }
 
+            if (buffer[3] == '3' && buffer[4] == 'D')
+            {
+                // dont update last packet time for 3dr radio packets
+            }
+            else
+            {
                 lastvalidpacket = DateTime.Now;
+            }
 
             //            Console.Write((DateTime.Now - start).TotalMilliseconds.ToString("00.000") + "\t" + temp.Length + "     \r");
 
@@ -2768,6 +2775,7 @@ namespace ArdupilotMega
 
                 mavlinkversion = hb.mavlink_version;
                 aptype = (MAV_TYPE)hb.type;
+                apname = (MAV_AUTOPILOT)hb.autopilot;
                 setAPType();
             }
 
@@ -2831,6 +2839,9 @@ namespace ArdupilotMega
 
         public void setAPType()
         {
+            switch (apname)
+            {
+                case MAV_AUTOPILOT.ARDUPILOTMEGA:
                     switch (aptype)
                     {
                         case MAVLink.MAV_TYPE.FIXED_WING:
@@ -2845,6 +2856,11 @@ namespace ArdupilotMega
                         default:
                             break;
                     }
+                    break;
+                case MAV_AUTOPILOT.UDB:
+
+                    break;
+            }
         }
 
     }

Tools/ArdupilotMegaPlanner/Msi/installer.wxs

@@ -31,7 +31,7 @@
                             <Permission User="Everyone" GenericAll="yes" /> 
                         </CreateFolder>
                     </Component>
-<Component Id="_comp1" Guid="01d030d2-3524-4ac5-be69-a60093fe5d2e">
+<Component Id="_comp1" Guid="d911f6e2-f253-439c-8dd9-5e5831b601aa">
 <File Id="_2" Source="..\bin\release\.gdbinit" />
 <File Id="_3" Source="..\bin\release\.gitignore" />
 <File Id="_4" Source="..\bin\release\aerosim3.91.txt" />
@@ -108,11 +108,11 @@
 <File Id="_75" Source="..\bin\release\ZedGraph.dll" />
 </Component>
 <Directory Id="aircraft75" Name="aircraft">
-<Component Id="_comp76" Guid="ace3c51a-1868-4f4c-86a8-67ab067f8ecc">
+<Component Id="_comp76" Guid="4c44492f-eb3d-4339-99b8-a1296f60bc6b">
 <File Id="_77" Source="..\bin\release\aircraft\placeholder.txt" />
 </Component>
 <Directory Id="arducopter77" Name="arducopter">
-<Component Id="_comp78" Guid="dcd19545-2515-4c27-b823-ad347a5b0c3d">
+<Component Id="_comp78" Guid="2f5c005a-1dc5-4c19-833f-b7dfc2c2b46a">
 <File Id="_79" Source="..\bin\release\aircraft\arducopter\arducopter-set.xml" />
 <File Id="_80" Source="..\bin\release\aircraft\arducopter\arducopter.jpg" />
 <File Id="_81" Source="..\bin\release\aircraft\arducopter\arducopter.xml" />
@@ -123,20 +123,20 @@
 <File Id="_86" Source="..\bin\release\aircraft\arducopter\README" />
 </Component>
 <Directory Id="data86" Name="data">
-<Component Id="_comp87" Guid="87dacbb4-37ba-4677-8e8d-dd52e0d665c2">
+<Component Id="_comp87" Guid="1aeed201-06b7-4cad-901b-23e8b437f683">
 <File Id="_88" Source="..\bin\release\aircraft\arducopter\data\arducopter_half_step.txt" />
 <File Id="_89" Source="..\bin\release\aircraft\arducopter\data\arducopter_step.txt" />
 <File Id="_90" Source="..\bin\release\aircraft\arducopter\data\rw_generic_pylon.ac" />
 </Component>
 </Directory>
 <Directory Id="Engines90" Name="Engines">
-<Component Id="_comp91" Guid="4b6709f3-e0a4-4fa4-bb95-35b1beb94da3">
+<Component Id="_comp91" Guid="6af94f2c-2da6-4991-8e26-d7d467a64883">
 <File Id="_92" Source="..\bin\release\aircraft\arducopter\Engines\a2830-12.xml" />
 <File Id="_93" Source="..\bin\release\aircraft\arducopter\Engines\prop10x4.5.xml" />
 </Component>
 </Directory>
 <Directory Id="Models93" Name="Models">
-<Component Id="_comp94" Guid="0ebea17a-c625-48ce-be24-a05d01e0af67">
+<Component Id="_comp94" Guid="2cab236e-d8b5-418b-8f36-cdc18c02211b">
 <File Id="_95" Source="..\bin\release\aircraft\arducopter\Models\arducopter.ac" />
 <File Id="_96" Source="..\bin\release\aircraft\arducopter\Models\arducopter.xml" />
 <File Id="_97" Source="..\bin\release\aircraft\arducopter\Models\plus_quad.ac" />
@@ -150,7 +150,7 @@
 </Directory>
 </Directory>
 <Directory Id="Rascal103" Name="Rascal">
-<Component Id="_comp104" Guid="9907d7a9-52b0-46ee-9149-b1c8c72c0289">
+<Component Id="_comp104" Guid="bb7432d3-b239-43c2-803f-82e83a167d5a">
 <File Id="_105" Source="..\bin\release\aircraft\Rascal\Rascal-keyboard.xml" />
 <File Id="_106" Source="..\bin\release\aircraft\Rascal\Rascal-submodels.xml" />
 <File Id="_107" Source="..\bin\release\aircraft\Rascal\Rascal.xml" />
@@ -162,13 +162,13 @@
 <File Id="_113" Source="..\bin\release\aircraft\Rascal\thumbnail.jpg" />
 </Component>
 <Directory Id="Engines113" Name="Engines">
-<Component Id="_comp114" Guid="4eb6d2e8-fab7-460a-b70f-225633c57376">
+<Component Id="_comp114" Guid="163c4bdb-3f66-49d0-972d-6939c80d7521">
 <File Id="_115" Source="..\bin\release\aircraft\Rascal\Engines\18x8.xml" />
 <File Id="_116" Source="..\bin\release\aircraft\Rascal\Engines\Zenoah_G-26A.xml" />
 </Component>
 </Directory>
 <Directory Id="Models116" Name="Models">
-<Component Id="_comp117" Guid="38222506-6c83-4efb-9f64-5dee03b74105">
+<Component Id="_comp117" Guid="1ccc0310-315e-4b54-864b-0ba60d8b168b">
 <File Id="_118" Source="..\bin\release\aircraft\Rascal\Models\Rascal.rgb" />
 <File Id="_119" Source="..\bin\release\aircraft\Rascal\Models\Rascal110-000-013.ac" />
 <File Id="_120" Source="..\bin\release\aircraft\Rascal\Models\Rascal110.xml" />
@@ -179,7 +179,7 @@
 </Component>
 </Directory>
 <Directory Id="Systems124" Name="Systems">
-<Component Id="_comp125" Guid="e3eadb19-9352-42e7-a7b7-37273fa44c63">
+<Component Id="_comp125" Guid="9cc1c97a-0fa5-40c4-a9fd-3d1fcf6af125">
 <File Id="_126" Source="..\bin\release\aircraft\Rascal\Systems\110-autopilot.xml" />
 <File Id="_127" Source="..\bin\release\aircraft\Rascal\Systems\airdata.nas" />
 <File Id="_128" Source="..\bin\release\aircraft\Rascal\Systems\electrical.xml" />
@@ -190,36 +190,36 @@
 </Directory>
 </Directory>
 <Directory Id="de_DE130" Name="de-DE">
-<Component Id="_comp131" Guid="17ea79e5-42f7-4bf7-b1c6-915679f2ff78">
+<Component Id="_comp131" Guid="fe2a53b7-109f-4754-91c2-f30d17dcf033">
 <File Id="_132" Source="..\bin\release\de-DE\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="es_ES132" Name="es-ES">
-<Component Id="_comp133" Guid="49f825e0-39b4-4ea2-9ba0-e5ee3a36ee8f">
+<Component Id="_comp133" Guid="4530dab9-2588-4650-8803-d2bdb44bd3b9">
 <File Id="_134" Source="..\bin\release\es-ES\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_135" Source="..\bin\release\es-ES\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="fr135" Name="fr">
-<Component Id="_comp136" Guid="4bf192e4-96b4-49e9-af6b-bc3a08f067f4">
+<Component Id="_comp136" Guid="5f3ed7e7-02d0-4db7-b6af-0e5f393770b1">
 <File Id="_137" Source="..\bin\release\fr\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_138" Source="..\bin\release\fr\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="it_IT138" Name="it-IT">
-<Component Id="_comp139" Guid="63035886-e1a4-4b85-98cd-0f9195c51406">
+<Component Id="_comp139" Guid="b597bcf2-1616-48ee-911d-16b08abf2545">
 <File Id="_140" Source="..\bin\release\it-IT\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_141" Source="..\bin\release\it-IT\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="jsbsim141" Name="jsbsim">
-<Component Id="_comp142" Guid="cfdac9c2-f03c-4a1b-95a0-9d236a10558f">
+<Component Id="_comp142" Guid="5d050855-4f5c-481a-a614-256caa3292e0">
 <File Id="_143" Source="..\bin\release\jsbsim\fgout.xml" />
 <File Id="_144" Source="..\bin\release\jsbsim\rascal_test.xml" />
 </Component>
 </Directory>
 <Directory Id="m3u144" Name="m3u">
-<Component Id="_comp145" Guid="1434c6d9-5363-4f22-ac1b-64ff0a62b2bb">
+<Component Id="_comp145" Guid="f71074d9-4e75-4e8a-af4d-a08137185fa6">
 <File Id="_146" Source="..\bin\release\m3u\both.m3u" />
 <File Id="_147" Source="..\bin\release\m3u\GeoRefnetworklink.kml" />
 <File Id="_148" Source="..\bin\release\m3u\hud.m3u" />
@@ -228,31 +228,31 @@
 </Component>
 </Directory>
 <Directory Id="pl150" Name="pl">
-<Component Id="_comp151" Guid="2b98a6bd-32ad-4c43-bb0e-3402ef3bbaa4">
+<Component Id="_comp151" Guid="d05e244f-9dbf-42cb-b241-fd0f0c6bdc49">
 <File Id="_152" Source="..\bin\release\pl\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_153" Source="..\bin\release\pl\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="Resources153" Name="Resources">
-<Component Id="_comp154" Guid="a6396763-d00a-4a18-a3f1-c6151de3f07e">
+<Component Id="_comp154" Guid="c2fafcf2-c67d-4334-9f97-51a8cc613146">
 <File Id="_155" Source="..\bin\release\Resources\MAVCmd.txt" />
 <File Id="_156" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf" />
 </Component>
 </Directory>
 <Directory Id="ru_RU156" Name="ru-RU">
-<Component Id="_comp157" Guid="261e8c9f-8b7f-4aed-b08b-d026f60f5ff4">
+<Component Id="_comp157" Guid="d8eb7708-ee5f-4e12-90e6-3019478107fa">
 <File Id="_158" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_159" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="zh_Hans159" Name="zh-Hans">
-<Component Id="_comp160" Guid="b0c0df4d-3519-4c1d-987b-cabd76310861">
+<Component Id="_comp160" Guid="319a3e9e-8b55-44ce-97c4-df60ad19c446">
 <File Id="_161" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_162" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner10.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="zh_TW162" Name="zh-TW">
-<Component Id="_comp163" Guid="59ef3445-29fd-45a4-b997-4ee81c60dff5">
+<Component Id="_comp163" Guid="271b6ad8-7763-4bfe-aaa7-51fe7063caf5">
 <File Id="_164" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner.resources.dll" />
 <File Id="_165" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner10.resources.dll" />
 </Component>

Tools/ArdupilotMegaPlanner/Program.cs

@@ -14,6 +14,7 @@ namespace ArdupilotMega
     {
         private static readonly ILog log = LogManager.GetLogger("Program");
 
+        public static Splash Splash;
         /// <summary>
         /// The main entry point for the application.
         /// </summary>
@@ -38,7 +39,7 @@ namespace ArdupilotMega
 
             //Common.linearRegression();
 
-            Console.WriteLine(srtm.getAltitude(-35.115676879882812, 117.94178754638671,20));
+            //Console.WriteLine(srtm.getAltitude(-35.115676879882812, 117.94178754638671,20));
 
            // Console.ReadLine();
            // return;
@@ -119,6 +120,9 @@ namespace ArdupilotMega
             }
             */
 
+            Splash = new ArdupilotMega.Splash();
+            Splash.Show();
+
             try
             {
                 Thread.CurrentThread.Name = "Base Thread";

Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs

@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.1.*")]
-[assembly: AssemblyFileVersion("1.2.20")]
+[assembly: AssemblyFileVersion("1.2.21")]
 [assembly: NeutralResourcesLanguageAttribute("")]

Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs

@@ -665,6 +665,8 @@ namespace ArdupilotMega
         }
 
         public bool doConnect(ArdupilotMega.Comms.ICommsSerial comPort)
+        {
+            try
             {
                 // clear buffer
                 comPort.DiscardInBuffer();
@@ -690,8 +692,6 @@ namespace ArdupilotMega
                     comPort.Write("\r\n");
                 }
 
-
-
                 doCommand(comPort, "AT&T");
 
                 string version = doCommand(comPort, "ATI");
@@ -707,6 +707,8 @@ namespace ArdupilotMega
 
                 return false;
             }
+            catch { return false; }
+        }
 
         private void BUT_Syncoptions_Click(object sender, EventArgs e)
         {

Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataRepository.cs

@@ -4,6 +4,8 @@ using System.IO;
 using System.Windows.Forms;
 using System.Xml.Linq;
 using System.Linq;
+using System.Collections;
+using System.Collections.Generic;
 
 namespace ArdupilotMega.Utilities
 {

Tools/ArdupilotMegaPlanner/dataflashlog.xml

@@ -48,11 +48,13 @@
       <F10>Thr iInt</F10>
     </CTUN>
     <PM>
-      <F1>Gyro Saturation</F1>
+      <F1>Not used</F1>
-      <F2>ADC Constraints</F2>
+      <F2>DCM renorms</F2>
-      <F3>DCM renorms</F3>
+      <F3>DCM Blowups</F3>
-      <F4>DCM Blowups</F4>
+      <F4>GPS Fix Count</F4>
-      <F5>GPS Fix Count</F5>
+      <F5>Num SlowLoops</F5>
+      <F6>Tot Num Loops</F6>
+      <F7>Slowest Loop</F7>
     </PM>
     <RAW>
       <F1>Gyro X</F1>
@@ -108,6 +110,26 @@
       <F11>Thr</F11>
       <F12>Thr Cruise</F12>
     </ITERM>
+    <INAV>
+      <F1>Baro Alt</F1>
+      <F2>INS Alt</F2>
+      <F3>Climb Rate</F3>
+      <F4>INS Climb Rate</F4>
+      <F5>AccCorr X</F5>
+      <F6>AccCorr Y</F6>
+      <F7>AccCorr Z</F7>
+      <F8>AccCorrEF Z</F8>
+      <F9>AccelEF X</F9>
+      <F10>AccelEF Y</F10>
+      <F11>AccelEF Z</F11>
+      <F12>Dt</F12>
+      <F13>GPS Lat</F13>
+      <F14>GPS Lon</F14>
+      <F15>INS Lat</F15>
+      <F16>INS Lon</F16>
+      <F17>INS Lat Vel</F17>
+      <F18>INS Lon Vel</F18>
+    </INAV>
     <PID-1>
       <F1>Err</F1>
       <F2>P</F2>